JP5682236B2 - Travel plan generator - Google Patents

Description

  The present invention relates to a travel plan generation device that generates a travel plan for a vehicle.

  As a conventional travel plan generation device, for example, a driving support device as described in Patent Document 1 is known. The driving support device described in Patent Document 1 determines which curve group a curve on the route is classified into when a curve that needs to be decelerated exists on the track of the host vehicle. Then, based on the group information of the road group and the driving history during the road driving, an appropriate value of the driving action pattern to be taken by the driver is estimated, and the driving action of the driver is induced.

JP 2007-133486 A

  However, in the above prior art, the characteristics of the driving behavior pattern are determined for each curve group to which a similar road belongs, so when driving on a road that does not belong to any curve group (no existing data) Cannot extract characteristics of driving behavior patterns. Therefore, when a travel plan is generated for a road having no existing data, the obtained travel plan is significantly different from the driving image of the driver, and the driver may feel uncomfortable.

  An object of the present invention is to provide a travel plan generation device capable of generating a travel plan appropriate for a driver even when traveling on a road without existing data.

The travel plan generation apparatus of the present invention includes a storage unit that stores travel data when a vehicle driven by a driver travels on a plurality of roads having different characteristics including shape, size, and situation, and the travel data stored in the storage unit. Driving feature extraction means for extracting a driver's driving operation characteristic common to a plurality of roads having different characteristics in the same driving scene, and a vehicle based on the driver's driving operation feature extracted by the driving feature extraction means A driving plan generating means for generating a driving plan for the vehicle, wherein the driving feature extracting means reads the driving data corresponding to the driving scene of the vehicle from the storage means, and reads the read driving data into the constant speed operation section, the acceleration operation section, and the deceleration Dividing into a plurality of operation sections including either the operation section or the turning operation section, and values of candidate conditions for the driver to assemble driving in each operation section Extracted, based on the value of the candidate conditions for each operation section in a plurality of roads having different characteristics in the same travel situation, to extract features of the driving operation of the common drivers for different road characteristic in the same travel situation It is characterized by that.

  In such a travel plan generation apparatus of the present invention, for example, when the vehicle travels on a curved road, from the travel data when the vehicle travels on a plurality of curved roads having different characteristics such as curvature, road width, and gradient, A common driving operation characteristic is extracted for a plurality of curved roads having different characteristics, and a vehicle travel plan based on the driving operation characteristic is generated. By extracting features of the driver's driving operation common to a plurality of roads having different characteristics in this way, an appropriate travel plan that is close to the driver's driving image even when traveling on a road for which travel data is not acquired Can be obtained.

  Preferably, the vehicle is further provided with a surrounding monitoring means for monitoring the surrounding situation of the vehicle, and the driving feature extracting means is a feature of the driving operation of the driver when the surrounding monitoring means detects that an obstacle exists around the vehicle. Prohibit extraction.

  For example, when a preceding vehicle is traveling near the host vehicle, the driver's original driving operation cannot be performed due to the influence of the preceding vehicle. Feature extraction can be meaningless. Therefore, by monitoring the surroundings of the vehicle and detecting that there are obstacles around the vehicle, it is effective to generate a travel plan by prohibiting the feature extraction of the driver's driving operation. Only operational features can be extracted.

  According to the present invention, it is possible to generate an appropriate travel plan for a driver even when traveling on a road without existing data, so that it is possible to reduce the driver's uncomfortable feeling.

It is a block diagram which shows schematic structure of one Embodiment of the travel plan production | generation apparatus concerning this invention. It is a flowchart which shows the locus | trajectory generation process procedure performed by the locus | trajectory generation calculating part shown in FIG. It is a figure which shows an example of driving | running | working data when a vehicle drive | works a curve road. It is a block diagram which shows schematic structure of other embodiment of the travel plan production | generation apparatus concerning this invention. It is a flowchart which shows the locus | trajectory generation process procedure performed by the locus | trajectory generation calculating part shown in FIG.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a preferred embodiment of a travel plan generation device according to the present invention will be described in detail with reference to the drawings.

  FIG. 1 is a block diagram showing a schematic configuration of an embodiment of a travel plan generation apparatus according to the present invention. In the figure, a travel plan generation device 1 of the present embodiment is a device that generates a travel plan (trajectory) of a vehicle in an arbitrary section of a travel path on which the vehicle travels.

  The travel plan generation device 1 includes a road information acquisition unit 2, a travel data storage unit 3, and a locus generation calculation unit 4. The road information acquisition unit 2 acquires information (road information) such as the shape and dimensions of the road on which the vehicle is to travel. The road information acquisition unit 2 acquires road information from navigation, for example.

  The travel data storage unit 3 stores travel data when the vehicle actually travels on a plurality of patterns of roads having different characteristics (shape, size, situation, etc.). The travel data includes data such as the position, speed, acceleration, and direction of the vehicle.

  When the previous road is recognized from the road information acquired by the road information acquisition unit 2, the trajectory generation calculation unit 4 performs a predetermined calculation process based on the travel data stored in the travel data storage unit 3. A travel locus for traveling on the road is generated.

  FIG. 2 is a flowchart showing a trajectory generation processing procedure executed by the trajectory generation calculation unit 4. In FIG. 2, first, driving data of a driver driving the vehicle is read from the driving data storage unit 3 (step S11). At this time, the driving data corresponding to the driving scene (start acceleration, stop, cornering, etc.) of the vehicle is read out.

  An example of travel data corresponding to cornering is shown in FIG. Here, FIG. 3A is travel data representing the travel position of the vehicle on a certain curved road in XY coordinates. FIG. 3B shows travel data representing the speed of the vehicle when the vehicle travels on the curved road shown in FIG. 3A together with the travel position of the vehicle in XYZ coordinates. FIG. 3C shows travel data in which the acceleration (longitudinal acceleration and lateral acceleration) of the vehicle when the vehicle travels on the curved road shown in FIG.

  Subsequently, the read travel data is divided into a plurality of operation sections (step S12). Specifically, when the traveling scene is start acceleration, the traveling data is divided into an acceleration operation section and a constant speed operation section. When the traveling scene is stopped, the traveling data is divided into a constant speed operation section and a deceleration operation section. When the traveling scene is cornering, the traveling data is divided into a deceleration operation section, a turning operation section, and an acceleration operation section (see FIG. 3). The acceleration operation, the deceleration operation, the constant speed operation, and the turning operation are determined from data such as vehicle speed, acceleration, and direction.

  Subsequently, the values of condition candidates for the driver to assemble driving in each operation section are extracted from the travel data (step S13).

For example, when the traveling scene is cornering (see FIG. 3), the following conditions can be cited as candidate conditions in each operation section.
Deceleration operation section: Deceleration time, deceleration distance, deceleration start position, deceleration end position, deceleration start speed, deceleration end speed, deceleration Turning operation section: Steering time, hold time, ratio of steer time and hold time , Turning start position, turning end position, minimum speed, lateral acceleration Acceleration operation section: acceleration time, acceleration distance, acceleration start position, acceleration end position, acceleration start speed, acceleration end speed, acceleration

  Subsequently, it is determined whether or not condition candidate data for each operation section on roads having different characteristics in the same traveling scene has been accumulated (step S14). For example, when the traveling scene is cornering (see FIG. 3), roads having different characteristics include roads having different curvatures, road widths, and gradients.

  When the condition candidate data for each operation section on the road with different characteristics in the same driving scene is not accumulated, steps S11 to S14 are repeatedly executed until the condition candidate data is accumulated. At this time, in addition to accumulating condition candidate data on roads having different shapes and dimensions, condition candidate data on roads having different vehicle speed ranges (limited speeds such as ordinary roads and expressways) may be accumulated.

  When the candidate condition data for each operation section on roads with different characteristics in the same driving scene is accumulated, the driver's driving operation conditions that do not change on multiple roads with different characteristics in the same driving scene, that is, multiple roads with different characteristics The driver's driving operation characteristics common to the above are extracted (step S15).

  At this time, the standard deviation of the value of the condition candidate for each operation section on a plurality of roads having different characteristics is taken, the variations are compared, and the one with the smallest standard deviation is extracted as the driving operation condition of the driver. As an example of the condition of the driver's driving operation in the deceleration operation section, for example, a deceleration time of 4 seconds can be mentioned.

  Subsequently, a travel locus reflecting the characteristics of the driving operation of the driver obtained in step S15 is generated (step S16). For example, using a trajectory generation technique such as an optimization process or a rule-based technique, a travel trajectory is generated with the characteristics of the driving operation of the driver as a constraint condition.

  In the above, the travel data storage unit 3 constitutes storage means for storing travel data when the vehicle driven by the driver travels on a plurality of roads having different characteristics. The above steps S11 to S15 of the trajectory generation calculation unit 4 constitute driving feature extraction means for extracting features of a driver's driving operation common to a plurality of roads having different characteristics from the running data stored in the storage means. . The procedure S16 constitutes a travel plan generating unit that generates a travel plan of the vehicle based on the driving operation feature of the driver extracted by the driving feature extracting unit.

  As described above, in the present embodiment, the driving data when the vehicle actually travels a plurality of patterns of roads is read from the driving data storage unit 3 and is common to a plurality of roads having different characteristics in the same driving scene. The feature of the driving operation of the driver is extracted from the travel data, and the feature of the driving operation is reflected in the generation of the travel locus. As a result, it is possible to generate an appropriate travel plan in which the deceleration acceleration, the deceleration time, and the like are close to the driver's own driving sensation even for roads for which travel data has not been acquired because the vehicle has never traveled. As a result, it is possible to carry out driving support with less discomfort for the driver.

  FIG. 4 is a block diagram showing a schematic configuration of another embodiment of the travel plan generation apparatus according to the present invention. In the figure, the same or equivalent elements as those in the embodiment described above are denoted by the same reference numerals, and the description thereof is omitted.

  In the figure, in addition to the road information acquisition unit 2, the travel data storage unit 3, and the trajectory generation calculation unit 4, the travel plan generation device 1 according to the present embodiment has an inter-vehicle distance with a preceding vehicle that travels in front of the host vehicle. A preceding vehicle distance recognition unit 5 for recognizing the distance is further provided. The preceding vehicle inter-vehicle recognition unit 5 includes a radar, a camera, and the like. The preceding vehicle inter-vehicle recognition unit 5 constitutes a surrounding monitoring means for monitoring the surrounding situation of the vehicle.

  When the previous road is recognized from the road information acquired by the road information acquisition unit 2, the trajectory generation calculation unit 4 is based on the travel data stored in the travel data storage unit 3 and the recognition result of the preceding vehicle inter-vehicle recognition unit 5. Then, a predetermined calculation process is performed to generate a travel locus for traveling on the previous road.

  FIG. 5 is a flowchart showing a trajectory generation processing procedure executed by the trajectory generation calculation unit 4. In FIG. 5, first, after executing the above steps S11 and S12, based on the inter-vehicle distance recognized by the preceding vehicle inter-vehicle recognition unit 5, there is no preceding vehicle traveling near the front of the host vehicle. It is determined whether or not (procedure S20). The judgment method at this time is as follows.

That is, the differential value (dL / dt) of the inter-vehicle distance L is calculated from the inter-vehicle distance L between the host vehicle recognized by the preceding vehicle inter-vehicle recognition unit 5 and the preceding vehicle. Then, it is determined whether or not the following two conditions are satisfied.
Condition 1: Minimum value of inter-vehicle distance L _min > Lc (constant)
Condition 2: Minimum differential value of inter-vehicle distance dL _min > dLc (constant)

  When both of the two conditions are satisfied, it is determined that the preceding vehicle is separated from the host vehicle by a certain distance or more and that the host vehicle is not approaching the preceding vehicle. That is, it is determined that there is no preceding vehicle traveling near the front of the host vehicle. In this case, the above steps S13 to S16 are sequentially executed.

  On the other hand, when either one of the two conditions is not satisfied, it is determined that there is a preceding vehicle traveling near the front of the host vehicle. In this case, step S16 is executed without executing steps S13 to S15 described above. That is, the feature extraction of the driver's driving operation common to a plurality of roads having different features in the same driving scene is stopped and excluded from the accumulated data. And a driving | running | working locus | trajectory is produced | generated simply using a locus | trajectory production technique (procedure S21).

  When the preceding vehicle is traveling near the front of the host vehicle, the driver's original driving operation of the host vehicle is not performed. On the other hand, in the present embodiment, when there is a preceding vehicle that runs near the front of the host vehicle, the feature extraction of the driver's driving operation common to a plurality of roads having different features is stopped. It is possible to extract only the characteristics of the driving operation effective for the generation of the traveling locus reflecting the characteristics of the operation. As a result, a travel plan more appropriate for the driver can be generated.

  In the present embodiment, the feature extraction of the driver's driving operation is stopped when there is a preceding vehicle traveling near the front of the own vehicle. However, the present invention is not limited to the preceding vehicle, and is not limited to the preceding vehicle. When there is an obstacle such as another vehicle, a two-wheeled vehicle, or a bicycle, the feature extraction of the driver's driving operation may be stopped.

  DESCRIPTION OF SYMBOLS 1 ... Travel plan production | generation apparatus, 3 ... Travel data memory | storage part (memory | storage means), 4 ... Trajectory generation calculating part (Driving feature extraction means, travel plan production | generation means), 5 ... Preceding vehicle inter-vehicle recognition part (Ambient monitoring means).

Claims (2)

Storage means for storing travel data when a vehicle driven by the driver travels on a plurality of roads having different characteristics including shape, size, and situation ;
Driving feature extraction means for extracting , from the driving data stored in the storage means, characteristics of the driving operation of the driver common to a plurality of roads having different characteristics in the same driving scene ;
Travel plan generation means for generating a travel plan for the vehicle based on the characteristics of the driving operation of the driver extracted by the driving feature extraction means ;
The driving feature extracting unit reads driving data corresponding to a driving scene of the vehicle from the storage unit, and includes the read driving data including a constant speed operation section, an acceleration operation section, a deceleration operation section, and a turning operation section. Dividing into a plurality of operation sections, extracting values of condition candidates for the driver to assemble driving in each operation section, and using the same driving scene as a condition candidate value for each operation section on a plurality of roads having different characteristics based on, travel plan producing apparatus characterized that you extract features of driving operation of the driver which are common to different plurality of roads the features in the same travel scene. It further comprises a surrounding monitoring means for monitoring the surrounding situation of the vehicle,
2. The driving feature extraction unit prohibits feature extraction of the driving operation of the driver when the surroundings monitoring unit detects that an obstacle exists around the vehicle. Travel plan generator.

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