JP3674316B2 - Travel position determination device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To adjust the lateral position on a course of its own vehicle so that an obstruction around its own vehicle is avoided and the obstruction more forward can be detected. SOLUTION: A course shape ahead is detected by a camera 1 and a distance and a direction to an obstruction ahead are detected by a radar device 2. A its own vehicle lateral position detection part 4 calculates a lateral position of its own vehicle in its own lane from the course shape, an obstruction position detection part 5 detects a position of an obstruction on an adjacent lane inside a curve for its own vehicle lane, a target lateral position calculation part 6 calculates a target lateral position of its own vehicle and an unhidden time target lateral position calculation part 7 decides a target lateral position when the distant part on the lane, where its own vehicle is running, is not hidden and a viewable distance calculation part 8 calculates a viewable distance even though being disturbed by obstruction when it is on the adjacent lane inside the curve but can be viewed through. Then, an appropriate target lateral position selection part 9 selects an appropriate target lateral position and a steering control part 10 controls a steering angle of its own vehicle on the basis of the appropriate target lateral position.

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a traveling position determination device that determines a lateral position on a traveling road and performs automatic control.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, as a travel position determination device that automatically determines and controls the lateral position on a running road, “driving vehicle operation control device” described in Japanese Patent Laid-Open No. 5-3441839, and Japanese Patent Laid-Open No. 6-67725. There are known “autonomous vehicles” and “vehicle trajectory tracking control devices” described in Japanese Patent Laid-Open Nos. 6-300580 and 6-300581. Further, as an obstacle detection device that detects a distance and direction to an obstacle ahead of a running road, a “vehicle obstacle detection device” described in Japanese Patent Application Laid-Open No. Hei 6-282799 is known.
[0003]
[Problems to be solved by the invention]
In the devices disclosed in JP-A-5-341839, JP-A-6-67725, JP-A-6-300580, and JP-A-6-300581, which are known as conventional travel position determination devices, they are detected. A method of traveling along the shape of the forward runway is adopted. However, the target lateral position of the vehicle on the road is uniformly determined. For example, the target on the road of the vehicle according to the presence of surrounding obstacles such as a vehicle traveling on an adjacent lane. It does not control to automatically change the lateral position so that the vehicle travels in the optimal lateral position. For this reason, when there are obstacles around the vehicle, the obstacle for the front view is obstructed by the obstacles, and the obstacles existing at a sufficiently far distance required for the obstacle monitoring are removed. There was a problem that prevented detection.
[0004]
Moreover, in the thing described in Unexamined-Japanese-Patent No. 6-282799 known as the conventional obstacle detection apparatus, when the front runway is curving, if the curve state is a blind corner, it can be looked farther. In this way, a technique for moving a radar device as an obstacle detection means to the outside of a curve has been proposed. However, when trying to realize such a technique by lateral movement of the vehicle itself, it is not calculated at which position in the lane the radar device should be, so when traveling on a continuous curve, There was also a problem that could affect the ride comfort because it would also move to the left and right.
[0005]
Although it is conceivable to extend the obstacle detection range of the radar device to the side, even if the viewing angle is widened, the area hidden by the obstacles in front does not become narrower, so solve the problem. I can't.
[0006]
The present invention has been made in view of such conventional problems, and measures the position of an obstacle around the host vehicle, and determines whether or not the detection of the obstacle in front of the runway is obstructed from the position. If it is determined that the vehicle is obstructed, the vehicle's lateral position on the track is adjusted so that the obstacle can be detected farther away from the obstacle. An object is to provide a decision device.
[0007]
[Means for Solving the Problems]
The travel position determining device according to the first aspect of the present invention calculates the lateral position of the host vehicle in the host vehicle travel lane from the track shape detecting means for detecting the shape of the forward track and the shape of the track detected by the track shape detecting means. From the vehicle lateral position detection means, the distance measurement means for measuring the distance and direction to the obstacle ahead, the detection result of the runway shape detection means and the measurement result of the distance measurement means, a curve for the own vehicle traveling lane Corresponding to the shape of the road by referring to a pre-registered table from the information of the road shape detected by the road shape detecting means and the obstacle position detecting means for detecting the position of the obstacle on the inner adjacent driving lane The target lateral position calculating means for calculating the target lateral position, and the information on the road shape detected by the road shape detecting means, the vehicle should run when the far part of the vehicle lane is not hidden. When there is an obstacle on the driving lane inside the curve, the information on the road shape detected by the road shape detecting means when the target horizontal position is not hidden when determining the target horizontal position in the row lane, From the detection result of the obstacle position detection means and the calculation result of the vehicle lateral position detection means, the line-of-sight calculation means for calculating the line-of-sight distance ahead of the vehicle lane and the line-of-sight distance calculation means Based on the line-of-sight distance, the target lateral position calculated by the target lateral position calculating means or the target lateral position without the hide calculated by the target lateral position calculating means without the hide is selected and output as the appropriate target lateral position. The steering amount of the host vehicle is determined using the position selection unit, the host vehicle lateral position calculated by the host vehicle lateral position detection unit, and the appropriate target lateral position output by the appropriate target lateral position selection unit. It is obtained by a steering control means for controlling the angular.
[0008]
In the travel position determination device according to the first aspect of the present invention, the shape of the road ahead of the host vehicle is detected by the road shape detecting means, and the distance to each of one or more obstacles such as a vehicle traveling in front of the host vehicle is determined. The direction is detected by a distance measuring means. Then, the vehicle lateral position detection means calculates the vehicle lateral position in the vehicle lane from the shape of the road detected by the road shape detection means, and the obstacle position detection means detects the detection result and distance of the road shape detection means. From the measurement result of the measuring means, the position of the obstacle on the adjacent traveling lane inside the curve with respect to the own vehicle traveling lane is detected.
[0009]
Then, the target lateral position calculating means calculates the target lateral position corresponding to the shape of the running road with reference to a pre-registered table from the information on the running road shape detected by the running road shape detecting means (for example, the curvature of the running road), The target side position calculation means in the travel lane to be traveled when the distant portion of the vehicle traveling lane is not hidden from the information on the road shape detected by the road shape detection means. The position is determined, and the line-of-sight distance calculating means determines the vehicle lane based on the information on the road shape detected by the road shape detecting means, the detection result of the obstacle position detecting means, and the calculation result of the own vehicle lateral position detecting means. When there is an obstacle on the adjacent traveling lane inside the curve, the line-of-sight distance that can be seen while being obstructed by the obstacle is calculated.
[0010]
Then, the appropriate target lateral position selection means calculates the target lateral position calculated by the target lateral position calculation means based on the line-of-sight distance calculated by the line-of-sight calculation means or the target horizontal position calculated without the shadow, Is output as an appropriate target lateral position, and the steering control means uses the own vehicle lateral position calculated by the own vehicle lateral position detection means and the appropriate target lateral position output by the appropriate target lateral position selection means. The steering amount is determined, and the steering angle is controlled.
[0011]
In this way, it is necessary to automatically adjust the lateral position of the vehicle on the driving lane even when there is an obstacle in the adjacent driving lane inside the curve and obstructs the view ahead of the vehicle lane. A view ahead of the vehicle lane is ensured up to the line of sight.
[0012]
The travel position determination device according to the invention of claim 2 calculates the vehicle lateral position in the host vehicle travel lane from the travel path shape detection means for detecting the shape of the forward travel path and the shape of the travel path detected by the travel path shape detection means. From the vehicle lateral position detection means, the distance measurement means for measuring the distance and direction to the obstacle ahead, the detection result of the runway shape detection means and the measurement result of the distance measurement means, a curve for the own vehicle traveling lane Obstacle position detecting means for detecting the position of an obstacle on the inner adjacent traveling lane, and information on the traveling road shape detected by the traveling road shape detecting means when there is an obstacle on the traveling lane inside the curve; The target lateral position calculating means for calculating a target lateral position that allows the front of the host vehicle traveling lane to be seen only by the required line-of-sight distance from the detection result of the obstacle position detecting means and the calculation result of the host vehicle lateral position detecting means. The target lateral position at the time of non-hiding is determined from the information on the traveling path shape detected by the traveling path shape detecting means, when the far side portion of the host vehicle traveling lane is not hidden, and the target lateral position in the traveling lane to be traveled is determined. When there is an obstacle on the running lane inside the curve, the calculation means, the information on the road shape detected by the road shape detection means, the detection result of the obstacle position detection means, and the vehicle lateral position Based on the calculation result of the detection means, the line-of-sight calculation means for calculating the line-of-sight distance ahead of the vehicle lane, and the target lateral position calculated by the target horizontal position calculation means based on the line-of-sight distance calculated by the line-of-sight distance calculation means Appropriate target lateral position selecting means for selecting the position or the target lateral position without the hide calculated by the target lateral position calculating means without the hide and outputting it as the appropriate target lateral position; A steering control means for determining a steering amount of the own vehicle by using the lateral position calculated by the position detection means and the appropriate target lateral position output by the appropriate target lateral position selection means, and for controlling the steering angle. Is.
[0013]
In the travel position determination device according to the second aspect of the present invention, the shape of the travel path ahead of the host vehicle is detected by the travel path shape detecting means, and the distance to each of one or more obstacles such as a vehicle traveling in front of the host vehicle is determined. The direction is detected by a distance measuring means. Then, the vehicle lateral position detection means calculates the vehicle lateral position in the vehicle lane from the shape of the road detected by the road shape detection means, and the obstacle position detection means detects the detection result and distance of the road shape detection means. From the measurement result of the measuring means, the position of the obstacle on the adjacent traveling lane inside the curve with respect to the own vehicle traveling lane is detected.
[0014]
When the target lateral position calculating means has an obstacle on the running lane inside the curve, the information on the road shape detected by the road shape detecting means, the detection result of the obstacle position detecting means, and the vehicle lateral position detecting means Based on the calculation result, the target lateral position that can be seen through the front lane of the host vehicle lane by the required line-of-sight is calculated, and the target lateral position calculation means when no hiding is calculated from the information on the track shape detected by the track shape detection means. Determines the target lateral position when there is no hide in the travel lane to be traveled when the distant part of the travel lane is not concealed, and the line-of-sight calculation means detects information on the road shape detected by the road shape detection means and the obstacle From the detection result of the object position detection means and the calculation result of the own vehicle lateral position detection means, if there is an obstacle on the adjacent traveling lane inside the curve of the own vehicle traveling lane, To calculate the sight distance that can be seen through.
[0015]
Then, the appropriate target lateral position selection means calculates the target lateral position calculated by the target lateral position calculation means based on the line-of-sight distance calculated by the line-of-sight calculation means or the target horizontal position calculated without the shadow, Is output as an appropriate target lateral position, and the steering control means uses the own vehicle lateral position calculated by the own vehicle lateral position detection means and the appropriate target lateral position output by the appropriate target lateral position selection means. The steering amount is determined, and the steering angle is controlled.
[0016]
In this way, it is necessary to automatically adjust the lateral position of the vehicle on the driving lane even when there is an obstacle in the adjacent driving lane inside the curve and obstructs the view ahead of the vehicle lane. A view ahead of the vehicle lane is ensured up to the line of sight.
[0017]
According to a third aspect of the present invention, there is provided a travel position determination device that includes a travel path shape detection unit that detects a shape of a forward travel path, a host vehicle speed sensor that detects a host vehicle speed, and a host vehicle traveling from the shape of the travel path detected by the travel path shape detection unit. From the own vehicle lateral position detecting means for calculating the own vehicle lateral position in the lane, the own vehicle speed detected by the own vehicle speed sensor, and the own vehicle lateral position calculated by the own vehicle lateral position detecting means, Based on the measurement result of the next vehicle position estimating means for estimating the vehicle lateral position, the distance measuring means for measuring the distance and direction to the obstacle in front, and the measurement result of the distance measuring means, the moving speed of the obstacle in front is determined. Based on the obstacle movement speed calculation means to be calculated, the detection result of the road shape detection means, the measurement result of the distance measurement means, and the calculation result of the obstacle movement speed calculation means, the adjacent inside of the curve at the next measurement Of obstacles on the driving lane The next obstacle position estimating means for estimating the position and the target lateral position for calculating the target lateral position corresponding to the shape of the running road with reference to a pre-registered table from the information on the running road shape detected by the running road shape detecting means From the position calculation means and the information on the road shape detected by the road shape detection means, the target lateral position in the driving lane to be driven when the far part of the host vehicle driving lane is not hidden is determined. When there is an obstacle on the driving lane inside the curve, the information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, From the estimation result of the next vehicle position estimation unit, a line-of-sight calculation unit that calculates a line-of-sight distance ahead of the vehicle lane at the time of the next measurement and a view calculated by the line-of-sight calculation unit A target lateral position calculated by the target lateral position calculating means or a target lateral position without the hide calculated by the target lateral position calculating means based on the distance, and output as an appropriate target lateral position. A steering amount of the host vehicle is determined using a position selection unit, the host vehicle lateral position calculated by the host vehicle lateral position detection unit, and an appropriate target lateral position output by the appropriate target lateral position selection unit, and a steering angle is determined. And a steering control means for controlling.
[0018]
In the travel position determining device of the invention of claim 3, the shape of the road ahead of the host vehicle is detected by the road shape detecting means, and the distance to each of one or more obstacles such as a vehicle traveling in front of the host vehicle is determined. The direction is detected by the distance measuring means, and the host vehicle speed is detected by the host vehicle speed sensor. Then, the own vehicle lateral position detecting means calculates the own vehicle lateral position in the own vehicle traveling lane from the shape of the traveling road detected by the traveling road shape detecting means, and the next own vehicle position estimating means detects the own vehicle speed detected by the own vehicle speed sensor. The vehicle lateral position at the next measurement is estimated from the vehicle lateral position calculated by the vehicle lateral position detection means. In addition, the obstacle moving speed calculating means calculates the moving speed of the obstacle ahead based on the measurement result of the distance measuring means, and the next obstacle position estimating means measures the detection result of the road shape detecting means and the distance measuring means. The position of the obstacle on the adjacent traveling lane inside the curve at the next measurement is estimated from the result and the calculation result of the obstacle moving speed calculation means.
[0019]
Then, the target lateral position calculating means calculates the target lateral position corresponding to the shape of the running road with reference to a pre-registered table from the information on the running road shape detected by the running road shape detecting means (for example, the curvature of the running road), The target side position calculation means in the travel lane to be traveled when the distant portion of the vehicle traveling lane is not hidden from the information on the road shape detected by the road shape detection means. The position is determined, and further, the line-of-sight calculation means travels inside the curve from the information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, and the estimation result of the next vehicle position estimation means. When there is an obstacle on the lane, the line-of-sight distance that can be seen at the next measurement while being obstructed by the obstacle is calculated.
[0020]
Then, the appropriate target lateral position selection means calculates the target lateral position calculated by the target lateral position calculation means based on the line-of-sight distance calculated by the line-of-sight calculation means or the target horizontal position calculated without the shadow, Is output as an appropriate target lateral position, and the steering control means uses the own vehicle lateral position calculated by the own vehicle lateral position detection means and the appropriate target lateral position output by the appropriate target lateral position selection means. The steering amount is determined, and the steering angle is controlled.
[0021]
In this way, it is necessary to automatically adjust the lateral position of the vehicle on the driving lane even when there is an obstacle in the adjacent driving lane inside the curve and obstructs the view ahead of the vehicle lane. A view ahead of the vehicle lane is ensured up to the line of sight. In addition, an appropriate lateral position is determined in consideration of the vehicle position at the time of the next measurement and the position of the obstacle, and more appropriate steering control is performed by performing steering control.
[0022]
According to a fourth aspect of the present invention, there is provided a travel position determining apparatus comprising: a travel path shape detecting unit that detects a shape of a forward travel path; a host vehicle speed sensor that detects a host vehicle speed; and a travel of the host vehicle based on the path shape detected by the travel path shape detecting unit. From the own vehicle lateral position detecting means for calculating the own vehicle lateral position in the lane, the own vehicle speed detected by the own vehicle speed sensor, and the own vehicle lateral position calculated by the own vehicle lateral position detecting means, Based on the measurement result of the next vehicle position estimating means for estimating the vehicle lateral position, the distance measuring means for measuring the distance and direction to the obstacle in front, and the measurement result of the distance measuring means, the moving speed of the obstacle in front is determined. Based on the obstacle movement speed calculation means to be calculated, the detection result of the road shape detection means, the measurement result of the distance measurement means, and the calculation result of the obstacle movement speed calculation means, the adjacent inside of the curve at the next measurement Of obstacles on the driving lane The next obstacle position estimating means for estimating the position, and when there is an obstacle on the running lane inside the curve, the information on the road shape detected by the road shape detecting means, and the next obstacle position estimating means From the estimation result and the estimation result of the next vehicle position estimation means, a target lateral position calculation means for calculating a lateral position where the front of the vehicle traveling lane can be seen through only a necessary line-of-sight distance at the time of the next measurement, From the detected information on the shape of the road, when the distant portion of the vehicle lane is not hidden, the target lateral position calculation means for determining the target lateral position in the traveling lane to be traveled, and the inside of the curve Information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, and the next vehicle position estimation. From the estimation result of the stage, the line-of-sight calculation means for calculating the line-of-sight distance ahead of the vehicle lane at the time of the next measurement, and the calculation of the target lateral position calculation means based on the line-of-sight distance calculated by the line-of-sight distance calculation means An appropriate target lateral position selecting unit that selects the target lateral position calculated without the hide and the target lateral position calculated without the hide and outputs it as the appropriate target lateral position; and Steering control means for determining the steering amount of the own vehicle by using the calculated own vehicle lateral position and the appropriate target lateral position output from the appropriate target lateral position selection means and controlling the steering angle is provided.
[0023]
In the traveling position determination device of the invention of claim 4, the shape of the traveling road ahead of the host vehicle is detected by the traveling road shape detecting means, and the distance to each of one or a plurality of obstacles such as a vehicle traveling in front of the host vehicle; The direction is detected by the distance measuring means, and the host vehicle speed is detected by the host vehicle speed sensor. Then, the own vehicle lateral position detecting means calculates the own vehicle lateral position in the own vehicle traveling lane from the shape of the traveling road detected by the traveling road shape detecting means, and the next own vehicle position estimating means detects the own vehicle speed detected by the own vehicle speed sensor. The vehicle lateral position at the next measurement is estimated from the vehicle lateral position calculated by the vehicle lateral position detection means. In addition, the obstacle moving speed calculating means calculates the moving speed of the obstacle ahead based on the measurement result of the distance measuring means, and the next obstacle position estimating means measures the detection result of the road shape detecting means and the distance measuring means. The position of the obstacle on the adjacent traveling lane inside the curve at the next measurement is estimated from the result and the calculation result of the obstacle moving speed calculation means.
[0024]
Then, the target lateral position calculation means detects an obstacle on the driving lane inside the curve from the information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, and the estimation result of the next vehicle position estimation means. When there is an object, calculate the lateral position that can be seen through the front of the vehicle lane at the time of the next measurement for the necessary line-of-sight distance, and the target lateral position calculation means when no hide is detected from the information on the road shape detected by the road shape detection means, Information on the track shape detected by the track shape detection means is determined by determining the target lateral position in the travel lane when no distant portion of the host vehicle lane is hidden and determining whether the target lateral position is within the travel lane. From the estimation result of the next obstacle position estimation means and the estimation result of the next vehicle position estimation means, if there is an obstacle on the driving lane inside the curve, To calculate the sight distance that can be seen through at the time of measurement.
[0025]
Then, the appropriate target lateral position selection means calculates the target lateral position calculated by the target lateral position calculation means based on the line-of-sight distance calculated by the line-of-sight calculation means or the target horizontal position calculated without the shadow, Is output as an appropriate target lateral position, and the steering control means uses the own vehicle lateral position calculated by the own vehicle lateral position detection means and the appropriate target lateral position output by the appropriate target lateral position selection means. The steering amount is determined, and the steering angle is controlled.
[0026]
In this way, it is necessary to automatically adjust the lateral position of the vehicle on the driving lane even when there is an obstacle in the adjacent driving lane inside the curve and obstructs the view ahead of the vehicle lane. A view ahead of the vehicle lane is ensured up to the line of sight. In addition, an appropriate lateral position is determined in consideration of the vehicle position at the time of the next measurement and the position of the obstacle, and more appropriate steering control is performed by performing steering control.
[0027]
According to a fifth aspect of the present invention, in the travel position determination device according to the second or fourth aspect, the target lateral position calculation means uses a value registered in advance as the required line-of-sight distance, and thus, A target lateral position that can detect obstacles far away by a certain distance is determined, and the traveling position of the vehicle is controlled so as to coincide with this as much as possible.
[0028]
According to a sixth aspect of the present invention, in the travel position determining apparatus according to the second or fourth aspect, the target lateral position calculating unit measures the distance to the obstacle on the immediately preceding vehicle lane measured by the distance measuring unit. Is used as the required line-of-sight distance, and the distance to the obstacles that are present in front of the vehicle's driving lane and to which attention should be paid is determined as the line-of-sight line, and the vehicle's By controlling the running position, unnecessary steering control is reduced.
[0029]
According to a seventh aspect of the present invention, in the travel position determining apparatus according to the second or fourth aspect, the target lateral position calculating means stores a required line-of-sight distance corresponding to the host vehicle speed as a table and detected by the host vehicle speed sensor. The required line-of-sight distance is determined based on the speed of the vehicle against the table, and the lateral position that allows you to see the front for the required distance during the current run is determined as the target lateral position, and the vehicle is matched to this as much as possible. By controlling the travel position, unnecessary steering control is reduced.
[0030]
The invention of claim 8 is the travel position determination device according to any one of claims 1 to 7, wherein the target lateral position calculation means compares the calculated target lateral position with the lateral width of the host vehicle travel lane, Thus, the vehicle is automatically steered so as to travel in the vehicle lane.
[0031]
The invention of claim 9 is the travel position determination device according to any one of claims 1 to 8, further comprising a steering angle sensor for detecting a steering angle of the host vehicle, the host vehicle speed detected by the host vehicle speed sensor, and the Based on the steering angle detected by the steering angle sensor, a maximum steering angle determination means for determining an allowable maximum steering angle, a host vehicle speed detected by the host vehicle speed sensor, and a maximum steering angle determined by the maximum steering angle determination means And a movable lateral position calculating means for calculating a lateral position that can be moved up to the next measurement time based on the steering by the target lateral position calculating means, wherein the target lateral position calculating means includes the target lateral position and the maximum movable lateral position. Whichever is smaller is output as the final target lateral position.
[0032]
In the travel position determining device according to the ninth aspect of the present invention, the maximum steering angle determining means calculates the maximum allowable steering angle that can be steered without difficulty from the current steering angle and the own vehicle speed, and further the movable lateral position calculating means. When the vehicle is steered at this maximum allowable steering angle, the lateral position of the vehicle that can move by the next measurement is calculated and provided to the target lateral position calculating means. Therefore, when determining the target lateral position, the target lateral position calculating means finally determines the smaller one of the target lateral position determined by the method of any one of claims 1 to 8 and the maximum lateral position that can be moved. Is output as the correct target lateral position. Thus, steering control is performed with the maximum steering amount allowed based on the actual vehicle speed as a limit.
[0033]
A tenth aspect of the present invention is the travel position determining device according to any one of the first to ninth aspects, wherein the appropriate target lateral position selecting unit is set in advance with a line-of-sight distance calculated by the line-of-sight distance calculating unit. The appropriate target lateral position is selected based on the comparison with the distance, and a lateral position that can be seen unnecessarily far is selected to prevent large steering.
[0034]
An eleventh aspect of the present invention is the travel position determination device according to any one of the first to ninth aspects, wherein the appropriate target lateral position selection unit measures the line-of-sight distance calculated by the line-of-sight distance calculation unit by the distance measurement unit. The appropriate target lateral position is selected based on a comparison with the distance to the obstacle on the vehicle traveling lane, and a lateral position that can be seen forward by a distance necessary for actual speed control is selected. Thus, a lateral position that can be seen unnecessarily far is selected and large steering is prevented.
[0035]
According to a twelfth aspect of the present invention, in the travel position determination device according to any one of the first to ninth aspects, the appropriate target lateral position selection unit stores a reference distance corresponding to the vehicle speed as a table, and calculates the line-of-sight distance. The appropriate target lateral position is selected based on the comparison between the line-of-sight distance calculated by the vehicle and the reference distance determined by comparing the own vehicle speed detected by the own vehicle speed sensor with reference to the table, and is necessary during the current traveling. By determining the lateral position that can be seen forward by a certain distance as the target lateral position and controlling the traveling position of the host vehicle so as to coincide with this as much as possible, unnecessary steering control is reduced.
[0036]
【The invention's effect】
As described above, according to the first and second aspects of the present invention, even when there is an obstacle in the adjacent traveling lane inside the curve and the visibility ahead of the own vehicle traveling lane is obstructed, By automatically adjusting the lateral position of the vehicle, the lateral position of the host vehicle can be automatically adjusted so that obstacles ahead can be detected up to the required line-of-sight distance. In addition, since the lateral position is adjusted only when the own vehicle needs to avoid hiding by a forward obstacle, frequent lateral movement can be avoided.
[0037]
According to the third and fourth aspects of the present invention, even when there is an obstacle in the adjacent traveling lane inside the curve and the visibility ahead of the own vehicle traveling lane is obstructed, the lateral position of the own vehicle on the traveling lane By automatically adjusting the vehicle position, the lateral position of the vehicle can be automatically adjusted so that obstacles ahead can be detected up to the required line-of-sight distance. Moreover, more appropriate steering control can be performed by determining an appropriate lateral position in consideration of the position of the host vehicle and the position of an obstacle at the next measurement and performing steering control.
[0038]
According to the invention of claim 5, in addition to the effect of the invention of claim 2 or 4, a target lateral position that can detect an obstacle far away by a necessary distance is determined and automatically matched to this as much as possible. The traveling position of the car can be controlled.
[0039]
According to the invention of claim 6, in addition to the effect of the invention of claim 2 or 4, the distance to the obstacle that is present in front of the traveling lane of the own vehicle and is to be noted is determined as the required line-of-sight distance. By controlling the traveling position of the own vehicle so as to match as much as possible, unnecessary steering control can be reduced.
[0040]
According to the invention of claim 7, in addition to the effect of the invention of claim 2 or 4, the lateral position that can be seen forward by a required distance during the current running is determined as the target lateral position, and matches this as much as possible. Thus, by controlling the traveling position of the host vehicle, useless steering control can be reduced.
[0041]
According to the invention of claim 8, in addition to the effect of the invention of any one of claims 1 to 7, it is possible to perform steering control so as to move laterally within the current travel lane of the host vehicle.
[0042]
According to the ninth aspect of the invention, in addition to the effect of any of the first to eighth aspects, more appropriate steering control can be performed with the maximum steering amount allowed based on the actual vehicle speed as a limit.
[0043]
According to the invention of claim 10, in addition to the effect of any of the inventions of claims 1 to 9, it is possible to select a lateral position that can be seen unnecessarily far and to prevent large steering.
[0044]
According to the invention of claim 11, in addition to the effect of any one of the inventions of claims 1 to 9, by selecting a lateral position that can be seen forward by a distance necessary for actual speed control, it is possible to unnecessarily far A lateral position that can be seen is selected, and large steering can be prevented.
[0045]
According to the invention of claim 12, in addition to the effect of any one of the inventions of claims 1 to 9, by selecting the lateral position that can be seen forward by a required distance during the current traveling as the target lateral position, It is possible to select a lateral position that can be seen to a far position and prevent large steering.
[0046]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 shows the configuration of the first embodiment of the present invention. The travel position determination apparatus according to the first embodiment includes a camera 1 that captures the situation in front of the travel path of the host vehicle on which the present apparatus is mounted as a field of view, and a plurality of detection ranges in the horizontal direction. And a radar device 2 that detects the distance and direction from the position of the vehicle to the target when the target is present by searching forward of the runway.
[0047]
The traveling position determination device also performs image processing on the video signal captured by the camera 1 to detect the shape of the left and right road white lines, and detects the lateral position of the own vehicle on the traveling lane. From the output of the position detection unit 4 and the radar device 2 and the output of the runway shape detection unit 3, the front obstacle is separated into an obstacle on the own vehicle lane and an obstacle on the adjacent lane inside the curve described later, In addition, an obstacle position detector 5 for obtaining data on the distance and direction to the obstacle on each lane is provided.
[0048]
The travel position determination device also calculates a target lateral position on the travel lane of the host vehicle using a target table of the travel path shape data detected by the travel path shape detection unit 3 and the lateral position with respect to the travel path shape stored in advance. The target lateral position calculation unit 6, the target lateral position calculation unit 7 for calculating the target lateral position when there is no visual disturbance due to an obstacle on the adjacent lane, and the maximum line-of-sight distance in the current driving state are calculated. An appropriate target lateral position selection unit 9 is provided that selects between the line-of-sight distance calculation unit 8, the output of the target lateral position calculation unit 6, and the output of the target lateral position calculation unit 7 when no hiding.
[0049]
The traveling position determination device further obtains a necessary steering angle based on a comparison between the vehicle lateral position detected by the vehicle lateral position detection unit 4 and the appropriate target lateral position determined by the appropriate target lateral position selection unit 9, A speed control unit 11 is provided that controls the speed of the host vehicle based on the distance between the steering control unit 10 that controls the angle and the obstacle ahead of the host vehicle on the travel lane determined by the obstacle position detection unit 5.
[0050]
Next, the operation of the travel position determining device according to the first embodiment having the above-described configuration will be described. FIG. 2 is a flowchart for explaining the processing operation of the travel position determining apparatus shown in FIG. The traveling position determination device repeatedly executes the processing shown in the flowchart of FIG.
[0051]
The camera 1 captures the situation of the front road in the field of view including the adjacent lanes and inputs it to the road shape detector 3 (step S1).
[0052]
In parallel with this, the radar device 2 measures the distance to the target ahead of the host vehicle (step S2). The radar apparatus 2 has a plurality of measurement areas in the horizontal direction, and measures distance data for each area. The measured distance data is stored together with the direction of the measurement area.
[0053]
The road shape detection unit 3 extracts the left and right road white lines from the image of the forward road by the camera 1, and approximates the road shape by the function x = f (z) (step S3). Here, x is the horizontal position of the white line, and z is the vertical forward distance. The road shape detection unit 3 uses the detected road shape data as the vehicle lateral position detection unit 4, the obstacle position detection unit 5, the target lateral position calculation unit 6, the target lateral position calculation unit 7 without hiding and the line-of-sight distance calculation unit 8. Output to. The own vehicle position detection unit 4 calculates the actual lateral position in the traveling lane of the own vehicle from the detected function of the road shape, and outputs it to the line-of-sight distance calculation unit 8 and the steering control unit 10 (step S4). For example, if the lateral position of the host vehicle is determined as the distance from the center of the reference road, the value of x when z = 0 in the approximate function f (z) of the road shape is f (0). The position x1 is x1 = −f (0).
[0054]
Further, the obstacle position detection unit 5 performs coordinate conversion of where the obstacle is on the map coordinates from the distance and direction data from the radar apparatus 2 and the mounting position of the radar apparatus 2 (step S5). That is, as shown in FIG. 3, the obstacle distance and direction coordinates (r, θ) are converted into map coordinates (x, z).
[0055]
Then, based on the road shape function f (z) and the obstacle position detection data, the obstacle on the driving lane of the vehicle and the obstacle on the adjacent lane inside the curve when the road is curved Classify (step S6). For this purpose, the width of the road shape function f (z) set in advance at the distance point z measured by the coordinate-converted radar device 2 is taken, and if the data exists within the road width, the own vehicle Classify as an obstacle on the lane. For example, in the case of a right curve as shown in FIG. 4, the width wz corresponding to the road width preset in the function x = f (z) of the road shape is taken to the left and right, and data (x, z ) Is classified as an obstacle inside the curve. On the other hand, if it is a left curve, the width of the road width set in advance in the function f (z) of the road shape is taken, and data on the left side is classified as an obstacle inside the curve.
[0056]
Subsequently, it is determined whether or not the avoidance process is executed based on whether or not an obstacle is detected inside the curve (step S7). If no obstacle is detected inside the curve, the process proceeds to step S8. If an obstacle inside the curve is classified in step S6, the process proceeds to step S9.
[0057]
When no obstacle is detected on the inside of the curve, the target lateral position calculation unit 7 without hide is set to the target lateral position TH3 (for example, the center point 0.0 m of the own vehicle traveling lane) as the target lateral position. x01 is set, and the appropriate target lateral position selector 9 determines this set target as the target lateral position x00 (step S8).
[0058]
When an obstacle is detected inside the curve, the line-of-sight distance calculation unit 8 selects the obstacle data inside the curve having the direction close to 0 as shown in FIG. Is selected as measurement data, and an equation of a straight line D passing through the map coordinate position (xd, zd) of the measurement data and the vehicle position is calculated. Then, an intersection point E between the equation of the straight line D and the road shape function f (z) is calculated as the farthest measurable position (xm, zm) (step S9).
[0059]
Based on the output (xm, zm) of the line-of-sight distance calculation unit 8, the appropriate target lateral position selection unit 9 compares this with a preset threshold value TH2 (for example, 80m) and compares the distance from the vehicle to the intersection E (line-of-sight). If the distance is longer than the threshold value TH2, it is determined that the avoidance process is not necessary, and the process proceeds to step S8. If it is determined that the avoidance process is necessary, the process proceeds to the subsequent step S11 (step S10).
[0060]
When performing the avoidance process, the target lateral position calculation unit 6 calculates the target lateral position x02 (step S11). In the target lateral position calculation unit 6, the relationship between the track curvature and the target lateral position is stored in advance as a table. This is a table calculated so that the target lateral position is on the outside of the curve as the curvature of the curve of the runway increases. The target lateral position calculation unit 6 calculates the curvature of the curve of the road from the calculated road shape data obtained by the calculated road shape detection unit 3, and calculates the target lateral position x02 in light of the above table (step). S11). The appropriate target lateral position selection unit 9 receives the output from the target lateral position calculation unit 6 and determines this as the target lateral position x00.
[0061]
After the appropriate target lateral position selection unit 9 selects the lateral position TH3 as the appropriate target lateral position x00 in step S8 or the target lateral position x02 as the appropriate target lateral position x00 in step S11, the steering control unit 10 The vehicle's lateral position x1 is compared with the target lateral position x00 output by the appropriate target lateral position selection unit 9, and the steering amount necessary to make the actual lateral position x1 of the vehicle coincide with the target lateral position x00 is calculated. Then, the steering actuator is controlled (step S12).
[0062]
Further, the speed control unit 11 controls the throttle actuator so as to decelerate until reaching the safe inter-vehicle distance according to the distance to the front obstacle on the traveling lane of the own vehicle detected by the obstacle position detecting unit 5 (step S13). ).
[0063]
As described above, in the travel position determination device according to the first embodiment of the present invention, the position of the surrounding obstacle is measured, and detection of the front obstacle on the travel lane of the own vehicle is obstructed from the position. If the vehicle is obstructed, the target lateral position of the host vehicle is determined using a table stored in advance from the curvature of the road shape, and the actual lateral position of the host vehicle is the target lateral position. Since the steering control is made to match the vehicle, the lateral position can be changed only when the host vehicle needs to avoid hiding by the front obstacle, preventing frequent lateral movement, The comfort can be improved.
[0064]
Next, a travel position determining apparatus according to a second embodiment of the present invention will be described with reference to FIG. The travel position determination apparatus of the second embodiment shown in FIG. 7 includes a target lateral position calculation unit 60 instead of the target lateral position calculation unit 6 in the first embodiment shown in FIG. Features.
[0065]
The target lateral position calculation unit 6 in the first embodiment uniquely determines the target lateral position with respect to the curvature of the curve of the forward running road, but the target lateral position calculation adopted in the present embodiment. The unit 60 includes the shape of the forward road detected by the road shape detector 3, the distance and direction data detected by the obstacle position detector 5, and the vehicle position determined by the vehicle lateral position detector 4. The target lateral position is calculated from the actual lateral position so that the radar apparatus 2 can see through only the necessary line-of-sight distance. The configuration of other parts is the same as that of the first embodiment shown in FIG.
[0066]
Next, the operation of the travel position determining apparatus according to the second embodiment having the above-described configuration will be described with reference to the flowchart of FIG. 8 and the explanatory diagrams of FIGS. The travel position determination apparatus according to the second embodiment repeatedly executes the process shown in the flowchart of FIG. First, the camera 1 takes a picture of the front road condition (step S1).
[0067]
The radar device 2 measures the distance and direction to the target existing in front of the host vehicle (step S2).
[0068]
The runway shape detection unit 3 extracts left and right road white lines, and approximates the runway shape with a function x = f (z) (step S3).
[0069]
The own vehicle position detection unit 4 calculates an actual lateral position in the traveling lane of the own vehicle from the function f (z) of the traveling road shape (step S4). For example, if the lateral position of the host vehicle is determined as the distance from the center of the reference road, the value of x when z = 0 in the approximate function f (z) of the road shape is f (0). The position x1 is x1 = −f (0).
[0070]
The obstacle position detection unit 5 performs coordinate conversion of where the obstacle is on the map coordinates from the distance and direction data from the radar apparatus 2 and the mounting position of the radar apparatus 2. That is, as shown in FIG. 3, the obstacle distance and direction coordinates (r, θ) are converted into map coordinates (x, z) (step S5).
[0071]
The obstacle position detection unit 5 is based on the above-described function f (z) of the road shape and the detection data of the position of the obstacle by the obstacle position detection unit 5, as shown in FIG. The obstacle on the adjacent lane inside the curve in the case where the upper obstacle and the road are curved are classified (step S6).
[0072]
Subsequently, it is determined whether or not the avoidance process is executed based on whether or not an obstacle is detected inside the curve. If no obstacle is detected inside the curve, the process proceeds to step S8. If the obstacle is classified, the process proceeds to step S9 (step S7).
[0073]
When no obstacle is detected on the inside of the curve, the target lateral position calculation unit 7 without blurring sets the preset target lateral position TH3 as the target lateral position x01, and the appropriate target lateral position selection unit 9 The set target is determined as the target lateral position x00 (step S8).
[0074]
When an obstacle is detected inside the curve, as shown in FIG. 5, the line-of-sight distance calculation unit 8 sets the obstacle data inside the curve that has a direction close to 0 to the outermost side of the curve on the inner lane. Is selected as measurement data, and an equation of a straight line D passing through the map coordinate position (xd, zd) of the measurement data and the vehicle position is calculated. Then, an intersection point E between the equation of the straight line D and the road shape function f (z) is calculated as the farthest measurable position (xm, zm) (step S9).
[0075]
The appropriate target lateral position selection unit 9 compares the output (xm, zm) of the line-of-sight distance calculation unit 8 with a threshold TH2 (for example, 80 m), and the distance from the own vehicle to the intersection E (xm, zm) is less than the threshold TH2. If it is longer, it is determined that the avoidance process is not necessary, and the target lateral position TH3 output by the target lateral position calculation unit 7 when there is no hide is selected as the target lateral position (branch to NO), and the intersection E (xm, zm) If the distance to is shorter than the threshold value TH2, it is determined that an avoidance process is necessary, and the process proceeds to subsequent steps S11 and subsequent steps (step S10).
[0076]
The processes from step S1 to step S10 described above are the same as those in the first embodiment shown in FIG.
[0077]
Next, the processing of steps S11-1 to S11-6, which is a feature of the second embodiment, will be described. As shown in FIG. 6, the target lateral position calculation unit 60 sets a point H (xth2, zth2) on the track shape function f (z) at the farthest distance TH2 of the target that the radar device 2 wants to detect. An equation of a straight line G passing through H and the position C (xd, zd) of the obstacle located on the outermost side in the inner lane is calculated (step S11-1).
[0078]
Subsequently, the intercept F of the straight line G with the X axis is calculated as the target lateral position x0. Since the actual lateral position of the host vehicle is x1, the distance xmax to which the host vehicle should be moved laterally in order to measure up to the target farthest distance TH2 is xmax = x0−x1 (step S11-2). ).
[0079]
Next, the appropriate target lateral position selection unit 9 performs the processes of Steps S11-3 to S6 to select the appropriate target lateral position when the avoidance process is necessary. First, it is determined in step S11-3 that the inner side protrudes, and if the calculated xmax is smaller than a set threshold TH4 (for example, -0.9), it is determined that the own vehicle protrudes the inner white line of the traveling lane, and the appropriate target lateral position is determined. Is set as a setting threshold TH4 (step S11-4). If it is determined in step S11-3 that there is no inner protrusion, the process proceeds to step S11-5, and the outer protrusion is determined.
[0080]
In this outside protrusion determination, if the calculated xmax is larger than the set threshold value TH5 (for example, 0.9), it is determined that the vehicle protrudes from the outside white line of the traveling lane, and the setting threshold value TH5 is set as the appropriate target lateral position ( Step S11-5).
[0081]
If the calculated xmax does not exceed either the inner white line or the outer white line of the driving lane, the xmax calculated by the target lateral position calculating unit 60 is selected as the appropriate target lateral position (branch to NO in step S11-5). ).
[0082]
The appropriate target lateral position selection unit 9 sets the horizontal position TH3 in step S8, the target lateral position TH4 in step S11-4, the target lateral position TH5 in step S11-6, or xmax calculated by the target lateral position calculation unit 60. Is selected as the appropriate target lateral position x00, this is transferred to the steering control unit 10. The steering control unit 10 compares the actual lateral position x1 of the own vehicle with the target lateral position x00 output from the appropriate target lateral position selection unit 9, and matches the actual lateral position x1 of the own vehicle with the target lateral position x00. The steering amount required for the calculation is calculated and the steering actuator is controlled (step S12).
[0083]
Further, the speed control unit 11 controls the throttle actuator so as to decelerate until reaching the safe inter-vehicle distance according to the distance to the front obstacle on the traveling lane of the own vehicle detected by the obstacle position detecting unit 5 (step S13). ).
[0084]
In this way, in the travel position determination device according to the second embodiment of the present invention, the position of the surrounding obstacle is measured, and detection of the front obstacle on the travel lane of the own vehicle is obstructed from that position. If the vehicle is obstructed, steering control is performed to move the lateral position of the vehicle to a position where an obstacle can be detected farther than the current driving lane does not protrude. Only when the vehicle needs to avoid hiding by a front obstacle, the lateral position can be changed, frequent lateral movement can be prevented, and in addition, distance measurement can be performed far away. Obstacles farther away on the runway can be detected earlier, smoother speed control is possible, and riding comfort can be improved.
[0085]
Next, a travel position determining apparatus according to a third embodiment of the present invention will be described with reference to FIGS. Usually, the travel position determination device controls the lateral position of the vehicle on the travel path in relation to an obstacle detected in front of the travel path every predetermined cycle. In the third embodiment, the previous detection result The present invention is characterized in that it has a function of performing the next control based on the control processing result.
[0086]
That is, as shown in FIG. 9, the travel position determination device of the present embodiment has a vehicle speed sensor 12 that detects the vehicle speed in addition to the same configuration as the second travel position determination device shown in FIG. 7. Based on the output of the own vehicle speed sensor 12, the output of the traveling road shape detection unit 3, and the output of the own vehicle lateral position detection unit 4, the next own vehicle for estimating the own vehicle position on the traveling lane at the next own vehicle position measurement. The position estimation unit 13, the obstacle movement speed detection unit 14 that detects the obstacle movement speed based on the output of the radar device 2 that detects the obstacle, and the output of the obstacle position detection unit 5 and the obstacle movement speed detection unit 14 The next obstacle position estimator 15 for estimating the position of the obstacle at the time of the next measurement is provided. Further, in place of the target lateral position calculation unit 60 and the line-of-sight distance calculation unit 8 of the second embodiment, a target lateral position calculation unit 61 and a line-of-sight distance calculation unit 81 are provided.
[0087]
The target lateral position calculation unit 61 determines the shape of the forward road detected by the road shape detection unit 3, the vehicle position at the next measurement estimated by the next vehicle position estimation unit 13, and the estimation by the next obstacle position estimation unit 15. From the information on the position of the obstacle at the time of the next measurement, the target lateral position of the vehicle that can be seen through a preset distance is calculated. Similarly, the line-of-sight distance calculation unit 81 calculates the maximum line-of-sight distance in the next measurement from the output of the road shape detection unit 3, the output of the next vehicle position estimation unit 13, and the output of the next obstacle position estimation unit 15. To do. Then, the appropriate target lateral position selection unit 9 adopts the current driving situation from the output of the target lateral position calculation unit 61, the output of the target lateral position calculation unit 7 without hiding and the output of the line-of-sight distance calculation unit 81. The optimum target lateral position is selected and output to the steering control unit 10.
[0088]
Next, the operation of the travel position determining apparatus according to the third embodiment having the above-described configuration will be described based on the flowchart of FIG. 10 and the explanatory diagrams of FIGS. 11 and 12. The travel position determining apparatus according to the third embodiment repeatedly executes the process shown in the flowchart of FIG. First, the situation of the forward running road is photographed by the camera 1 (step S1), and at the same time, the distance and direction to the target existing in front of the host vehicle are measured by the radar device 2 (step S2). The runway shape detection unit 3 extracts left and right road white lines, and approximates the runway shape with a function x = f (z) (step S3). The processes in steps S1 to S3 are the same as those in the first and second embodiments.
[0089]
Subsequently, as a feature of the third embodiment, the current host vehicle speed sensor 12 detects the current host vehicle speed (step S4-1). Then, the next vehicle position estimation unit 13 estimates the position coordinates (xn, zn) of the vehicle at the next measurement from the processing cycle of the travel position determination device and the detected vehicle speed. The next vehicle position estimator 13 further determines the lateral position in the vehicle lane at the time of the next measurement from the shape function of the left and right white lines of the lane detected by the road shape detector 3 and the next vehicle estimated position. Is calculated (step S4-2). For example, if this lateral position is the distance from the center of the reference road, the next horizontal position x1 is calculated from the value of x (= f (zn)) when z = zn in the approximate function f (z) of the road shape. Calculated as x1 = f (zn) −xn.
[0090]
Further, the obstacle moving speed detection unit 14 detects the moving speed (distance of the detected object) from the distance and direction data to the obstacle measured by the radar device 2 and the previously measured distance and direction data. Difference value / processing cycle) and direction (difference value of direction data) are detected (step S4-3).
[0091]
Next, the obstacle position estimation unit 15 determines the current position of the obstacle obtained by the obstacle position detection unit 5, the movement speed of the obstacle obtained by the obstacle movement speed detection unit 14, and the runway obtained by the runway shape detection unit 3. From the shape, it is estimated where the obstacle is located at the next measurement on the map coordinates, and coordinate conversion is performed (step S4-4).
[0092]
After these processes, as in the case of the second embodiment, the processes after step S6 are entered (steps S6 to S13). First, the next obstacle position estimation unit 15 uses the estimated next position data of the obstacle and the road shape function, on the adjacent lane inside the curve when the obstacle and the road on the own vehicle are curved. The obstacle is classified (step S6).
[0093]
Subsequently, it is determined whether or not the avoidance process is executed based on whether or not an obstacle is detected inside the curve. If no obstacle is detected inside the curve, the process proceeds to step S8. If the obstacle is classified, the process proceeds to step S9 (step S7).
[0094]
When no obstacle is detected on the inside of the curve, the target lateral position calculation unit 7 without blurring sets the preset target lateral position TH3 as the target lateral position x01, and the appropriate target lateral position selection unit 9 The set target is determined as the target lateral position x00 (step S8).
[0095]
When an obstacle is detected inside the curve, as shown in FIG. 11, the line-of-sight distance calculation unit 81 uses the obstacle data inside the curve based on the data received from the next obstacle position estimation unit 15, Is selected as estimation data that is most outside the curve on the inner lane, the map coordinate position (xd, zd) of the estimation data and the next estimation of the own vehicle given by the next own vehicle position estimation unit 13 An equation of a straight line D passing through the position is calculated. Then, an intersection point E between the equation of the straight line D and the road shape function f (z) is calculated as the farthest measurable position (xm, zm) (step S9).
[0096]
The appropriate target lateral position selection unit 9 compares the output (xm, zm) of the line-of-sight distance calculation unit 81 with a threshold value TH2 (for example, 80 m), and the distance from the next estimated position of the vehicle to the intersection E (xm, zm) is determined. If it is longer than the threshold value TH2, it is determined that no avoidance processing is necessary, and the target lateral position TH3 output by the target lateral position calculation unit 7 when there is no hide is selected as the target lateral position (branch to NO), and the next estimated position of the host vehicle If the distance from to the intersection E (xm, zm) is shorter than the threshold value TH2, it is determined that an avoidance process is necessary, and the process proceeds to subsequent steps S11 and thereafter (step S10).
[0097]
As shown in FIG. 12, the target lateral position calculation unit 61 sets a point H (xth2, zth2) on the track shape function f (z) at the farthest distance TH2 of the target to be detected by the radar device 2, and this point An equation of a straight line G passing through H and the next estimated position C (xd, zd) of the obstacle located on the outermost side in the inner lane is calculated (step S11-1).
[0098]
Subsequently, an intersection F of the straight line G and the straight line z = zn at the next position of the host vehicle is calculated as the target lateral position x0. Since the next estimated lateral position of the host vehicle is x1 (= f (zn) −xn), the distance xmax to move the host vehicle laterally in order to measure up to the target farthest distance TH2 is xmax = x0. -X1 (step S11-2).
[0099]
Next, the appropriate target lateral position selection unit 9 performs the processes of Steps S11-3 to S6 to select the appropriate target lateral position when the avoidance process is necessary. First, it is determined in step S11-3 that the inner side protrudes, and if the calculated xmax is smaller than a set threshold TH4 (for example, -0.9), it is determined that the own vehicle protrudes the inner white line of the traveling lane, and the appropriate target lateral position is determined. Is set as a setting threshold TH4 (step S11-4). If it is determined in step S11-3 that there is no inner protrusion, the process proceeds to step S11-5, and the outer protrusion is determined.
[0100]
In this outside protrusion determination, if the calculated xmax is larger than the set threshold value TH5 (for example, 0.9), it is determined that the vehicle protrudes from the outside white line of the traveling lane, and the setting threshold value TH5 is set as the appropriate target lateral position ( Step S11-5).
[0101]
If the calculated xmax does not exceed either the inner white line or the outer white line of the driving lane, the xmax calculated by the target lateral position calculation unit 61 is selected as the appropriate target lateral position (branch to NO in step S11-5). .
[0102]
The appropriate target lateral position selection unit 9 sets the horizontal position TH3 in step S8, the target lateral position TH4 in step S11-4, the target lateral position TH5 in step S11-6, or xmax calculated by the target lateral position calculation unit 61. Is selected as the appropriate target lateral position x00, this is transferred to the steering control unit 10. The steering control unit 10 compares the next estimated lateral position x1 of the host vehicle with the target lateral position x00 output from the appropriate target lateral position selection unit 9, and matches the next estimated lateral position x1 of the host vehicle with the target lateral position x00. Therefore, the steering amount necessary for this is calculated, and the steering actuator is controlled (step S12).
[0103]
Further, the speed control unit 11 controls the throttle actuator so as to decelerate until reaching the safe inter-vehicle distance according to the distance to the front obstacle on the traveling lane of the own vehicle detected by the obstacle position detecting unit 5 (step S13). ).
[0104]
In this way, in the travel position determination device according to the third embodiment of the present invention, the positions of surrounding obstacles are measured, and the vehicle position and the position of the obstacles at the next measurement are estimated. Judgment is made from the position whether the obstacle detection on the driving lane of the own vehicle is obstructed, and if it is estimated to be obstructed, the obstacle can be detected further in a range not to protrude from the driving lane. Since the steering control is performed to move the lateral position of the vehicle to the position, it is necessary to avoid hiding by the front obstacle based on the positional relationship between the vehicle and the obstacle at the next measurement The lateral position can be changed only when it is judged, frequent lateral movement can be prevented, and in addition, distance can be measured far away, and obstacles farther away on the track of the vehicle can be accelerated. Can be detected easily, and smoother speed control is possible. Next, ride comfort of the improvement can be achieved.
[0105]
Next, a travel position determining apparatus according to a fourth embodiment of the present invention will be described with reference to FIGS. In the fourth embodiment, in addition to the third embodiment shown in FIG. 9, the steering control for adjusting the lateral position of the host vehicle is performed within a range where the steering can be reasonably performed according to the host vehicle speed. It has the feature in the point.
[0106]
As shown in FIG. 13, the travel position determination device of the present embodiment has the same configuration as the third travel position determination device shown in FIG. 9, and a steering angle sensor 16 that detects the steering angle of the host vehicle. The maximum steering angle determination unit 17 that determines the maximum allowable steering angle that can be steered at the current speed without difficulty from the host vehicle speed detected by the host vehicle speed sensor 12 and the steering angle detected by the steering angle sensor 16, and the host vehicle speed sensor 12 The vehicle calculates the lateral position where the vehicle can move by the next measurement when the vehicle is steered at the maximum steering angle in the current speed state from the vehicle speed detected by the vehicle and the maximum steering angle determined by the maximum steering angle determination unit 17 The movable lateral position calculation unit 18 is provided, and the output of the movable lateral position calculation unit 18 is given to the target lateral position calculation unit 62.
[0107]
In this embodiment, the target lateral position calculation unit 62 is provided in place of the target lateral position calculation unit 61 of the third embodiment. The target lateral position calculation unit 62 includes the shape of the forward road detected by the road shape detection unit 3, the vehicle position at the next measurement estimated by the next vehicle position estimation unit 13, and the next obstacle position estimation unit 15. From the estimated position of the obstacle at the time of the next measurement and the newly added movable lateral position of the movable lateral position calculation unit 18, the target lateral position of the vehicle that can be seen through a preset distance is calculated. To do.
[0108]
Next, the operation of the travel position determination device of the fourth embodiment having the above-described configuration will be described based on the explanatory diagrams of FIGS. 11 and 12 and the flowchart of FIG. The travel position determination device according to the fourth embodiment repeatedly executes the process shown in the flowchart of FIG. The processing from step S1 to S4-4 is the same as the processing of the corresponding processing step in the third embodiment.
[0109]
Then, after estimating the next vehicle position and the next obstacle position, the processes of steps S5-1 to S5-3 are performed. In order to do so, first, the maximum steering angle determination unit 17 steers without difficulty in the current speed state from the current steering angle of the host vehicle detected by the steering angle sensor 16 and the current host vehicle speed detected by the host vehicle speed sensor 12. The maximum possible steering angle is determined with reference to a table built in beforehand (steps S5-1 and S5-2). In the table referred to here, comparison data of the maximum steering angle that can be steered from the current steering angle and the traveling speed obtained in advance by experiment is registered.
[0110]
If the maximum rudder angle in the current speed state is determined, the movable lateral position calculation unit 18 uses the maximum rudder angle, the own vehicle speed detected by the own vehicle speed sensor 12, and the measurement cycle to move in the next measurement. The position xs is calculated and output to the target lateral position calculation unit 62 (step S5-3).
[0111]
After these processes, as in the case of the third embodiment, the processes after step S6 are entered (steps S6 to S13). However, the process of step S11-2 ′ executed by the target lateral position calculation unit 62 is slightly different from the process of step S11-2 in the third embodiment, and is as follows.
[0112]
That is, by the processing in step S11-1, as shown in FIG. 12, a point H (xth2, zth2) on the track shape function f (z) at the target farthest distance TH2 to be detected by the radar apparatus 2 is set. Then, an equation of a straight line G passing through this point H and the next estimated position C (xd, zd) of the obstacle located on the outermost side in the inner lane is calculated.
[0113]
Then, an intersection F (x0, zn) between the straight line G and the straight line z = zn at the next position of the host vehicle is calculated by the process of step S11-2 ′. Since the next estimated lateral position of the host vehicle is x1, the distance xmax to which the host vehicle should be moved in the lateral direction in order to measure up to the target farthest distance TH2 is xmax = x0−x1. Subsequently, in step S11-2 ′, it is checked whether or not the absolute value of xmax is larger than the absolute value of the movable lateral position xs given from the movable lateral position calculation unit 18, and xmax is xs. Otherwise, such steering is considered too large and is limited to xmax = xs, which is determined as xmax.
[0114]
Thereafter, the appropriate target lateral position selection unit 9 performs the processing of Steps S11-3 to S6 as in the third embodiment based on the thus determined xmax, and finally selects the appropriate target lateral position x00. This is passed to the steering control unit 10.
[0115]
The steering control unit 10 compares the next estimated lateral position x1 of the host vehicle with the target lateral position x00 output from the appropriate target lateral position selection unit 9, and matches the next estimated lateral position x1 of the host vehicle with the target lateral position x00. Therefore, the steering amount necessary for this is calculated, and the steering actuator is controlled (step S12).
[0116]
Further, the speed control unit 11 controls the throttle actuator to decelerate until the safe inter-vehicle distance is reached according to the distance to the front obstacle on the traveling lane of the own vehicle detected by the obstacle position detection unit 5 (step S13). ).
[0117]
As described above, the travel position determination device according to the fourth embodiment of the present invention has the same effects as those of the third embodiment, and in addition, the lateral position adjustment is performed in consideration of the travel speed of the own vehicle. Therefore, it is possible to control the vehicle to take a lateral position where an obstacle can be monitored farther in a range where the vehicle can move without difficulty.
[0118]
Next, a travel position determining apparatus according to a fifth embodiment of the present invention will be described with reference to FIGS. The feature of the fifth embodiment is that, instead of the target lateral position calculation unit 61 in the configuration of the third embodiment shown in FIG. 9, the runway is the same as in the first embodiment shown in FIG. There is a feature in that a target lateral position calculation unit 6 that uniformly determines a target lateral position based on the curvature of the road shape detected by the shape detection unit 3 is provided. Other configurations are the same as those of the travel position determining apparatus according to the third embodiment shown in FIG.
[0119]
Next, the operation of the fifth embodiment will be described based on the flowchart of FIG. The processing from step S1 to S10 is the same as the processing of the corresponding processing step in the third embodiment shown in FIG. And the process of step S11-S13 is the same as the corresponding process step of 1st Embodiment shown in FIG.
[0120]
Thereby, in the traveling position determination device of the fifth exemplary embodiment, the position of the surrounding obstacle is measured, the own vehicle position and the position of the obstacle at the next measurement are estimated, and the own vehicle position is estimated from these positions. Judgment is made as to whether or not the detection of the front obstacle on the driving lane is obstructed, and if it is estimated to be obstructed, the target lateral position of the own vehicle is determined using a table stored in advance from the curvature of the road shape. Because the steering control is performed so that the actual lateral position of the vehicle on the road matches the target lateral position, the vehicle is moved forward based on the positional relationship between the vehicle and the obstacle at the next measurement. Only when it is necessary to avoid hiding by an obstacle, the lateral position can be changed, frequent lateral movement can be prevented, and riding comfort can be improved.
[0121]
In each of the above embodiments, a value set in advance is used as a method for determining the farthest distance TH2 of the target to be detected by the radar device 2 in the target detection position calculation process of step S11-1 in the flowchart. By doing so, it is possible to determine a lateral position where an obstacle can be detected far away by a necessary distance. However, instead of such a method, the distance measured according to the traveling speed is registered in advance as a table so that the distance necessary to monitor the front obstacle can be changed according to the traveling speed, and the measured traveling For the speed, a method of determining the farthest distance by referring to the table can be adopted, and thereby, a lateral position that can be seen only by a distance necessary for detecting the obstacle and controlling the speed is adopted. Can be calculated, and unnecessary lateral movement can be reduced.
[0122]
As another method, a method of using TH2 as the distance to the obstacle just before the current driving lane can be adopted. Accordingly, it is possible to calculate a lateral position that allows the user to see ahead by a necessary distance during traveling, and to further reduce unnecessary lateral movement.
[0123]
Still further, in the flowcharts showing the processing procedures of the above-described embodiments, the processing steps that can be executed independently of other processing steps are interchanged even if they are listed in the flowchart before and after, The processing may be performed, and the order of the procedures is not fixed.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a configuration of a first exemplary embodiment of the present invention.
FIG. 2 is a flowchart of processing operations according to the embodiment.
FIG. 3 is an explanatory diagram showing a map coordinate relationship between an obstacle position and a runway shape function in the embodiment.
FIG. 4 is an explanatory diagram showing classification of obstacle positions in the road shape function in the embodiment.
FIG. 5 is an explanatory diagram showing calculation processing of a farthest detection position in the embodiment.
FIG. 6 is an explanatory diagram illustrating target lateral position calculation processing according to the second embodiment of the present invention.
FIG. 7 is a block diagram showing a configuration of a second exemplary embodiment of the present invention.
FIG. 8 is a flowchart of the processing operation of the above embodiment.
FIG. 9 is a block diagram showing a configuration of a third exemplary embodiment of the present invention.
FIG. 10 is a flowchart of the processing operation of the embodiment.
FIG. 11 is an explanatory diagram showing calculation processing of the farthest detection position in the embodiment.
FIG. 12 is an explanatory diagram showing target lateral position calculation processing in the embodiment.
FIG. 13 is a block diagram showing a configuration of a fourth embodiment of the present invention.
FIG. 14 is a flowchart of processing operations according to the embodiment.
FIG. 15 is a block diagram showing a configuration of a fifth embodiment of the present invention.
FIG. 16 is a flowchart of the processing operation of the embodiment.
[Explanation of symbols]
1 Camera
2 Radar equipment
3 Runway shape detector
4 Vehicle side position detector
5 Obstacle position detector
6 Target lateral position calculator
60 Target lateral position calculation unit
61 Target lateral position calculation unit
62 Target lateral position calculation unit
7 Target lateral position calculation unit without hide
8 Line-of-sight calculation part
81 Line-of-sight calculation part
9 Proper target lateral position selector
10 Steering control unit
11 Speed controller
12 Vehicle speed sensor
13 Next vehicle position estimation unit
14 Obstacle movement speed detector
15 Next obstacle position estimation part

Claims (12)

Runway shape detection means for detecting the shape of the forward runway;
The vehicle lateral position detection means for calculating the vehicle lateral position in the vehicle lane from the shape of the road detected by the road shape detection means,
Distance measuring means for measuring the distance and direction to the obstacle ahead,
Obstacle position detecting means for detecting the position of the obstacle on the adjacent traveling lane inside the curve with respect to the vehicle traveling lane from the detection result of the traveling road shape detecting means and the measurement result of the distance measuring means,
From the information on the road shape detected by the road shape detection means, a target lateral position calculation means for calculating a target lateral position corresponding to the shape of the road, referring to a pre-registered table;
From the information on the road shape detected by the road shape detection means, the target lateral position in the travel lane to be traveled is determined when the distant portion of the host vehicle travel lane is not hidden. Means,
When there is an obstacle on the running lane inside the curve, the information on the road shape detected by the road shape detection means, the detection result of the obstacle position detection means, and the calculation of the vehicle lateral position detection means From the result, a line-of-sight distance calculating means for calculating a line-of-sight distance ahead of the vehicle lane,
Based on the line-of-sight distance calculated by the line-of-sight distance calculation means, the target horizontal position calculated by the target horizontal position calculation means or the target horizontal position without shadows calculated by the target horizontal position calculation without shadows is selected and an appropriate target is selected. Appropriate target lateral position selection means for outputting as a lateral position;
Steering control means for controlling the steering angle by determining the steering amount of the own vehicle using the own vehicle lateral position calculated by the own vehicle lateral position detecting means and the appropriate target lateral position output by the appropriate target lateral position selecting means. A travel position determination device comprising: Runway shape detection means for detecting the shape of the forward runway;
The vehicle lateral position detection means for calculating the vehicle lateral position in the vehicle lane from the shape of the road detected by the road shape detection means,
Distance measuring means for measuring the distance and direction to the obstacle ahead,
Obstacle position detecting means for detecting the position of the obstacle on the adjacent traveling lane inside the curve with respect to the vehicle traveling lane from the detection result of the traveling road shape detecting means and the measurement result of the distance measuring means,
When there is an obstacle on the running lane inside the curve, the information on the road shape detected by the road shape detection means, the detection result of the obstacle position detection means, and the calculation of the vehicle lateral position detection means From the result, a target lateral position calculating means for calculating a target lateral position that allows the front of the host vehicle lane to be seen only by the required line-of-sight distance;
From the information on the road shape detected by the road shape detection means, the target lateral position in the travel lane to be traveled is determined when the distant portion of the host vehicle travel lane is not hidden. Means,
When there is an obstacle on the running lane inside the curve, the information on the road shape detected by the road shape detection means, the detection result of the obstacle position detection means, and the calculation of the vehicle lateral position detection means From the result, a line-of-sight distance calculating means for calculating a line-of-sight distance ahead of the vehicle lane,
Based on the line-of-sight distance calculated by the line-of-sight distance calculation means, the target horizontal position calculated by the target horizontal position calculation means or the target horizontal position without shadows calculated by the target horizontal position calculation without shadows is selected and an appropriate target is selected. Appropriate target lateral position selection means for outputting as a lateral position;
Steering control means for controlling the steering angle by determining the steering amount of the own vehicle using the own vehicle lateral position calculated by the own vehicle lateral position detecting means and the appropriate target lateral position output by the appropriate target lateral position selecting means. A travel position determination device comprising: Runway shape detection means for detecting the shape of the forward runway;
A vehicle speed sensor for detecting the vehicle speed;
The vehicle lateral position detection means for calculating the vehicle lateral position in the vehicle lane from the shape of the road detected by the road shape detection means,
Next vehicle position estimation means for estimating the vehicle lateral position at the next measurement from the vehicle speed detected by the vehicle speed sensor and the vehicle lateral position calculated by the vehicle lateral position detection means;
Distance measuring means for measuring the distance and direction to the obstacle ahead,
Based on the measurement result of the distance measuring means, obstacle moving speed calculating means for calculating the moving speed of the obstacle ahead,
The position of the obstacle on the adjacent traveling lane inside the curve at the next measurement is estimated from the detection result of the road shape detection means, the measurement result of the distance measurement means, and the calculation result of the obstacle moving speed calculation means. Next obstacle position estimating means to perform,
From the information on the road shape detected by the road shape detection means, a target lateral position calculation means for calculating a target lateral position corresponding to the shape of the road, referring to a pre-registered table;
From the information on the road shape detected by the road shape detection means, the target lateral position in the travel lane to be traveled is determined when the distant portion of the host vehicle travel lane is not hidden. Means,
When there is an obstacle on the driving lane inside the curve, the information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, and the next vehicle position estimation means From the estimation result, a line-of-sight distance calculating means for calculating a line-of-sight distance ahead of the host vehicle lane at the next measurement,
Based on the line-of-sight distance calculated by the line-of-sight distance calculation means, the target horizontal position calculated by the target horizontal position calculation means or the target horizontal position without shadows calculated by the target horizontal position calculation without shadows is selected and an appropriate target is selected. Appropriate target lateral position selection means for outputting as a lateral position;
Steering control means for controlling the steering angle by determining the steering amount of the own vehicle using the own vehicle lateral position calculated by the own vehicle lateral position detecting means and the appropriate target lateral position output by the appropriate target lateral position selecting means. A travel position determination device comprising: Runway shape detection means for detecting the shape of the forward runway;
A vehicle speed sensor for detecting the vehicle speed;
The vehicle lateral position detection means for calculating the vehicle lateral position in the vehicle lane from the shape of the road detected by the road shape detection means,
Next vehicle position estimation means for estimating the vehicle lateral position at the next measurement from the vehicle speed detected by the vehicle speed sensor and the vehicle lateral position calculated by the vehicle lateral position detection means;
Distance measuring means for measuring the distance and direction to the obstacle ahead,
Based on the measurement result of the distance measuring means, obstacle moving speed calculating means for calculating the moving speed of the obstacle ahead,
The position of the obstacle on the adjacent traveling lane inside the curve at the next measurement is estimated from the detection result of the road shape detection means, the measurement result of the distance measurement means, and the calculation result of the obstacle moving speed calculation means. Next obstacle position estimating means to perform,
When there is an obstacle on the driving lane inside the curve, the information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, and the next vehicle position estimation means From the estimation result, a target lateral position calculating means for calculating a lateral position that allows a forward view of the host vehicle lane to be seen only at a necessary line-of-sight distance at the time of next measurement,
From the information on the road shape detected by the road shape detection means, the target lateral position in the travel lane to be traveled is determined when the distant portion of the host vehicle travel lane is not hidden. Means,
When there is an obstacle on the driving lane inside the curve, the information on the road shape detected by the road shape detection means, the estimation result of the next obstacle position estimation means, and the next vehicle position estimation means From the estimation result, a line-of-sight distance calculating means for calculating a line-of-sight distance ahead of the host vehicle lane at the next measurement,
Based on the line-of-sight distance calculated by the line-of-sight distance calculation means, the target horizontal position calculated by the target horizontal position calculation means or the target horizontal position without shadows calculated by the target horizontal position calculation without shadows is selected and an appropriate target is selected. Appropriate target lateral position selection means for outputting as a lateral position;
Steering control means for controlling the steering angle by determining the steering amount of the own vehicle using the own vehicle lateral position calculated by the own vehicle lateral position detecting means and the appropriate target lateral position output by the appropriate target lateral position selecting means. A travel position determination device comprising: In the traveling position determination device according to claim 2 or 4,
The target lateral position calculating means uses a value registered in advance as the required line-of-sight distance. In the traveling position determination device according to claim 2 or 4,
The target lateral position calculation means uses the distance to the obstacle immediately before the vehicle travel lane measured by the distance measurement means as the required line-of-sight distance. In the traveling position determination device according to claim 2 or 4,
The target lateral position calculating means stores a required line-of-sight distance corresponding to the host vehicle speed as a table, and determines the required line-of-sight distance based on the host vehicle speed detected by the host vehicle speed sensor against the table. Decision device. In the traveling position determination device according to any one of claims 1 to 7,
The target lateral position calculation means compares the calculated target lateral position with the lateral width of the host vehicle traveling lane, and restricts it within the lateral width. In the traveling position determination device according to any one of claims 1 to 8,
A steering angle sensor for detecting the steering angle of the host vehicle;
Maximum steering angle determination means for determining an allowable maximum steering angle based on the host vehicle speed detected by the host vehicle speed sensor and the steering angle detected by the steering angle sensor;
A movable lateral position calculating means for calculating a maximum lateral position that can be moved by the next measurement based on the own vehicle speed detected by the own vehicle speed sensor and steering by the maximum steering angle determined by the maximum steering angle determining means; Prepared,
The target lateral position calculating means outputs a smaller one of the target lateral position and the maximum lateral position that can be moved as a final target lateral position. In the traveling position determination device according to any one of claims 1 to 9,
The appropriate target lateral position selecting means selects the appropriate target lateral position based on a comparison between the line-of-sight distance calculated by the line-of-sight distance calculating means and a preset reference distance. . In the traveling position determination device according to any one of claims 1 to 9,
The appropriate target lateral position selection means is based on the comparison of the line-of-sight distance calculated by the line-of-sight distance calculation means with the distance to the obstacle immediately before the vehicle travel lane measured by the distance measurement means. A travel position determination device that selects a lateral position. In the traveling position determination device according to any one of claims 1 to 9,
The appropriate target lateral position selection means stores a reference distance corresponding to the host vehicle speed as a table, and determines the line-of-sight distance calculated by the line-of-sight distance calculation unit and the host vehicle speed detected by the host vehicle speed sensor against the table. The travel position determination device, wherein the appropriate target lateral position is selected based on the comparison with the reference distance.

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