JP2022016027A - Vehicle control device - Google Patents

Abstract

To provide a vehicle control device capable of preventing a vehicle from colliding with other vehicle, while preventing the vehicle controlled in speed from obstructing traffic around the vehicle.SOLUTION: A vehicle control device includes a detecting portion 31 that detects at least one other vehicle during traveling on a lane adjacent to a lane on which a vehicle 10 travels, on the basis of a sensor signal obtained by a sensor 3 mounted on the vehicle 10 to detect a situation around the vehicle 10, an other vehicle speed measuring portion 32 that measures the respective speed of at least one other detected vehicle, and a speed setting portion 33 that sets the target speed of the vehicle 10 so as to make a relative speed between other vehicle that entered and the vehicle 10 before the other vehicle that entered and the vehicle 10 collide, by controlling the speed of the vehicle 10, even if at least one other vehicle enters the lane on which the vehicle 10 travels, on the basis of the respective speed of at least one other vehicle.SELECTED DRAWING: Figure 3

Description

The present invention relates to a vehicle control device that controls the speed of a vehicle.

Technology for autonomous driving of vehicles is being researched. In such a technique, it is required that the vehicle to be automatically driven is controlled so as not to collide with another vehicle. Therefore, a technique for dealing with a change of lane when another vehicle traveling around the own vehicle changes lanes has been proposed (see, for example, Patent Documents 1 and 2).

For example, in the technique described in Patent Document 1, it is difficult for the travel control device to have an adjacent vehicle, detect a lane change request by the adjacent vehicle, and safely change the lane to the own lane of the adjacent vehicle. There is an allowable space in front of or behind the own vehicle, and the relative speed with the front or rear vehicle located across the allowable space is equal to or greater than the preset front-rear speed threshold. Determine that the situation meets the preset tolerances. When all of them are satisfied, the travel control device generates a target track that is a motion target for giving way to the adjacent vehicle, and performs acceptance control according to the target track of the own vehicle, the adjacent vehicle, and the rear vehicle. Notify the driver.

Further, in the technique described in Patent Document 2, the vehicle control system acquires information indicating the position of a specific area where the lane is reduced from the map information, and is detected when the own vehicle passes through the acquired specific area. When the relative relationship between the peripheral vehicle and the own vehicle satisfies a predetermined condition, the target speed of the own vehicle is set to a speed lower than the speed of the peripheral vehicle whose relative relationship satisfies the predetermined condition.

Japanese Unexamined Patent Publication No. 2018-144695 International Publication No. 2017/158731

In the above technology, another vehicle traveling in the lane in which the own vehicle is traveling (hereinafter, may be referred to as the own lane) and the adjacent lane (hereinafter, may be referred to as the adjacent lane) changes lanes to the own lane. Assuming that, the speed of the own vehicle is limited. However, if another vehicle traveling in the adjacent lane does not actually change lanes to its own lane, or if another vehicle changes lanes to its own lane behind the own vehicle, the speed of the own vehicle will be excessively reduced. It may interfere with the traffic around the vehicle.

Therefore, an object of the present invention is to provide a vehicle control device capable of preventing a vehicle whose speed is controlled from interfering with traffic around the vehicle and preventing the vehicle from colliding with another vehicle. And.

According to one embodiment, a vehicle control device for controlling the speed of the vehicle is provided. This vehicle control device is at least one other vehicle traveling in a lane adjacent to the lane in which the vehicle is traveling, based on a sensor signal obtained by a sensor mounted on the vehicle to detect the surrounding conditions of the vehicle. A detector that detects Even if one of the vehicles enters the lane in which the vehicle is traveling, the other vehicle and the vehicle that entered before the vehicle collided with the other vehicle that entered by controlling the speed of the vehicle with the approach. It has a speed setting unit that sets a target speed of the vehicle so that the absolute value of the relative speeds between them is equal to or less than a predetermined speed difference.

The vehicle control device according to the present invention has an effect that the vehicle that controls the speed can be prevented from obstructing the traffic around the vehicle, and the vehicle can be prevented from colliding with another vehicle.

It is a schematic block diagram of the vehicle control system in which a vehicle control device is mounted. It is a hardware block diagram of the electronic control device which is one embodiment of a vehicle control device. It is a functional block diagram of the processor of an electronic control device regarding a vehicle control process. It is explanatory drawing of the outline of the target speed setting. It is an operation flowchart of a vehicle control process.

Hereinafter, the vehicle control method implemented in the vehicle control device and the vehicle control device will be described with reference to the drawings. This vehicle control device controls the vehicle to be driven automatically, including the control of the speed of the vehicle. In the following, a vehicle subject to automatic driving control may be referred to as a own vehicle. This vehicle control device detects at least one other vehicle traveling in an adjacent lane based on a sensor signal obtained by a sensor mounted on the own vehicle, and measures the speed of each of the detected other vehicles. .. Then, even if any of the detected other vehicles enters the own lane, this vehicle control device controls the speed of the own vehicle in accordance with the approach, so that the other vehicle that has entered collides with the own vehicle. The speed of the own vehicle is set so that the absolute value of the relative speed between the other vehicle that has entered and the own vehicle is equal to or less than the predetermined speed difference. In this way, this vehicle control device sets the speed of the own vehicle in consideration of the degree of deceleration of the own vehicle when another vehicle traveling in the adjacent lane actually enters the own lane. It is possible to prevent the own vehicle from colliding with other vehicles while preventing the own vehicle from being excessively restricted in speed and obstructing traffic.

FIG. 1 is a schematic configuration diagram of a vehicle control system in which a vehicle control device is mounted. Further, FIG. 2 is a hardware configuration diagram of an electronic control device, which is one embodiment of the vehicle control device. In the present embodiment, the vehicle control system 1 mounted on the vehicle 10 and controlling the vehicle 10 is an example of a GPS receiver 2, a camera 3, a wireless communication device 4, a storage device 5, and a vehicle control device. It has an electronic control unit (ECU) 6. The GPS receiver 2, the camera 3, the wireless communication device 4, the storage device 5, and the ECU 6 are communicably connected via an in-vehicle network conforming to a standard such as a controller area network. The vehicle control system 1 may further have a distance sensor (not shown) that measures the distance from the vehicle 10 to an object existing around the vehicle 10, such as LiDAR or radar. Such a distance sensor is an example of a sensor that detects the situation around the vehicle 10. Further, the vehicle control system 1 may have a navigation device (not shown) for searching a planned travel route to the destination.

The GPS receiver 2 receives GPS signals from GPS satellites at predetermined intervals, and positions the vehicle 10's own position based on the received GPS signals. Then, the GPS receiver 2 outputs positioning information representing the positioning result of the self-position of the vehicle 10 based on the GPS signal to the ECU 6 via the in-vehicle network at predetermined intervals. The vehicle 10 may have a receiver compliant with a satellite positioning system other than the GPS receiver 2. In this case, the receiver may determine the self-position of the vehicle 10.

The camera 3 is an example of a sensor that detects the surrounding conditions of the vehicle 10, and is a two-dimensional detector composed of an array of photoelectric conversion elements having sensitivity to visible light such as a CCD or C-MOS, and its two dimensions. It has an imaging optical system that forms an image of the region to be imaged on the detector. Then, the camera 3 is mounted, for example, in the vehicle interior of the vehicle 10 so as to face the front of the vehicle 10. Then, the camera 3 photographs the front region of the vehicle 10 at predetermined shooting cycles (for example, 1/30 second to 1/10 second), and generates an image in which the front region is captured. The image obtained by the camera 3 is an example of a sensor signal, and may be a color image or a gray image. The vehicle 10 may be provided with a plurality of cameras having different shooting directions or focal lengths.

Each time the camera 3 generates an image, the camera 3 outputs the generated image to the ECU 6 via the in-vehicle network.

The wireless communication device 4 wirelessly communicates with a wireless base station in accordance with a predetermined mobile communication standard. Then, the wireless communication device 4 receives traffic information (for example, Vehicle Information and Communication System, VICS (registered trademark)) indicating a traffic condition on or around the road on which the vehicle 10 is traveling from another device via a wireless base station. Information) is received, and the traffic information is output to the ECU 6 via the in-vehicle network. The traffic information includes, for example, information on the presence or absence of road construction, accidents, or traffic restrictions, and information on places and times when road construction, accidents, or traffic restrictions are implemented. Further, the wireless communication device 4 receives a high-precision map used for automatic driving control for a predetermined area around the current position of the vehicle 10 from the map server via the wireless base station, and receives the high-precision map. The map may be output to the storage device 5.

The storage device 5 is an example of a storage unit, and includes, for example, a hard disk device, a non-volatile semiconductor memory, an optical recording medium, and an access device thereof. Then, the storage device 5 stores a high-precision map which is an example of map information. The high-precision map includes information representing road markings such as lane markings or stop lines for each road included in a predetermined area represented by the high-precision map, information representing road signs, and information around the road. Contains information representing buildings (eg, noise barriers, etc.).

Further, the storage device 5 may have a processor for executing a high-precision map update process, a process related to a high-precision map read request from the ECU 6, and the like. Then, for example, every time the vehicle 10 moves by a predetermined distance, the storage device 5 transmits a high-precision map acquisition request to the map server via the wireless communication device 4 together with the current position of the vehicle 10, and the map server wirelessly transmits the request. A high-precision map of a predetermined area around the current position of the vehicle 10 may be received via the communication device 4. Further, when the storage device 5 receives the request for reading the high-precision map from the ECU 6, the storage device 5 includes the current position of the vehicle 10 from the stored high-precision map and covers a range relatively narrower than the above-mentioned predetermined area. A high-precision map to be represented is cut out and output to the ECU 6 via the in-vehicle network.

The ECU 6 controls the running of the vehicle 10 so as to automatically drive the vehicle 10.

As shown in FIG. 2, the ECU 6 has a communication interface 21, a memory 22, and a processor 23. The communication interface 21, the memory 22, and the processor 23 may be configured as separate circuits, or may be integrally configured as one integrated circuit.

The communication interface 21 has an interface circuit for connecting the ECU 6 to the in-vehicle network. Then, each time the communication interface 21 receives the positioning information from the GPS receiver 2, the positioning information is passed to the processor 23. Further, each time the communication interface 21 receives an image from the camera 3, the received image is passed to the processor 23. Furthermore, the communication interface 21 passes the high-precision map read from the storage device 5 to the processor 23.

The memory 22 is another example of the storage unit, and has, for example, a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 22 stores various data used in the vehicle control process executed by the processor 23 of the ECU 6. For example, the memory 22 captures an image of the surroundings of the vehicle 10, a positioning result of the self-position, a high-precision map, an internal parameter representing the focal length, the angle of view, the shooting direction, the mounting position, and the like of the camera 3, and the surroundings of the vehicle 10. It stores a parameter set for identifying an object detection classifier, which is used for detecting other traveling vehicles. Further, the memory 22 temporarily stores various data generated during the vehicle control process.

The processor 23 has one or a plurality of CPUs (Central Processing Units) and peripheral circuits thereof. The processor 23 may further include other arithmetic circuits such as a logical operation unit, a numerical operation unit, or a graphic processing unit. Then, the processor 23 executes the vehicle control process for the vehicle 10.

FIG. 3 is a functional block diagram of the processor 23 relating to vehicle control processing. The processor 23 has a detection unit 31, another vehicle speed measurement unit 32, a speed setting unit 33, and a vehicle control unit 34. Each of these parts of the processor 23 is, for example, a functional module realized by a computer program running on the processor 23. Alternatively, each of these parts of the processor 23 may be a dedicated arithmetic circuit provided in the processor 23.

Each time the ECU 6 acquires an image from the camera 3, the detection unit 31 detects one or more other vehicles around the vehicle 10 based on the acquired image. Then, the detection unit 31 identifies one or more other vehicles traveling in the lane adjacent to the own lane in which the vehicle 10 travels among the detected one or more other vehicles.

For example, each time the ECU 6 acquires an image from the camera 3, the detection unit 31 inputs the image to the classifier to detect another vehicle traveling around the vehicle 10. As such a classifier, the detector 31 uses a deep neural network (DNN) having a convolutional neural network type (CNN) architecture, such as a Single Shot MultiBox Detector (SSD) or Faster R-CNN. Can be used. Such a classifier is learned in advance from the image to detect other objects to be detected (for example, a vehicle, a road marking such as a lane marking line, a road sign, etc.) around the vehicle 10. .. The classifier outputs information for identifying an object area including an object detected on the input image and information indicating the type of the detected object (vehicle, road marking, road sign, etc.). Therefore, the detection unit 31 may determine that the object region where the type of the object detected on the image is determined to be a vehicle includes another vehicle traveling around the vehicle 10.

The detection unit 31 identifies another vehicle traveling in the adjacent lane from among the detected one or more other vehicles. The detection unit 31 is, for example, another vehicle in which the lane marking line detected by the discriminator is located between the vehicle 10 and the other vehicle among the detected one or more other vehicles, and the other vehicle traveling in the adjacent lane. It should be specified as. That is, since the lane marking line exists on the vehicle 10 side of the other vehicle traveling in the adjacent lane, the image obtained by the camera 3 shows the other vehicle traveling in the adjacent lane on the right side of the own lane. The object area is on the right side of the object area where the lane marking line on the right side of the own lane is represented. Conversely, the object area representing other vehicles traveling in the adjacent lane on the left side of the own lane is to the left of the object area representing the lane marking on the left side of the own lane. Therefore, for each of the detected one or more other vehicles, the detection unit 31 determines the position of the object region representing the right or left lane marking line of the own lane in the horizontal direction on the image and the other vehicle. By comparing with the position of the represented object region, it can be determined whether or not another vehicle is traveling in the adjacent lane. That is, the detection unit 31 travels in the adjacent lane on the right side of another vehicle represented in the object region located on the right side of the object region in which the lane marking line on the right side of the own lane is represented on the image. Identify as a vehicle. Similarly, the detection unit 31 travels in the adjacent lane on the left side of another vehicle represented in the object region located on the left side of the object region in which the lane marking line on the left side of the own lane is represented on the image. Identify as another vehicle. In addition, the detection unit 31 is on the right side of the own lane for other vehicles represented in the object area located on the right side of each object area of the plurality of lane marking lines on the right side of the own lane on the image. It may be determined that the vehicle is traveling in the lane further to the right of the adjacent lane so that the vehicle is not referred to when setting the speed of the vehicle 10. Similarly, the detection unit 31 is on the left side of the own lane for other vehicles represented in the object area located on the left side of each object area of the plurality of lane marking lines on the left side of the own lane on the image. It may be determined that the vehicle is traveling in the lane further to the left of the adjacent lane of the vehicle, and may not be referred to when setting the speed of the vehicle 10.

Since the shooting direction of the camera 3 relative to the traveling direction of the vehicle 10 and the mounting position of the camera 3 are known, the traveling direction of the vehicle 10 on the image is also known. Therefore, the detection unit 31 is located on the right side of a line indicating the traveling direction of the vehicle 10 on the image (for example, a line located at the center of the image in the horizontal direction and extended in the vertical direction), and The lane marking line closest to the line indicating the traveling direction is specified as the lane marking line on the right side of the own lane, and the lane marking line located on the left side of the line indicating the traveling direction and closest to the traveling direction is defined as the lane marking line. It may be specified as a lane marking line on the left side of the own lane.

Each time the ECU 6 receives an image from the camera 3, the detection unit 31 obtains information indicating the position and size of the object region representing another vehicle traveling in the adjacent lane, which is detected in the image, in the other vehicle speed measurement unit 32. Notify to. Further, each time the ECU 6 receives an image from the camera 3, the detection unit 31 notifies the vehicle control unit 34 of information indicating the position and size of the object region in which the detected object is represented in the image.

The other vehicle speed measuring unit 32 measures the speed of each of one or more other vehicles traveling in the adjacent lane at predetermined cycles, for example, each time the ECU 6 receives an image from the camera 3. For example, the other vehicle speed measuring unit 32 may perform tracking processing using optical flow for each of the other vehicles traveling in the adjacent lane, which are detected from each of the series of time-series images acquired from the camera 3. Track other vehicles by performing a predetermined tracking process. Then, the other vehicle speed measuring unit 32 executes a viewpoint conversion process for each image using the internal parameters of the camera 3 to change each image into a bird's-eye view image, so that the vehicle 10 at the time of acquiring each image is obtained. Calculate the relative position of other vehicles being tracked. At that time, it is presumed that the lower end of the object area where the other vehicle is represented represents the position where the road surface and the other vehicle are in contact with each other. Therefore, in each image, the other vehicle speed measuring unit 32 starts from the orientation from the camera 3 corresponding to the lower end of the object region in which the other vehicle is represented, and the road surface of the camera 3, which is one of the internal parameters of the camera 3. The distance from the vehicle 10 to another vehicle at the time of acquiring each image may be estimated based on the height of the image. Alternatively, when the vehicle 10 has a distance sensor such as LiDAR or a radar, the other vehicle speed measuring unit 32 determines the position of the object region representing the other vehicle being tracked on the image at the time of acquiring each image. The measured value of the distance by the distance sensor for the direction corresponding to the above may be used as an estimated value of the distance from the vehicle 10 to another vehicle. Further, since the position of the object area representing the other vehicle being tracked on the image corresponds to the orientation of the other vehicle as seen from the camera 3 on a one-to-one basis, the other vehicle speed measuring unit 32 tracks. From the estimated values of the position and distance of the object area for the other vehicle inside, the relative position of the other vehicle being tracked with respect to the vehicle 10 can be calculated. Then, the other vehicle speed measuring unit 32 is tracking the other vehicle 10 at the time of speed measurement based on the relative position change from the vehicle 10 to the other vehicle being tracked before and after the speed measurement. The relative speed of the vehicle can be calculated. Further, the other vehicle speed measuring unit 32 measures the speed of the vehicle 10 at the time of the speed measurement measured by the vehicle speed sensor (not shown) mounted on the vehicle 10, and the other vehicle being tracked at the time of the speed measurement. By adding to the relative speed of, it is possible to obtain a measured value of the speed of another vehicle being tracked (that is, the absolute speed with respect to the ground).

The other vehicle speed measuring unit 32 sets the measured value of the speed and the estimated value of the distance between the other vehicle and the vehicle 10 each time the speed is measured for each of one or more other vehicles traveling in the adjacent lane. Output to unit 33.

The speed setting unit 33 sets the target speed of the vehicle 10 based on the respective speeds of one or more other vehicles traveling in the detected adjacent lane at predetermined cycles. At that time, even if any of the other vehicles enters the own lane, the speed setting unit 33 controls the speed of the vehicle 10 in accordance with the approach, so that the other vehicle and the vehicle 10 collide with each other. The target speed of the vehicle 10 is set so that the absolute value of the relative speed between the vehicle 10 and another vehicle that has entered before the vehicle is equal to or less than the predetermined speed difference.

ここで、ΔXcrossは、安全車間距離である。Tdelayは、着目する他の車両が自車線と隣接車線間の車線区画線を横切ったとき（以下、自車線進入時と呼ぶ）から車両１０のブレーキによる制動力が完全に発揮されるまでの遅延時間であり、自車線進入時からその着目する他の車両の自車線への進入が検知されるまでの所要時間Tdetectとその自車線への進入が検知されてからブレーキによる制動力が完全に発揮されるまでの立上り時間Tbrakeの和で表される。また、Aは車両１０の最大減速度（例えば、0.35G）である。Dは、自車線進入時における車両１０と着目する他の車両間の距離である。そしてΔV(=Vo-Vs)は、自車線進入時における、車両１０に対する、その着目する他の車両の相対速度であり、自車線進入時における、着目する他の車両の速度Voから車両１０の速度Vsを減じることで算出される。なお、（１）式において左辺の項と右辺の項とが等しくなる場合、着目する他の車両と車両１０との車間距離が安全車間距離となった時点で、着目する他の車両と車両１０間の相対速度は0、すなわち、着目する他の車両の速度と車両１０の速度は等しくなる。 In the present embodiment, when any one or more other vehicles traveling in the adjacent lane enters the own lane in front of the vehicle 10, the vehicle control unit 34 decelerates the vehicle 10. As a result of the deceleration, the closest distance between the other vehicle and the vehicle 10 that has entered is the minimum distance that the vehicle control system can guarantee that the other vehicle that has entered and the vehicle 10 do not collide (hereinafter, safe inter-vehicle distance). The speed setting unit 33 sets the target speed of the vehicle 10 so as to be the above. Specifically, the speed setting unit 33 may set the target speed of the vehicle 10 so as to satisfy the condition shown in the following equation for each of the one or more other vehicles traveling in the detected adjacent lane. ..

Here, ΔXcross is a safe inter-vehicle distance. Tdelay is a delay from when the other vehicle of interest crosses the lane marking line between the own lane and the adjacent lane (hereinafter referred to as when entering the own lane) until the braking force due to the brake of the vehicle 10 is fully exerted. It is the time required from the time of entering the own lane until the entry of the other vehicle of interest into the own lane is detected. It is expressed by the sum of the rise time Tbrake until it is done. Further, A is the maximum deceleration of the vehicle 10 (for example, 0.35G). D is the distance between the vehicle 10 and another vehicle of interest when entering the own lane. And ΔV (= Vo-Vs) is the relative speed of the other vehicle of interest to the vehicle 10 when entering the own lane, and is the speed Vo of the other vehicle of interest when entering the own lane to the vehicle 10. Calculated by subtracting the velocity Vs. When the term on the left side and the term on the right side are equal in the equation (1), when the inter-vehicle distance between the other vehicle and the vehicle 10 of interest becomes the safe inter-vehicle distance, the other vehicle and the vehicle 10 of interest are of interest. The relative speed between them is 0, that is, the speed of the other vehicle of interest is equal to the speed of the vehicle 10.

The speed setting unit 33 sets the latest estimated value of the distance from the vehicle 10 to the other vehicle as the distance D in the equation (1) and the speed for each of the one or more other vehicles traveling in the adjacent lane. Assuming that the setting time is when the vehicle enters the own lane for another vehicle, the maximum value of the speed Vs of the vehicle 10 satisfying the equation (1) is calculated as the allowable maximum speed for the other vehicle. The delay time T delay and the maximum deceleration A in the equation (1) may be measured in advance and stored in the memory 22. Further, when the maximum value of the speed Vs with respect to the other vehicle of interest is higher than the legal speed or the upper limit speed of the road on which the vehicle 10 is traveling, the speed setting unit 33 pays attention to the legal speed or the upper limit speed. It may be the maximum allowable speed for other vehicles. The speed setting unit 33 identifies the road on which the vehicle 10 is traveling by referring to the position of the vehicle 10 positioned by the GPS receiver 2 and the high-precision map, and the legal speed or the upper limit speed of the specified road. Should be specified. Then, the speed setting unit 33 sets the minimum speed among the allowable maximum speeds calculated for each of the one or more other vehicles traveling in the detected adjacent lane as the target speed of the vehicle 10.

Each time the speed setting unit 33 sets the target speed of the vehicle 10, the speed setting unit 33 notifies the vehicle control unit 34 of the target speed.

FIG. 4 is an explanatory diagram of an outline of the target speed setting. As shown in the situation shown on the far left, it is assumed that another vehicle 410 is traveling in the adjacent lane 401 of the lane (own lane) 400 in which the vehicle 10 is traveling. In this case, it is assumed that another vehicle 410 changes lanes to its own lane 400 as shown in the second situation from the left. At that time, if the vehicle speed of the vehicle 10 is faster than the vehicle speed of the other vehicle 410, the inter-vehicle distance between the other vehicle 410 and the vehicle 10 is gradually shortened. However, as in the second situation from the right, even if the vehicle 10 slows down after detecting that the other vehicle 410 has changed lanes to its own lane 400, the relative speed of the vehicle 10 with respect to the other vehicle 410 If is less than or equal to a certain degree, the speed of the vehicle 10 and the speed of the other vehicle 410 become constant before the other vehicle 410 and the vehicle 10 collide with each other, as shown in the situation shown on the far right. As a result, the other vehicle 410 and the vehicle 10 do not come closer to each other. Therefore, in the present embodiment, the vehicle 10 decelerates after detecting that the other vehicle 410 has changed lanes to the own lane 400, so that the distance between the other vehicle 410 and the vehicle 10 becomes the safe inter-vehicle distance. The target speed of the vehicle 10 is set so that the speed of the vehicle 10 and the speed of the other vehicle 410 become constant at the time point.

The vehicle control unit 34 controls the vehicle 10 so as to automatically drive the vehicle 10. Therefore, the vehicle control unit 34 sets one or more planned travel routes (trajectory) of the vehicle 10 in the nearest predetermined section (for example, 500 m to 1 km) so that the vehicle 10 advances along the planned travel route to the destination. Generate. The planned travel route is represented, for example, as a set of target positions of the vehicle 10 at each time when the vehicle 10 travels in a predetermined section. Then, the vehicle control unit 34 controls each unit of the vehicle 10 so that the vehicle 10 travels along the planned travel route.

The vehicle control unit 34 is a planned travel route so that an object (for example, another vehicle) existing around the vehicle 10 and the vehicle 10 do not collide with each other, which is detected from a series of time-series images obtained by the camera 3. To generate. For example, the vehicle control unit 34 tracks another vehicle detected by the detection unit 31 as described with respect to the other vehicle speed measurement unit 32. The vehicle control unit 34 may use the tracking result by the other vehicle speed measurement unit 32. Then, the vehicle control unit 34 obtains the locus of another vehicle from the tracking result, and estimates the predicted locus of each of the other vehicles up to a predetermined time ahead from the obtained locus. At that time, the vehicle control unit 34 determines the position and posture of the vehicle 10 at the time of acquiring each image, the estimated distance to the detected other vehicle and the direction from the vehicle 10 to the other vehicle, which are shown in the tracking result. Therefore, the trajectory of the other vehicle can be obtained by estimating the position of the detected other vehicle at the time of acquiring each image. The position and posture of the vehicle 10 at the time of acquiring each image may be estimated by collating the image obtained by the camera 3 with the high-precision map. For example, the vehicle control unit 34 assumes the position and attitude of the vehicle 10 and captures a feature on the road (for example, a road marking such as a lane marking line or a stop line) detected from an image obtained from the camera 3. Project on a high-precision map with reference to the internal parameters of, or project on the image the features on the road around the vehicle 10 on the high-precision map. Then, the vehicle control unit 34 determines the position and posture of the vehicle 10 when the feature on the road detected from the image and the feature on the road shown on the high-precision map most match with each other. It may be estimated as a position and a posture. In this case, the vehicle control unit 34 may use, for example, the information about the feature detected from the image received from the detection unit 31 to estimate the position and posture of the vehicle 10.

Further, the vehicle control unit 34 executes tracking processing using a Kalman Filter, a Particle Filter, or the like for the estimated position of another vehicle at the time of acquiring each image, which is represented by the obtained locus, to perform another tracking process. The predicted trajectory of the vehicle can be estimated. The vehicle control unit 34 may perform the same processing on an object (for example, a pedestrian) around the vehicle 10 other than the other vehicle to estimate the predicted locus of the object.

The vehicle control unit 34 is the vehicle 10 with each of the other vehicles or objects being tracked up to a predetermined time ahead for any other vehicle or object based on the respective predicted trajectories of the other vehicles or objects being tracked. The planned travel route of the vehicle 10 is generated so that the predicted value of the distance between the vehicles is equal to or larger than the predetermined distance. At that time, the vehicle control unit 34 sets the planned travel route so that the speed of the vehicle 10 approaches the target speed set by the speed setting unit 33.
The vehicle control unit 34 may generate a plurality of planned travel routes. In this case, the vehicle control unit 34 may select a route that minimizes the total sum of the absolute values of the accelerations of the vehicle 10 from the plurality of planned travel routes.

When the planned travel route is set, the vehicle control unit 34 controls each unit of the vehicle 10 so that the vehicle 10 travels along the planned travel route. For example, the vehicle control unit 34 obtains the target acceleration of the vehicle 10 according to the planned travel route and the current vehicle speed of the vehicle 10 measured by the vehicle speed sensor (not shown), and opens the accelerator so as to be the target acceleration. Set the degree or brake amount. Then, the vehicle control unit 34 obtains the fuel injection amount according to the set accelerator opening degree, and outputs a control signal corresponding to the fuel injection amount to the fuel injection device of the engine of the vehicle 10. Alternatively, the vehicle control unit 34 outputs a control signal according to the set brake amount to the brake of the vehicle 10.

Further, when the vehicle 10 changes the course of the vehicle 10 in order to travel along the planned travel route, the vehicle control unit 34 obtains the steering angle of the vehicle 10 according to the planned travel route, and responds to the steering angle. The control signal is output to an actuator (not shown) that controls the steering wheel of the vehicle 10.

FIG. 5 is an operation flowchart of the vehicle control process executed by the processor 23. The processor 23 may execute the vehicle control process at predetermined intervals according to the following operation flowchart.

The detection unit 31 of the processor 23 detects one or more other vehicles around the vehicle 10 traveling in the adjacent lane (step S101). The other vehicle speed measuring unit 32 of the processor 23 measures the respective speeds of the detected one or more other vehicles and the relative distance to the vehicle 10 (step S102).

The speed setting unit 33 of the processor 23 sets the target speed of the vehicle 10 based on the respective speeds and relative distances of the detected one or more other vehicles (step S103). At that time, as described above, even if any of the other vehicles enters the own lane, the speed setting unit 33 controls the speed of the vehicle 10 in accordance with the approach to the other vehicle that has entered. The target speed is set so that the absolute value of the relative speed between the vehicle 10 and another vehicle that has entered before the vehicle collides with the vehicle 10 is equal to or less than a predetermined speed difference.

The vehicle control unit 34 of the processor 23 controls the travel of the vehicle 10 so that the vehicle 10 travels at the set target speed (step S104). Then, the processor 23 ends the vehicle control process.

As described above, this vehicle control device detects and detects at least one other vehicle traveling in the adjacent lane based on the sensor signal obtained by the sensor mounted on the own vehicle. Measure the speed of each vehicle. Then, even if any of the detected other vehicles enters the own lane, this vehicle control device controls the speed of the own vehicle in accordance with the approach, so that the other vehicle that has entered collides with the own vehicle. The target speed of the own vehicle is set so that the absolute value of the relative speed between the other vehicle that has entered and the own vehicle is equal to or less than the predetermined speed difference. In this way, this vehicle control device sets the target speed of the own vehicle in consideration of the degree of deceleration of the own vehicle when another vehicle traveling in the adjacent lane actually enters the own lane. It is possible to prevent the own vehicle from colliding with another vehicle while preventing the own vehicle from excessively limiting the speed of the vehicle and obstructing the traffic.

According to the modification, the speed setting unit 33 may change the target speed of the vehicle 10 according to the situation around the vehicle 10. For example, when there is a traffic jam around the vehicle 10, any of the other vehicles existing around the vehicle 10 may frequently change lanes. Such vehicles may then apply a sudden brake when changing lanes, or may perform a lane change even if there is not enough space in the destination lane. Therefore, when the surroundings of the vehicle 10 are congested, the speed setting unit 33 has a predetermined offset value (for example, for example) from the maximum permissible speed satisfying the above equation (1) for a vehicle that frequently repeats such a lane change. The speed obtained by subtracting (10km / h to 20km / h) may be set again as the maximum allowable speed for such a vehicle. As a result, even if such a vehicle enters the own lane, the vehicle 10 can secure a large distance to such a vehicle, so that the risk of collision with such a vehicle can be further reduced. ..

The speed setting unit 33 may determine, for example, that traffic congestion has occurred around the vehicle 10 when any of the following conditions is satisfied.
The state in which the measured value of the speed of the vehicle 10 measured by the vehicle speed sensor (not shown) mounted on the vehicle 10 is equal to or less than the first speed threshold value (for example, 20 km / h) is the first period (for example, 20 km / h). Continue for 5 seconds) or more-The second period in which the state where the measured value of the speed of the vehicle 10 is lower than the first speed threshold and is equal to or less than the second speed threshold (for example, 10 km / h) is shorter than the first period. Continued for (for example, 3 seconds) or more ・ The change in the measured value of the speed of the vehicle 10 in the most recent first predetermined period (for example, 3 seconds) is within the predetermined speed change range (for example, 1 m / s) ・ Tracking For all other vehicles, the relative speed with respect to the vehicle 10 over the most recent predetermined period is equal to or less than the predetermined relative speed threshold (for example, 3 m / s). The speed setting unit 33 may acquire the relative speed of the other vehicle being tracked with respect to each vehicle 10 from the other vehicle speed measurement unit 32.
-The location where the traffic jam occurs in the traffic information received via the wireless communication device 4 matches the current position of the vehicle 10.

Further, the speed setting unit 33 may detect a vehicle that frequently changes lanes by using the tracking result of the other vehicle by the other vehicle speed measurement unit 32. For example, the speed setting unit 33 detects a vehicle that has changed lanes more than a predetermined number of times (for example, 2 to 3 times) during tracking as a vehicle that frequently repeats lane changes, among other vehicles being tracked. .. At that time, the speed setting unit 33 can set the number of times the trajectory of the other vehicle being tracked crosses the lane division line as the number of times the lane change is executed.

In addition, a vehicle traveling in a lane heading for a specific destination (for example, a service area or exit of a motorway) is considered to be heading for the specific destination, so even if the lane is congested, the lane is congested. It is unlikely that you will make any changes. Therefore, when the adjacent lane is a lane toward such a specific destination, the speed setting unit 33 does not refer to other vehicles traveling in the adjacent lane when setting the target speed of the vehicle 10. You may. Alternatively, the speed setting unit 33 sets the speed obtained by adding a predetermined offset value to the allowable maximum speed satisfying the equation (1) calculated for other vehicles traveling in the adjacent lane toward such a specific destination. The maximum allowable speed for the vehicle may be set again. As a result, the speed setting unit 33 can prevent the target speed of the vehicle 10 from being excessively limited by the speed of another vehicle that is unlikely to enter the own lane.

The speed setting unit 33 refers to, for example, the vehicle position of the vehicle 10 and the high-precision map determined by the GPS receiver 2, so that the lane adjacent to the vehicle lane heads for such a specific destination. It can be determined whether or not. Alternatively, the speed setting unit 33 estimates the own vehicle position of the vehicle 10 by collating the feature represented by the image obtained by the camera 3 with the high-precision map instead of the positioning result by the GPS receiver 2. May be used to determine if an adjacent lane is a lane heading for a particular destination. For example, the speed setting unit 33 assumes the position and attitude of the vehicle 10 and captures a feature on the road (for example, a road marking such as a lane marking line or a stop line) detected from an image obtained from the camera 3. Project on a high-precision map with reference to the internal parameters of, or project on the image the features on the road around the vehicle 10 on the high-precision map. Then, the speed setting unit 33 determines the position and posture of the vehicle 10 when the feature on the road detected from the image and the feature on the road shown on the high-precision map most coincide with each other. It may be estimated as the vehicle position and posture.

Further, the speed setting unit 33 does not refer to other vehicles around the vehicle 10 when setting the target speed for the vehicle indicating that the vehicle changes to the lane opposite to the own lane. You may do it. For example, if another vehicle in the adjacent lane on the right side of your lane has the turn signal on the right side lit, it is presumed that the vehicle is trying to change lanes to the opposite lane. Therefore, the speed setting unit 33 does not have to refer to such a vehicle. In this case, the speed setting unit 33 detects whether or not the turn signal is lit in the object area where the other vehicle is represented in each of the series of images in the time series, for example, for each of the other vehicles being tracked. By inputting to the classifier learned in advance so as to be performed, it is possible to determine whether or not one of the left and right turn signals is lit. Then, the speed setting unit 33 identifies another vehicle whose lit turn signal points in the direction opposite to the own lane, and does not refer to the specified other vehicle when setting the target speed. It should be. The speed setting unit 33 can use, for example, a recurrent neural network as such a discriminator.

ここで、Vは、車両１０の現在の車速であり、例えば、車両１０に搭載された車速センサにより測定される。また、Dminは、車両１０が周囲の物体と接触しない限界接近距離であり、例えば、0.2mに設定される。 Alternatively, the speed setting unit 33 may not refer to another vehicle at a position farther than the distance at which the vehicle 10 can stop by braking from the present time when setting the target speed. This is because the risk of collision between such other vehicles and the vehicle 10 is low. The distance Ds that the vehicle 10 can brake and stop from the present time is calculated by the following equation.

Here, V is the current vehicle speed of the vehicle 10, and is measured by, for example, a vehicle speed sensor mounted on the vehicle 10. Further, Dmin is a limit approach distance at which the vehicle 10 does not come into contact with surrounding objects, and is set to, for example, 0.2 m.

In this way, the speed setting unit 33 can set the target speed more appropriately by not referring to another vehicle having a low risk of colliding with the vehicle 10.

Further, the speed setting unit 33 may set the target speed of the vehicle 10 behind the vehicle 10 based on the speed of another vehicle that changes lanes to its own lane. In this case, the speed setting unit 33 may set the target speed so that when another vehicle enters the own lane, the vehicle 10 accelerates to maintain a safe inter-vehicle distance.

In this case, the detection unit 31 detects another vehicle traveling in the adjacent lane behind the vehicle 10 based on the image obtained by the camera 3 provided to photograph the rear region of the vehicle 10. Just do it. Further, the other vehicle speed measuring unit 32 may measure the speed of the other vehicle and the relative distance to the vehicle 10 by executing the same processing as that of the above embodiment for the detected other vehicle. .. Then, the speed setting unit 33 calculates the minimum allowable speed satisfying the equation (1) for each of the detected other vehicles, and determines the maximum speed among the calculated minimum allowable speeds for each of the other vehicles. , The target speed of the vehicle 10 may be set. In this case, the speed setting unit 33 may use the maximum acceleration B of the vehicle 10 instead of the maximum deceleration A in the equation (1). In this way, the speed setting unit 33 sets the target speed of the vehicle 10 based on the speed of the other vehicle traveling in the adjacent lane behind the vehicle 10, so that the other vehicle has its own lane behind the vehicle 10. Even if the lane is changed to, the distance between the other vehicle and the vehicle 10 can be sufficiently maintained.

Further, the speed setting unit 33 obtains a first target speed based on the speed of another vehicle traveling in the adjacent lane in front of the vehicle 10 as in the above embodiment, and as in the above modification, the speed setting unit 33 obtains the first target speed. A second target speed may be obtained based on the speeds of other vehicles traveling in the adjacent lane behind the vehicle 10, and the average value of the first target speed and the second target speed may be used as the target speed of the vehicle 10. .. Alternatively, the speed setting unit 33 may set the target speed of the vehicle 10 so as to give priority to the first target speed over the second target speed. For example, when the first target speed is different from the second target speed, the speed setting unit 33 may set the first target speed as the target speed of the vehicle 10.

Further, the vehicle 10 may be equipped with a plurality of vehicle control systems. For example, together with the vehicle control system 1 according to the above embodiment or modification, a control system that executes emergency avoidance control for the vehicle 10 when it is determined that the vehicle 10 has a risk of colliding with another object is implemented. May be done. In this case, the delay time T delay and the maximum deceleration A in the equation (1) may differ depending on the vehicle control system. Therefore, in this case, the speed setting unit 33 may obtain the target speed for each individual vehicle control system by using the delay time T delay and the maximum deceleration A of each vehicle control system on which the vehicle 10 is mounted. good. Then, the speed setting unit 33 may set the minimum speed among the target speeds of the individual vehicle control systems to the target speed of the vehicle 10 again. As a result, the speed setting unit 33 can reduce the risk of collision between the vehicle 10 and another vehicle traveling in the adjacent lane, regardless of which vehicle control system controls the vehicle 10.

Further, in the above embodiment or a modification, the speed setting unit 33 sets the other vehicle and the vehicle 10 when the distance between the other vehicle and the vehicle 10 that has entered the own lane becomes the safe distance. The target speed of the vehicle 10 may be set so that the absolute value of the relative speed is equal to or less than a predetermined speed difference (for example, 5 km / h to 10 km / h). Even in this case, the inter-vehicle distance between the other vehicle and the vehicle 10 may be temporarily equal to or less than the safe inter-vehicle distance, but the speed setting unit 33 sets the target speed of the vehicle 10 so that the other vehicle and the vehicle 10 do not collide with each other. Can be set.

Furthermore, the vehicle control system according to the above embodiment or modification may be a control system for so-called adaptive cruise control that automatically controls the speed of the vehicle and does not control the steering amount. In this case, the vehicle control unit 34 may control the vehicle 10 so that the vehicle 10 travels according to the target speed set by the speed setting unit 33.

Further, the computer program that realizes the function of the processor 23 of the ECU 6 according to the above embodiment or modification is recorded in a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. May be provided at.

As described above, those skilled in the art can make various changes within the scope of the present invention according to the embodiment.

1 Vehicle control system 10 Vehicle 2 GPS receiver 3 Camera 4 Wireless communication device 5 Storage device 6 Electronic control unit (ECU)
21 Communication interface 22 Memory 23 Processor 31 Detection unit 32 Other vehicle speed measurement unit 33 Speed setting unit 34 Vehicle control unit

Claims (1)

A vehicle control device that controls the speed of a vehicle.
Detects at least one other vehicle traveling in a lane adjacent to the lane in which the vehicle is traveling, based on a sensor signal obtained by a sensor mounted on the vehicle and detecting a situation around the vehicle. With the detector
Another vehicle speed measuring unit that measures the speed of each of the detected at least one other vehicle, and
Even if any one of the at least one other vehicle enters the lane in which the vehicle is traveling based on the respective speeds of the at least one other vehicle, the speed of the vehicle is controlled in accordance with the approach. By doing so, the speed setting for setting the target speed of the vehicle so that the absolute value of the relative speed between the other vehicle and the vehicle becomes equal to or less than the predetermined speed difference before the other vehicle collides with the vehicle. Department and
Vehicle control device with.

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