JP5771930B2 - Traveling track creation device - Google Patents

Description

  The present invention relates to a travel locus creating apparatus.

  Conventionally, in vehicle travel control, a control device that travels a vehicle in accordance with a predetermined target is known. For example, Patent Document 1 discloses a vehicle travel control device including an operation program for generating an ideal trajectory using the characteristics of a vehicle mechanism as an evaluation function.

  According to the above apparatus, even in a mechanism having a characteristic in which there are a plurality of optimum ranges in the vehicle control, such as a hybrid vehicle in which optimum ranges exist in both the acceleration side and the deceleration side in the fuel consumption control, the vehicle traveling with priority given to the fuel consumption. Patent Document 1 describes that control is possible.

JP 2010-946 A

  However, even in the case of a vehicle equipped with the vehicle travel control device of Patent Document 1, on a curved road where the forward view is poor due to the presence of a structure or the like, if there is an obstacle, the vehicle must decelerate rapidly. When the vehicle travels around the outside of the vehicle while considering the prospect, there is a problem that the travel locus of the vehicle becomes a long-distance track and the fuel consumption deteriorates.

  Accordingly, the present invention has been made to solve the above-described problem, and provides a travel locus creation device that can suppress deterioration in fuel consumption even when a vehicle travels on a curved road with poor visibility. For the purpose.

In order to solve the above-described problems, the present invention provides a travel locus creation apparatus for creating a travel locus of a vehicle, a curved road shape recognition means for recognizing a shape from an entrance portion to an exit portion of a curved road, and an exit in the curved road. Exit point of view point identifying means for identifying a point that can be seen through and located on the outer periphery side of the curved road as a view point, and traveling of the vehicle from the entrance part to the exit part view point and from the exit part view point to the exit part The present invention is characterized in that the travel locus creating device includes a travel locus creating means for creating a locus.

  In the above-mentioned traveling locus creation device, a point where the exit portion in the curved road can be seen is identified, the traveling locus from the entrance portion of the curved road to the exit portion sighting point, and the exit portion of the curved road from the exit portion sighting point. By creating the travel trajectory up to, the vehicle can travel on a short distance trajectory on a curved road while ensuring the prospect of the exit. This eliminates the need for the vehicle to travel around the outside of the curved road in consideration of the prospects, and can suppress deterioration in fuel consumption.

  ADVANTAGE OF THE INVENTION According to this invention, even if it is a case where a vehicle drive | works the curved road with a bad view, the driving | running | working locus creation apparatus which can suppress the deterioration of a fuel consumption can be provided.

It is a block diagram which shows the structure outline | summary of a vehicle provided with the traveling locus generation apparatus which concerns on embodiment of this invention. It is a figure which shows an example of the exit part sighting point in a curve road, and the driving | running | working locus | trajectory of a vehicle based on embodiment of this invention. It is the first half part of the flowchart which shows an example of the operation | movement procedure of the traveling locus creation apparatus which concerns on embodiment of this invention. It is the latter half part of the flowchart which shows an example of the operation | movement procedure of the traveling locus creation apparatus which concerns on embodiment of this invention.

  Embodiments of the present invention will be described below. In the description of the drawings, the same reference numerals are used for the same elements, and duplicate descriptions are omitted.

  A travel locus generating apparatus according to an embodiment of the present invention is an apparatus that generates a travel locus of a vehicle, and is suitably employed for a vehicle having an automatic driving function, for example.

  FIG. 1 is a block diagram showing a configuration of a vehicle provided with a travel locus generating apparatus according to an embodiment of the present invention. A vehicle 1 shown in FIG. 1 is a vehicle having an automatic driving function, and includes a GPS sensor 21, a navigation system 22, a front recognition camera 23, an obstacle detection sensor 24, an ECU 2, and a driving support unit 30.

  An ECU (Electronic Control Unit) is a computer for electronically controlled automobile devices, and the ECU 2 includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), an input / output interface, and the like. The GPS sensor 21, the navigation system 22, the forward recognition camera 23, the obstacle detection sensor 24, and the driving support unit 30 are electrically connected.

  The GPS sensor 21 has a function of receiving position information of the vehicle 1, for example. Here, the GPS (Global Positioning System) is a measurement system using a satellite and is preferably used for grasping the current position of the host vehicle. The GPS sensor 21 has a function of outputting position information of the vehicle 1 to the ECU 2.

  The navigation system 22 has, for example, a map database that stores road shape information, and can read road shape information around the host vehicle from the database based on the vehicle position information acquired by the GPS sensor 21. In addition, road shape information can be read out from a database provided outside the system by road-to-vehicle communication or the like. The navigation system 22 has a function of outputting the read road shape information to the ECU 2 as a navigation signal.

  The front recognition camera 23 is a camera for recognizing the front of the vehicle 1 and, for example, photographs the number of lanes and the width of the lane in which the vehicle 1 travels. The captured image is transmitted to the ECU 2 as an image signal.

  The obstacle detection sensor 24 includes a surrounding vehicle of the vehicle 1, a millimeter wave radar that detects an obstacle, a processing device, and the like. For example, a reflected wave that is reflected by the millimeter wave irradiated to the periphery of the vehicle returns to the object surface. Based on the time difference from transmission to reception, irradiation direction, and Doppler component, it detects the surrounding vehicle of vehicle 1 and the presence or absence of an obstacle. It calculates and transmits to ECU2.

  The above-described ECU 2 operates while the CPU reads and writes data to and from the RAM in accordance with a control program stored in the ROM, and includes a curve road shape recognition unit 11, an exit review point identification unit 12, and a travel locus creation unit. A travel locus creating apparatus 10 having 13 is provided. Hereinafter, the function of each part will be described with reference to FIG. 2 which shows an example of the exit part sighting point and the vehicle traveling locus on a curved road.

  The curved road shape recognition unit 11 has a function of recognizing the shape of a curved road. As shown in FIG. 2, the curved path 33 is connected to the first straight path 31 and the second straight path 35, and a portion where the first straight path 31 and the curved path 33 are in contact is an entrance portion 32. There is an exit portion 34 where the curved path 33 and the second straight path 35 are in contact. The curved road shape recognition unit 11, for example, is based on road shape information read from a database stored in the navigation system 22 or road shape information acquired from infrastructure information by road-to-vehicle communication or the like, and the vehicle 1 is scheduled to travel from now on. The road shape from the entrance portion 32 to the exit portion 35 of the curved road 33 is recognized. Here, the road shape is the shape of the road, and means the shape of the road specified based on all or part of the curve radius, curvature, road width, and road length.

  The exit part sight point identifying unit 12 has a function of identifying a point through which the exit part can be seen in the curved road. As shown in FIG. 2, the exit prospective point 40 is a point at which the exit part 34 can be seen in the curved road 33, and is a switching point between the trajectory of the vehicle 1 entering and leaving the curved road. It becomes. In order to ensure a wider field of view in front of the vehicle 1, the exit portion line-of-sight point 40 is preferably located on the outer periphery 33 a side rather than the inner periphery 33 b side of the curved road 33. The exit line-of-sight point 40 is located on the exit line-of-sight line 41, and is determined as, for example, a point near the contact point between the exit line-of-sight line 41 and the outer periphery 33a of the curved path 33 and not contacting the outer periphery 33a. You can also. In particular, it is preferable that the exit portion line-of-sight point 40 is selected at a position closest to the entrance portion on a straight line through the exit portion. The exit part sighting point in such a position is the point at which the exit part can be seen through the earliest, and it is possible to create a shorter-distance track while ensuring the sight.

  The exit line-of-sight line 41 is a straight line passing through a part of the exit part 34, and in order for the vehicle 1 to be able to see through the exit part 34 in the shortest time, it is in contact with the inner periphery 33b of the curved road 33. preferable. Thus, the exit line-of-sight line 41 can be calculated geometrically as a straight line that is in contact with the inner periphery 33 b and passes through a part of the exit part 34. The exit line-of-sight line 41 is also preferably connected to a connection point with the second straight traveling line 35a on the exit part 34. As a result, the second straight travel line 35a can be seen from the exit line-of-sight point 40, and the vehicle 1 can travel on the second straight travel line 35a quickly from the exit 34 of the curved road 33. Become.

  The travel trajectory creation unit 13 is configured to generate a travel trajectory from the entrance part of the curve road to the exit part prospective point based on the exit part prospective point specified by the exit part prospective point specifying part 12, and the exit part prospective point to the exit part. It has a function to create a running trajectory. As shown in FIG. 2, the travel locus creation unit 13 includes a travel locus 45 a in which a portion from the entrance portion 32 of the vehicle 1 to the exit portion sighting point 40 is connected by a relaxation curve (for example, a clothoid curve), and an exit from the exit portion sighting point 40. A travel locus 45b in which up to the portion 34 is connected by a relaxation curve (for example, a clothoid curve) is created.

  It is also preferable that the travel trajectory 45a and the travel trajectory 45b form a short-distance trajectory in which only the vicinity of the exit portion line-of-sight point 40 swells toward the outer periphery 33b. Such a short-distance track suppresses deterioration in fuel consumption as compared with a long-distance track in which the vehicle 1 traveling on a curved road takes a greater view on the outer periphery 33b side of the curved road in consideration of the line of sight.

  The travel locus creating apparatus 10 preferably includes a lane change amplitude calculation unit 14. The lane change amplitude calculation unit 14 has a function of calculating the lane change amplitude of the vehicle on a curved road. Specifically, when the traveling locus of the vehicle 1 in the curved road 33 is created, information from the obstacle detection sensor 24 whether there are other vehicles or obstacles around the vehicle 1, or the front recognition camera 23. Based on the information on the number of lanes and the road width, the lane change amplitude is calculated.

  The lane change amplitude calculation unit 14 first sets the lane change tolerance of the vehicle 1. For example, when there are no other vehicles or obstacles around the vehicle 1, the lane change (intralane fluctuation) tolerance is set to 100%, and other vehicles traveling in the lane adjacent to the lane in which the vehicle 1 travels are set. If it exists, the lane change tolerance is decreased, and further, if another vehicle is present within one vehicle length before and after the vehicle 1 and in the vicinity region, the lane change tolerance is further reduced and set. Thus, when there are nearby vehicles and obstacles nearby, by reducing the lane change tolerance of the vehicle 1, the lane change amplitude of the vehicle 1 (the amount of lateral fluctuation in the lane) is reduced, and the vehicle 1 It is possible to improve the safety of traveling on the curved road.

Next, from the set lane change tolerance (A) and road width (including a plurality of lanes) (B), for example, the lane change amplitude calculation formula such as the following formula (1) is used to determine whether the vehicle 1 is a lane. The amplitude (C) for changing (in-lane fluctuation) is calculated. In this case, half the road width is set to the maximum amplitude, and the margin width (D) is considered so as not to come into contact with the outside of the road (for example, a guard rail) or to escape from a curved road.
C = (B / 2−D) · A (1)

  The travel locus creation unit 13 takes into consideration surrounding vehicles, obstacles, and the like by creating the travel locus 45a and the travel locus 45b by moving the exit line-of-sight point 40 toward the outer periphery 33a of the curved road by the amplitude described above. It is possible to create a travel locus that prevents deterioration of fuel consumption.

  The driving support unit 30 has a function of supporting driving of the vehicle 1 so that the vehicle 1 travels along the created travel locus. The driving support unit 30 includes a steering actuator, a slot actuator, a brake actuator, and the like. For example, the driving support unit 30 may support the vehicle 1 to run fully automatically along the created travel locus, and follow the created travel locus. The steering control may be performed so that the vehicle 1 travels.

  3 and 4 are flowcharts showing an example of the operation procedure of the travel locus creating apparatus in the above embodiment, and this operation procedure is repeatedly executed by the ECU 2 at a predetermined cycle.

  First, as S1, the road shape of the curved road that the vehicle 1 will travel from is acquired from the navigation system 22 by a map database, road-to-vehicle communication, or the like. Here, when the information on the shape of the curved road cannot be obtained from the navigation system 22, the travel locus creation is terminated.

  Next, in S2, if the road shape obtained from the forward recognition camera 23 is a double lane or a wide lane, the ECU 2 determines that the vehicle 1 can change lanes. On the other hand, when the road shape is a single lane and the width is narrow, the ECU 2 determines that the vehicle 1 cannot change the lane, and the travel locus creation is terminated.

  In S3, first, the lane change tolerance is set to 100%. Subsequently, in S4, for example, when the obstacle detection sensor 24 detects that there is another vehicle on the adjacent lane of the vehicle 1 in the front and rear 50m including the same direction and the reverse direction, for example, the lane change allowance is set. Change to 60% (S5). In S6, if it is detected that there is another vehicle in an adjacent lane of the vehicle 1, for example, a region in the vicinity of the vehicle 1 in the same direction or the opposite direction (for example, within one vehicle length before and after), the lane change tolerance Is further changed to 30% (S7).

In S8, from the lane change tolerance and the road width (including a plurality of lanes) obtained as described above, for example, the following equation (2) is used to determine the amplitude for the vehicle 1 to change lanes (intralane fluctuation). . Here, half the road width is set as the maximum amplitude, and the amplitude is obtained by subtracting a margin (eg, 30 cm) so as not to contact the outside of the road.
Amplitude = (road width / 2-30 cm) / lane change tolerance (2)

  In S9, the exit line-of-sight is calculated geometrically from the positional relationship between the exit part of the curved road and the inner periphery of the curved road. In S10, an exit part sighting point is specified using the exit part sight line. Further, the exit view point is moved to the outer peripheral side of the curved road by the amplitude obtained in S8 (S11).

  In S12, the traveling locus a is created by connecting the entrance part of the curved road and the exit part visible point moved as described above with a clothoid curve. Further, the travel locus b is created by connecting the moved exit portion sighting point and the exit portion of the curved road with a clothoid curve. By connecting the travel locus a and the travel locus b, a travel locus on the curved road of the vehicle 1 is obtained.

  As described above, according to the travel locus generating apparatus according to the embodiment of the present invention, the point where the exit part in the curved road can be seen is specified, and the area from the entrance part of the curved road to the exit part visible point is identified. By creating a travel trajectory and a travel trajectory from the exit portion sighting point to the exit portion of the curved road, it is possible to ensure the prospect of the exit portion and travel on a short distance trajectory on the curved road. As a result, it is not necessary to travel around the outside of the curved road while taking the prospect into consideration, and it becomes possible to suppress deterioration in fuel consumption.

  In addition, the said embodiment does not limit the structure of this invention. For example, the travel locus generating apparatus according to the embodiment of the present invention can be used for a manually driven vehicle that does not have an automatic driving function. In this case, for example, the created traveling locus is displayed on the in-vehicle monitor, and the vehicle can travel along the traveling locus by driving according to the displayed traveling locus.

  In addition, the vehicle 1 may decelerate from the entrance to the exit prospective point on the curved road, but may travel at a constant speed to prevent deterioration of fuel consumption, and free-run traveling (non-accelerated traveling) May be. Further, from the exit prospective point to the exit portion of the curved road, the vehicle may travel at a constant speed or may travel at an accelerated speed.

DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... ECU, 10 ... Travel track creation apparatus, 11 ... Curve road shape recognition part (curve road shape recognition means), 12 ... Exit part visibility point identification part (exit Part sighting point specifying means), 13... Traveling locus creating section (traveling locus creating means), 14... Lane change amplitude calculating section (lane change amplitude calculating means), 21. Navigation system, 23 ... forward recognition camera, 24 ... obstacle detection sensor, 30 ... driving support unit, 31 ... first straight road (31a ... first straight travel line), 32 ... Inlet part, 33 ... Curve road (33a ... Outer periphery of curve road, 33b ... Inner periphery of curve road), 34 ... Exit part, 35 ... Second straight road (35a: second straight travel line), 40: exit portion sight , Traveling locus of 41 ... outlet line-of-sight, traveling locus from 45a ··· inlet portion to the outlet portion outlook point, from 45b ··· outlet outlook point to the outlet portion.

Claims (1)

In a travel locus creation device for creating a travel locus of a vehicle,
A curved road shape recognition means for recognizing the shape from the entrance to the exit of the curved road;
An exit portion sighting point identifying means for identifying a point on the outer circumference side of the curved road as a sighting point, which is a point where the exit portion can be seen in the curved road;
A travel locus creating means for creating a travel locus of the vehicle from the entrance portion to the exit portion view point and the exit portion view point to the exit portion;
A travel locus creation device comprising:

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