JP6254825B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that recognizes an environment outside the host vehicle and controls the host vehicle, and more particularly, a vehicle control device that controls the host vehicle based on the type of road on which the host vehicle travels and the signal color of a traffic light. About.

  Conventionally, a specific object such as a vehicle or a traffic light located in front of the host vehicle is detected to avoid a collision with the preceding vehicle (collision avoidance control), or the distance between the preceding vehicle and the signal color of the traffic signal is recognized. There is known a technique (cruise control) for controlling the vehicle so as to keep it at a safe distance (for example, Patent Document 1).

Japanese Patent No. 3349060

  However, in the conventional vehicle control based on the signal color of the traffic light, it is assumed that the road is a general road other than an automobile-only road where only the vehicle can travel, and the automobile-only road is not considered. Therefore, when the vehicle is traveling on an automobile-only road, if the vehicle control based on the signal color of the traffic light is executed in the same manner as a general road, the operation actually performed by the driver on the automobile-only road is different. The vehicle control is executed, and there is a possibility that the driver feels uncomfortable.

  In view of such a problem, an object of the present invention is to provide a vehicle control device capable of executing vehicle control corresponding to a road on which the host vehicle travels and reducing a driver's uncomfortable feeling.

In order to solve the above-described problem, the vehicle control device according to the present invention includes a target traffic signal identifying unit that identifies an instruction state of a traffic signal installed on a road on which the host vehicle travels, and a type of travel road on which the host vehicle travels. Based on the road specific part that specifies whether the vehicle is a road exclusively for automobiles or a general road other than the automobile exclusive road, the type of the road and the indication state of the traffic light, A vehicle control unit that performs vehicle control of the host vehicle, wherein the vehicle control unit is identified when the travel road is determined to be the general road, and the traffic light is identified as blinking red. If the traffic light is determined to be lit red, the control is the same as that performed when the traffic road is determined to be the car-only road, Red traffic light If it is identified as flashing, it continues to maintain the control that was being executed before it is identified as flashing red.

  The vehicle control unit blinks the light source at the rear of the host vehicle when it is determined that the traveling road is the automobile-only road and the traffic light is determined to be lit red. You may make it make it.

  The vehicle control unit includes a traveling control unit that performs traveling control of the host vehicle based on the type of the traveling road and an instruction state of the traffic light, and a notification control unit that performs notification control on the inside and outside of the host vehicle, The travel control unit cancels the travel control for the host vehicle when the travel road is determined to be the automobile-only road and the traffic light is determined to be lit red. The notification control unit may notify the driver that attention is necessary ahead.

The vehicle control unit further includes a preceding vehicle specifying unit that specifies a preceding vehicle traveling in front of the host vehicle, and the vehicle control unit, when the instruction state of the traffic light is specified, You may make it perform vehicle control of the said own vehicle based on the kind and the instruction | indication state of the specified said traffic signal.

Running said vehicle control unit, the traveling road is determined to the a general road, when the traffic is other than red, for limiting the acceleration to accelerate the running speed of the vehicle to a predetermined target speed Control may be performed.

In addition, the vehicle control device of the present invention includes a target traffic signal identifying unit that identifies an instruction state of a traffic signal installed on a road on which the host vehicle is traveling, and a type of the traveling road on which the host vehicle is traveling is capable of traveling only on the vehicle. Vehicle control of the host vehicle based on a road identification unit that identifies whether the vehicle is a dedicated automobile road or a general road other than the automobile dedicated road, the type of the traveling road, and the indication state of the traffic light A vehicle control unit that performs and a preceding vehicle identifying unit that identifies a preceding vehicle that travels ahead of the host vehicle, the vehicle control unit based on the type of the traveling road and the indication state of the traffic light, A travel control unit that performs travel control of the host vehicle, wherein the travel control unit determines that the travel road is the road for exclusive use of the automobile and determines that the traffic light is lit in red, When both are specified, the host vehicle is decelerated and then the control is performed to maintain the reduced speed. When the preceding vehicle is not specified, the host vehicle is decelerated and then the vehicle travels with respect to the host vehicle. Release control.

  According to the present invention, it is possible to execute vehicle control corresponding to the road on which the host vehicle travels, and to reduce the driver's uncomfortable feeling.

It is the block diagram which showed the connection relation of the environment recognition system. It is the functional block diagram which showed the schematic function of the vehicle control apparatus. It is the flowchart which showed the procedure of specific control processing. It is explanatory drawing for demonstrating a luminance image and a distance image. It is explanatory drawing for demonstrating operation | movement of a traffic signal specific | specification part. It is the schematic which showed the traffic signal installed in the automobile exclusive road. It is the flowchart which showed the procedure of the vehicle control process.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiment are merely examples for facilitating understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

  In recent years, an in-vehicle camera mounted on a vehicle images a road environment ahead of the host vehicle, identifies an object such as a preceding vehicle based on color information and position information in the image, and collides with the identified object. Vehicles equipped with a so-called anti-collision function, which avoids the above-mentioned problem and keeps the inter-vehicle distance from the preceding vehicle at a safe distance (ACC: Adaptive Cruise Control), are becoming popular.

  In a vehicle equipped with such a vehicle control device that recognizes the environment outside the vehicle, it is conceivable to control the traveling state of the host vehicle based on the signal color of a traffic light located in front of the vehicle. For example, if the signal color of the traffic light ahead is red while traveling in ACC, it may be possible to brake the vehicle and shift to a stopped state.

  However, in the conventional vehicle control based on the signal color of the traffic light, it is assumed that the road is a general road other than an automobile-only road where only the vehicle can travel, and the automobile-only road is not considered. Therefore, when the vehicle is traveling on an automobile-only road, if the vehicle control based on the signal color of the traffic light is executed in the same manner as a general road, the operation actually performed by the driver on the automobile-only road is different. The vehicle control is executed, and there is a possibility that the driver feels uncomfortable.

(Environment recognition system 100)
FIG. 1 is a block diagram showing a connection relationship of the environment recognition system 100. The environment recognition system 100 is configured to include an imaging device 110 and a vehicle control device 120 provided in the host vehicle 1.

  The imaging device 110 includes an imaging element such as a charge-coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS), captures an environment corresponding to the front of the host vehicle 1, and captures three hues (R ( A color image or a monochrome image composed of (red), G (green), and B (blue) can be generated. Here, the color image picked up by the image pickup device 110 is called a luminance image, and is distinguished from a distance image described later.

  In addition, the imaging devices 110 are arranged in a substantially horizontal direction so that the optical axes of the two imaging devices 110 are substantially parallel on the traveling direction side of the host vehicle 1. The imaging device 110 continuously generates image data obtained by imaging an object existing in the detection area in front of the host vehicle 1, for example, every 1/60 second frame (60 fps). Here, the object to be recognized is not only a three-dimensional object that exists independently, such as a vehicle, a pedestrian, a traffic light, a road (traveling path), and a guardrail, but also one of three-dimensional objects such as taillights, blinkers, and lighting parts of traffic lights. The thing which can be specified as a part is also included. Each functional unit in the following embodiment performs each process for each frame in response to such update of the image data.

  The vehicle control device 120 receives a driver's operation input through the steering wheel 132, the accelerator pedal 134, and the brake pedal 136, and transmits the operation input to the steering mechanism 142, the drive mechanism 144, and the brake mechanism 146, thereby controlling the host vehicle 1.

  Further, the vehicle control device 120 acquires image data from each of the two imaging devices 110, derives a parallax using so-called pattern matching, and generates a distance image by associating the derived parallax information with the image data. The luminance image and the distance image will be described in detail later. The vehicle control device 120 specifies which specific object corresponds to the object in the detection area in front of the host vehicle 1 using the brightness based on the brightness image and the depth distance from the host vehicle 1 based on the distance image. .

  Then, when the specific object is specified while maintaining the target speed set in advance, the vehicle control device 120 performs ACC (running control) for tracking the specific object (for example, a preceding vehicle). Further, the vehicle control device 120 derives the relative speed or the like of the specific object, and determines whether or not there is a high possibility that the specific object and the host vehicle 1 collide. Here, when it is determined that the possibility of a collision is high, the vehicle control device 120 displays a warning (notification control) to the driver through the display 122 installed in front of the driver.

  Hereinafter, the configuration of the vehicle control device 120 will be described in detail. Here, characteristic of the present embodiment, the presence or absence of a preceding vehicle, the type of road (hereinafter also referred to as a traveling road) on which the host vehicle 1 travels (automobile road, general road), and the indication state of the traffic light (signal A procedure for performing vehicle control including travel control and notification control of the host vehicle 1 based on the color and lighting state) will be described in detail. Further, the description of the configuration unrelated to the features of the present embodiment is omitted.

(Vehicle control device 120)
FIG. 2 is a functional block diagram illustrating a schematic function of the vehicle control device 120. As shown in FIG. 2, the vehicle control device 120 includes an I / F unit 150, a data holding unit 152, and a central control unit 154.

  The I / F unit 150 is an interface for performing bidirectional information exchange with the imaging device 110. The data holding unit 152 includes a RAM, a flash memory, an HDD, and the like. The data holding unit 152 holds various pieces of information necessary for the processing of each function unit described below, and temporarily holds image data received from the imaging device 110. To do.

  The central control unit 154 is configured by a semiconductor integrated circuit including a central processing unit (CPU), a ROM storing a program, a RAM as a work area, and the like, and through the system bus 156, an I / F unit 150, a data holding unit 152 and the like are controlled. In the present embodiment, the central control unit 154 also functions as the image processing unit 160, the three-dimensional position information generation unit 162, the object specifying unit 164, the road specifying unit 166, the target signal device specifying unit 168, and the vehicle control unit 170. The object specifying unit 164 also functions as a traffic light specifying unit 180, a toll gate specifying unit 182, a preceding vehicle specifying unit 184, and a traveling zone specifying unit 186. Further, the vehicle control unit 170 also functions as a travel control unit 190 and a notification control unit 192.

  FIG. 3 is a flowchart showing the specific control processing procedure. Hereinafter, based on the general purpose of the functional units of the central control unit 154, detailed operations in the order of image processing, object identification processing, road identification processing, target traffic signal identification processing, vehicle control processing, and the like will be described in accordance with the flowchart shown in FIG. explain.

(Image processing: Step S100)
The image processing unit 160 acquires image data from each of the two imaging devices 110, and selects a block corresponding to a block arbitrarily extracted from one image data (for example, an array of horizontal 4 pixels × vertical 4 pixels) as the other image data. The parallax is derived using so-called pattern matching that is searched from the above. Here, “horizontal” indicates the horizontal direction of the captured luminance image, and “vertical” indicates the vertical direction of the captured luminance image.

  As this pattern matching, it is conceivable to compare the luminance (Y color difference signal) in units of blocks indicating an arbitrary image position between two pieces of image data. For example, SAD (Sum of Absolute Difference) that takes the difference in luminance, SSD (Sum of Squared Intensity Difference) that uses the difference squared, or NCC that takes the similarity of the variance value obtained by subtracting the average value from the luminance of each pixel There are methods such as (Normalized Cross Correlation). The image processing unit 160 performs such a block-unit parallax derivation process for all blocks displayed in the detection area (for example, horizontal 600 pixels × vertical 180 pixels). Here, the block is assumed to be horizontal 4 pixels × vertical 4 pixels, but the number of pixels in the block can be arbitrarily set.

  However, the image processing unit 160 can derive the parallax for each block, which is a unit of detection resolution, but cannot recognize what kind of target object the block is. Accordingly, the disparity information is derived independently not in units of objects but in units of detection resolution (for example, blocks) in the detection region. Here, an image in which the parallax information derived in this way is associated with image data is referred to as a distance image.

  FIG. 4 is an explanatory diagram for explaining the luminance image 210 and the distance image 212. For example, it is assumed that a luminance image (image data) 210 as illustrated in FIG. 4A is generated for the detection region 214 through the two imaging devices 110. However, only one of the two luminance images 210 is schematically shown here for easy understanding. In the present embodiment, the image processing unit 160 obtains the parallax for each block from the luminance image 210 and forms a distance image 212 as shown in FIG. Each block in the distance image 212 is associated with the parallax of the block. Here, for convenience of description, blocks from which parallax is derived are represented by black dots.

  The three-dimensional position information generation unit 162 (see FIG. 2) uses the so-called stereo method to calculate the disparity information for each block in the detection area 214 based on the distance image 212 generated by the image processing unit 160, the horizontal distance, It is converted into three-dimensional position information including height and depth distance. Here, the stereo method is a method of deriving the depth distance of the target object from the imaging device 110 from the parallax of the target object by using a triangulation method. At this time, the three-dimensional position information generation unit 162 selects the target based on the depth distance of the target part and the detection distance on the distance image 212 between the point on the road surface and the target part at the same depth distance as the target part. The height of the part from the road surface is derived. Since various known techniques can be applied to the depth distance deriving process and the three-dimensional position specifying process, description thereof is omitted here.

(Object specifying process: Step S102)
The target object specifying unit 164 specifies which target object (pixel or block) in the detection region 214 corresponds to using the luminance based on the luminance image 210 and the three-dimensional position information based on the distance image 212. .

  As described above, the object specifying unit 164 functions as various specifying units such as the traffic signal specifying unit 180, the toll gate specifying unit 182, the preceding vehicle specifying unit 184, and the traveling zone specifying unit 186 according to the object to be specified. To do. For example, the traffic light specifying unit 180 specifies one or a plurality of traffic lights located in front of the host vehicle 1 and the signal colors (red signal color, yellow signal color, blue signal color) emitted from each of the traffic lights.

  FIG. 5 is an explanatory diagram for explaining the operation of the traffic light specifying unit 180. Here, the procedure for specifying the red signal color of the traffic light by the traffic signal specifying unit 180 will be described as an example, and the specifying procedure will be described. First, the traffic light specifying unit 180 determines that the luminance of an arbitrary target part in the luminance image 210 is the luminance range of the target (red signal color) (for example, the reference value is the luminance (R) and the luminance (G) is the reference value ( R) is 0.5 times or less and luminance (B) is included in the reference value (R) 0.38 times or less). And if it is contained in the brightness | luminance range used as object, the identification number which shows the said target object will be attached | subjected to the object site | part. Here, as shown in the enlarged view of FIG. 5, the identification number “1” is given to the target portion corresponding to the target (red signal color).

  Next, the traffic signal specifying unit 180 uses a given target part as a base point, a predetermined range in which a difference between the target part, a difference in horizontal distance, and a difference in height (which may further include a difference in depth distance) are predetermined. The target parts that are regarded as corresponding to the same target object (with the same identification number) are grouped, and the target parts are also made into an integrated target part group. Here, the predetermined range is represented by a distance in the real space, and can be set to an arbitrary value (for example, 1.0 m). In addition, the traffic signal specifying unit 180 also applies a target object (red signal color) in which a difference in horizontal distance and a difference in height are within a predetermined range with respect to a target part newly added by grouping. ) Group the target parts having the same value. As a result, if the distances between the target parts with the same identification number are within a predetermined range, all the target parts are grouped. Here, as shown in the enlarged view of FIG. 5, the target part group 220 is formed by grouping the target parts with the identification number “1”.

  Subsequently, the traffic signal specifying unit 180 is configured so that the grouped target part group 220 is not related to a height range (for example, 4.5 to 7.0 m) and a width range (for example, a traveling road) associated with the target object. It is determined whether or not predetermined conditions such as a comprehensive 0.25 to 0.45 m) and a shape (for example, a circular shape) are satisfied. Here, with respect to the shape, the shape is compared with reference to a template associated with the object in advance (pattern matching), and it is determined that the condition is satisfied when there is a correlation greater than or equal to a predetermined value. If the predetermined condition is satisfied, the grouped target part group 220 is determined as a target object (red signal color). In addition, although an example in which a red signal color is specified as an object has been described here, it goes without saying that the traffic light specifying unit 180 can also specify a yellow signal color, a blue signal color, and the like.

  Further, the traffic light specifying unit 180 also specifies the lighting state of the object (red signal color), that is, the lighting or blinking state, based on the change in the luminance direction of the target portion of the luminance image 210 in the time direction.

  In addition, when the target part group 220 has the characteristic peculiar to the target object, it may be determined as a target object on the condition. For example, when the light emitter of the traffic light is configured by an LED (Light Emitting Diode), the light emitter blinks at a cycle (for example, 100 Hz) that cannot be grasped by human eyes. Therefore, the traffic light specifying unit 180 can also determine the object (red signal color) based on the change in the time direction of the luminance of the target portion of the luminance image 210 acquired asynchronously with the blinking timing of the LED.

  In this way, the traffic signal specifying unit 180 specifies one or a plurality of traffic signals located in front of the host vehicle 1 and the instruction state (signal color and lighting state) of the traffic signal. Both traffic lights installed on general roads are identified. That is, the traffic light identified by the traffic light identifying unit 180 identifies all traffic signals that appear in the luminance image 210 regardless of the road on which the host vehicle 1 travels. Accordingly, here, the identified traffic signal and the road type are not yet associated.

  The toll gate specifying unit 182 specifies the toll gate based on the traffic signal (signal color) specified by the traffic signal specifying unit 180. Here, there are a plurality of traffic lights installed at the toll gate at positions having the same depth distance, the horizontal distance between adjacent traffic lights is 5 m or less, and the signal colors of the traffic lights are often different. That is, when a plurality of traffic lights are identified at substantially the same depth distance from the own vehicle 1 and their horizontal intervals are within 5 m and they have different signal colors, the identified traffic lights are installed at the toll gate It can be identified as a traffic light.

  Specifically, the toll gate specifying unit 182 classifies the traffic lights identified by the traffic signal identifying unit 180 into distance groups according to the depth distance derived by the three-dimensional position information generation unit 162. For example, 30 m to 150 m are divided into 10 m division distance groups, and each traffic signal is divided. In addition, about 30 m or less and 150 m or more of traffic lights, it is excluded as what has already been determined or is too far away.

  And the toll booth specifying unit 182 has a horizontal distance of 5 m or less between the traffic lights divided into the distance group with the shortest depth distance among the distance groups into which the traffic lights are divided, and in the case of different signal colors, The toll booth is identified as the traffic light installed at the toll booth.

  In many cases, the toll gate is provided with a sign indicating the toll gate at the top of the traffic light. Therefore, the toll gate specifying unit 182 specifies a toll gate when an object that is considered to have the same depth distance as the traffic signal is identified around the traffic signal identified by the traffic signal identifying unit 180, and the object is a sign indicating the toll gate. You may specify. Specifically, if the surrounding area of the traffic light contains at least a certain percentage of the green color of the general gate, the purple color of the ETC gate, or the white color of the closed gate, the object is a sign indicating a toll gate. If there is.

  The preceding vehicle specifying unit 184 determines whether or not there is a preceding vehicle based on the shape, height and size of the object located within a predetermined relative distance in front of the host vehicle 1 and the relative position of the tail lamp and the blinker on the object. Is identified. Based on the shape, size, and color, the travel zone specifying unit 186 specifies a travel zone and the number of travel zones that are bounded by white lines or side walls in the travel direction of the host vehicle 1.

  The preceding vehicle specifying unit 184 further assigns a different ID to each vehicle traveling in the same direction as the host vehicle 1 among the vehicles in the road environment ahead of the host vehicle 1. Then, each vehicle is tracked by the ID. Next, the preceding vehicle specifying unit 184 refers to the travel zone specified by the travel zone specifying unit 186. For example, when the vehicle is in the same travel zone as the host vehicle 1, the relative speed and absolute acceleration of the vehicle are calculated. To derive. At this time, a vehicle having a relative speed within a predetermined range (for example, −10 to 10 km / h) in the same traveling zone is set as a preceding vehicle. Here, the relative speed is obtained by dividing the relative distance from the preceding vehicle by unit time, and the absolute acceleration is obtained by dividing the absolute speed obtained by adding the speed of the host vehicle 1 to the relative speed by unit time. it can.

  As a means for deriving the absolute acceleration / deceleration (absolute acceleration) of the preceding vehicle, various existing techniques, for example, a technique such as Japanese Patent Application Laid-Open No. 2012-206700 of the same applicant can be used.

  Further, in the above, the preceding vehicle specifying unit 184 tracks the preceding vehicle or the like according to the traveling zone specified by the traveling zone specifying unit 186. However, when a so-called navigation unit is mounted on the host vehicle 1, such a navigation unit is provided. Each process may be performed according to the travel zone. The navigation unit obtains the absolute position of the host vehicle 1 including latitude, longitude, and the like from a GPS receiving unit (not shown) via the I / F unit 150, and a speed sensor and a gyro sensor (not shown). Thus, the relative position from the reference position is obtained, and the position of the host vehicle 1 on the map is derived by the combination. Further, the navigation unit holds map data. Based on the map data and the position of the host vehicle 1 on the map, the road on which the host vehicle 1 is traveling and its travel zone (if there are a plurality of maps). Which of the plurality of traveling zones is determined).

(Road identification process: Step S104)
The road specifying unit 166 specifies whether the travel road on which the host vehicle 1 travels is an automobile-only road or a general road other than the automobile-only road. Here, in general, when a vehicle enters an automobile exclusive road from a general road, it passes through a toll gate once. In addition, the vehicle passes through the toll gate even at the boundary of the management section of the motor vehicle exclusive road, but may or may not pass through the toll gate when entering the general road from the motor vehicle exclusive road. Therefore, when the road identification unit 166 determines that the traveling road is a general road and has passed the toll gate once, the road identifying unit 166 determines that the traveling road has changed to an automobile-only road, and then determines that the road has passed the toll gate. , Continue to determine that the road is an automobile-only road. Then, when the road identification unit 166 determines that the travel road is an automobile-only road and the traffic signal installed on the travel road is a traffic signal installed on a general road, the travel road is changed to a general road for the first time. Judge that

  Specifically, when the toll gate is specified by the toll gate specifying unit 182, the road specifying unit 166 is a predetermined region in the center in the luminance image 210 (an area corresponding to a vehicle zone where the host vehicle 1 is supposed to travel). It is determined whether there is a toll gate in front of the host vehicle 1 depending on whether the toll gate is specified. As a result, when it is determined that the toll gate is ahead of the host vehicle 1, the road identification unit 166 increases the number of toll gate determinations by one. On the other hand, when it is determined that there is no toll gate in front of the host vehicle 1, the road identification unit 166 does not increase or decrease the number of toll gate determinations. Note that the initial value of the toll gate determination count is set to zero.

  And the road specific | specification part 166 determines with a traveling road being a general road, when the toll gate determination frequency is zero. Moreover, the road specific | specification part 166 determines with a toll road being an automobile exclusive road, when the toll gate determination frequency is other than 0, ie, 1 or more.

  After determining that the traveling road is an automobile-only road, the road specifying unit 166 determines whether or not the traffic signal specified by the traffic signal specifying unit 180 in the central predetermined area in the luminance image 210 is a traffic signal installed on a general road. Is repeatedly determined. When the traffic signal identifying unit 180 determines that the traffic signal is a traffic signal installed on a general road, the road identifying unit 166 recognizes that the traveling road is a general road and sets the toll gate determination count to 0. Reset. In addition, since the magnitude | sizes of the traffic signal installed in the general road and the motor vehicle exclusive road differ, it can be determined by the magnitude | size of a traffic signal whether it is a traffic signal installed in the general road.

  As described above, the road identification unit 166 identifies the type of the traveling road based on the toll gate identified by the toll gate identification unit 182 and the traffic light identified by the traffic signal identification unit 180. Other methods may be used for specifying the road. For example, the center line of the broken line of the road may be recognized, and the general road and the exclusive road for the automobile may be determined using the length of the white line, the transition of the speed difference between the own vehicle 1 and the preceding vehicle, the atmospheric pressure, and the like. Alternatively, a specific item specific to a general road or a specific item specific to a car-only road may be specified from an image captured by a camera, and the general road and the car-only road may be determined based on the specified specific object. Furthermore, when it is known whether the entrance or exit of the toll gate is linked to the ETC, it may be determined based on that. Furthermore, it may be determined by matching an image captured by a camera and map data, or may be determined by matching map data and GPS position data.

(Target signal device identification processing: steps S106, S108, S110)
FIG. 6 is a schematic view showing a traffic light installed on an automobile-only road. As shown in FIG. 6, on the automobile exclusive road 300, one or more traffic lights 304 (304 a, 304 b, 304 b, 304 b, 304 b, 304 b, 304 b, 304c) may be installed. In addition, since the exclusive road 300 is generally provided with a traveling zone of a plurality of lanes, when the traffic light 304 is set, a plurality of traffic lights 304 are also installed corresponding to the traveling zone. When a plurality of traffic lights 304 are installed, the plurality of traffic lights 304 are installed side by side. That is, the plurality of traffic lights 304 are approximately equal in height and depth distance, and are installed at equal intervals in the horizontal direction when three or more traffic lights 304 are installed. Furthermore, since the plurality of traffic lights 304 indicate whether or not they can enter the tunnel, they are often lit or blinked with the same signal color.

  In contrast, on general roads, one or more traffic lights are installed at the intersection, for example, in the direction of travel, but when multiple traffic lights are installed, at least the depth distance is around the intersection. It is common that they are installed at different distances.

  In addition, the traffic light 304 installed on the automobile exclusive road 300 has a larger light emitting portion than the traffic signal installed on a general road in order to ensure visibility corresponding to the high-speed driving of the vehicle. For example, the traffic light 304 installed on the automobile-only road 300 has a light emitting portion width of 300 mm to 450 mm, and the traffic light installed on a general road has a light emitting portion width of 250 mm to 350 mm.

  Thus, the traffic light 304 installed on the automobile exclusive road 300 and the traffic light installed on the general road differ in the installation conditions and the size of the light emitting portion. Therefore, the traffic signal identifying unit 168 identifies the traffic signal identifying unit 168 based on the three-dimensional position of the traffic signal and the specific condition that is referred to depending on whether the traveling road is an automobile-only road 300 or a general road. The traffic signal corresponding to the traveling road is identified from the one or more traffic signals. That is, when the traveling road is the automobile exclusive road 300, the target signal specifying unit 168 is based on the determination condition (automobile exclusive road determination condition) for specifying the traffic light 304 installed on the automobile exclusive road 300. The traffic light 304 installed on the automobile exclusive road 300 is identified from one or a plurality of traffic lights identified by the traffic signal identification unit 180. Further, when the traveling road is a general road, one or a plurality of traffic lights identified by the traffic light identifying unit 180 based on a determination condition (general road determination condition) for identifying a traffic signal installed on the general road Among them, the traffic lights installed on general roads are identified.

  Here, the determination condition for the road for exclusive use of the automobile is such that the width of the light emitting portion is in the range of 300 mm to 450 mm, the height difference dj of the plurality of traffic lights 304 is considered to be equal height, and the plurality of traffic lights As a determination condition, the difference dz in the depth distance 304 is within a range that is regarded as an equal depth distance, and the horizontal intervals i (i1, i2) of the plurality of traffic signals 304 are within a range that is regarded as equal. Is set. Note that when the traffic signal 304 is specified to be less than 3 (2 or less), the horizontal interval i is excluded from the determination conditions. In addition, as a general road determination condition, the determination condition is set such that the width of the light emitting portion is within a range of 250 mm to 350 mm.

  When the traffic signal is specified by the traffic signal specifying unit 180 and the traveling road is the automobile-only road 300 (YES in step S106), the target traffic signal specifying unit 168 is a three-dimensional position information generation unit for the traffic signal specified by the traffic signal specifying unit 180. Based on the three-dimensional position derived in 162 and the determination condition for the automobile road, it is determined whether the signal is the traffic light 304 installed on the automobile road 300 (step S108).

  More specifically, when a plurality of traffic signals are identified by the traffic signal identification unit 180, the target traffic signal identification unit 168 derives the height differences dj of these traffic signals and regards the derived height differences dj as equal heights. It is determined whether it is within the range to be made. In addition, when a plurality of traffic signals are identified by the traffic signal identification unit 180, the target traffic signal identification unit 168 derives a difference dz of the depth distances of these traffic signals, and a range in which the derived depth distance differences dz are regarded as equal depth distances. It is determined whether it is within. Further, when three or more traffic signals are identified by the traffic signal identifying unit 180, the target traffic signal identifying unit 168 derives the horizontal interval i of these traffic signals and within the range in which the derived horizontal interval i is considered equal. It is determined whether it is. Furthermore, when the traffic signal is specified by the traffic signal specifying unit 180, the target traffic signal specifying unit 168 derives the lateral width of the traffic signal and determines whether the derived lateral width is within a range of 300 mm to 450 mm.

  Then, when the target traffic signal identifying unit 168 identifies a traffic signal that satisfies all the determination conditions for an automobile-only road, the traffic signal is associated with the travel zone in which the host vehicle 1 travels, assuming that the traffic signal can be associated with the type of road. Specified as a target traffic signal to be controlled. In addition, when a plurality of traffic signals satisfying all the determination conditions for an automobile-only road are specified, the target traffic signal specifying unit 168 specifies the traffic signal located at the center of the luminance image 210 among these traffic signals as the target traffic signal. However, in the automobile exclusive road 300, when a plurality of traffic lights are installed, all of these traffic lights are often lit or blinking in the same color. Therefore, when a plurality of traffic lights satisfying all the determination conditions for an automobile road are specified, and all of these traffic lights are the same color, any one of them may be specified as the target traffic light.

  In addition, when the traveling road is a general road (NO in step S106), the target traffic signal identification unit 168 identifies the lateral width of the traffic signal identified by the traffic signal identification unit 180 and derived by the three-dimensional position information generation unit 162, and the general road Based on the determination conditions, it is determined whether the traffic signal is a traffic signal installed on a general road (step S110). Specifically, when a traffic light is identified by the traffic light identification unit 180, the target traffic signal identification unit 168 derives the lateral width of the traffic signal and determines whether the derived lateral width is within a range of 250 mm to 350 mm. If the lateral width of the traffic signal is within the range, the traffic signal located at the center of the luminance image 210 among these traffic signals is specified as the target traffic signal.

  Then, the central control unit 154 determines whether or not the target traffic signal has been identified (step S112). As a result, if the target traffic signal has not been identified (NO in step S112), the specific control process is terminated as it is. . On the other hand, when the target traffic signal is specified (YES in step S112), the central control unit 154 performs a vehicle control process (step S200). Hereinafter, the vehicle control process when the target signal device is specified by the target signal device specifying unit 168 will be described in detail.

(Vehicle control processing: Step S200)
FIG. 7 is a flowchart showing the procedure of the vehicle control process. When the target signal device is specified by the target signal device specifying unit 168 during traveling in the ACC, the vehicle control unit 170 follows the flowchart shown in FIG. 7 to determine the type of the traveling road, the signal color of the specified signal device, and the preceding A vehicle control process is executed based on the presence or absence of the vehicle.

  First, the vehicle control unit 170 determines whether the traveling road specified by the road specifying unit 166 is the automobile-only road 300 (step S202). As a result, when it is determined that the traveling road specified by the road specifying unit 166 is the automobile-only road 300 (YES in step S202), the process proceeds to step S214.

  On the other hand, when it is determined that the traveling road specified by the road specifying unit 166 is not the automobile-only road 300 (a general road) (NO in step S202), the vehicle control unit 170 specifies the target signal device specifying unit 168. It is determined whether the signal color of the target traffic signal is red (step S204). As a result, when it is determined that the signal color of the target traffic signal identified by target traffic signal identifying unit 168 is red (YES in step S204), vehicle control unit 170 identifies the preceding vehicle in preceding vehicle identifying unit 184. It is determined whether it has been done (step S206).

  As a result, when it is determined that the preceding vehicle has been specified by preceding vehicle specifying unit 184 (YES in step S206), traveling control unit 190 is set to either the stop position or the preceding vehicle via braking mechanism 146. The host vehicle 1 is decelerated and stopped at the combined deceleration (step S208). More specifically, the travel control unit 190 sets the stop position immediately before the stop line or directly below the target traffic light, and avoids the deceleration for stopping the host vehicle 1 at the stop position and the collision with the preceding vehicle. To derive the necessary deceleration. Then, the traveling control unit 190 compares the deceleration for stopping the host vehicle 1 at the stop position with the deceleration necessary for avoiding the collision with the preceding vehicle, and determines the one with the larger deceleration. 1 is determined, and the host vehicle 1 is decelerated and stopped at the determined deceleration.

  On the other hand, when it is determined that the preceding vehicle is not specified by the preceding vehicle specifying unit 184 (NO in step S206), the traveling control unit 190 decelerates the host vehicle 1 via the braking mechanism 146 to the stop position. The own vehicle 1 is decelerated and stopped at the combined deceleration (step S210).

  Further, when it is determined that the signal color of the target traffic signal identified by the target traffic signal identifying unit 168 is not red (blue or yellow) (NO in step S204), the traveling control unit 190 performs the target speed with automatic acceleration. The own vehicle 1 is controlled by a common road common operation that limits the acceleration when accelerating to a certain level (step S212).

  As described above, when the traveling road is a general road, when the traveling control unit 190 determines that the signal color of the target traffic light is blue or yellow, the traveling control unit 190 controls the host vehicle 1 with the common road common operation to The acceleration of the vehicle 1 is limited. If the traveling control unit 190 determines that the signal color of the target traffic light is red, the traveling control unit 190 decelerates and stops the host vehicle 1 at a deceleration according to either the stop position or the preceding vehicle.

  By the way, the traffic light 304 installed on the automobile exclusive road 300 is often provided at the tunnel entrance 302 as described above, and when the traffic light 304 is lit in red, entry to the tunnel is prohibited. However, the stop position and the subsequent action when the traffic light 304 is lit red are not clarified, and there is a current situation that is based on the judgment of the driver. Therefore, when it is determined that the traveling road is the automobile-only road 300 (YES in step S202), the vehicle control unit 170 controls the host vehicle 1 as follows.

  When it is determined that the traveling road specified by the road specifying unit 166 is the automobile-only road 300 (YES in step S202), the vehicle control unit 170 determines the signal color of the target signal specified by the target signal specifying unit 168. Is determined to be red (step S214). As a result, when it is determined that the signal color of the target traffic signal identified by the target traffic signal identifying unit 168 is lit red (YES in step S214), the vehicle control unit 170 uses the preceding vehicle identifying unit 184 to advance. It is determined whether the vehicle has been specified (step S216).

  As a result, when it is determined that the preceding vehicle has been specified by preceding vehicle specifying unit 184 (YES in step S216), traveling control unit 190 is set to either the stop position or the preceding vehicle via braking mechanism 146. The host vehicle 1 is decelerated at the combined deceleration. Further, the notification control unit 192 blinks a hazard lamp (not shown), which is a light emission source at the rear of the host vehicle 1, and issues a warning to the following vehicle that the host vehicle 1 is decelerating (step S218). ). When the traveling road is an automobile-only road, a deceleration corresponding to the stop position is derived with the target signal (signal 304) or just before the tunnel entrance 302 as a stop position.

  Then, the travel control unit 190 performs control to maintain the reduced speed after the host vehicle 1 is decelerated to a speed equal to or lower than a predetermined threshold. When the preceding vehicle further decelerates, the vehicle is decelerated according to the preceding vehicle in order to avoid a collision.

  As described above, the vehicle control unit 170 blinks the hazard lamp when the traveling road is the exclusive road 300, the target traffic light (the traffic light 304) is lit red, and there is a preceding vehicle, and the host vehicle Decrease 1 to maintain a constant speed. As a result, even when the traffic light 304 is lit red on the automobile-only road 300, the following vehicle is informed to prevent collision of the following vehicle due to deceleration, and according to the traveling state (running determination) of the preceding vehicle. Further, the vehicle control of the own vehicle 1 can be performed.

  On the other hand, when it is determined that the preceding vehicle is not specified by the preceding vehicle specifying unit 184 (NO in step S216), the traveling control unit 190 automatically performs deceleration at a speed adjusted to the stop position via the braking mechanism 146. The vehicle 1 is decelerated. In addition, the notification control unit 192 notifies the driver that attention to the front is necessary, for example, by displaying it on the display 122, and blinks a hazard lamp (not shown) to the following vehicle. Issue a warning. Then, the travel control unit 190 decelerates the host vehicle 1 to a speed equal to or lower than a predetermined threshold value, then releases ACC, and drives the host vehicle 1 based on the driver's judgment (step S220).

  In this way, the vehicle control unit 170 notifies the driver of the hazard lamp when the traveling road is the automobile-only road 300, the target traffic light (the traffic light 304) is lit red, and there is no preceding vehicle. Blinks, the host vehicle 1 is decelerated, and the ACC for maintaining the target speed is released. As a result, even when the traffic light 304 is lit red on the automobile-only road 300, the driver is notified of the collision while preventing the collision of the succeeding vehicle by decelerating by notifying the succeeding vehicle. The driver can be entrusted with driving that more closely matches the actual situation.

  The hazard lamp blinked in steps S218 and S220 may be turned off after a predetermined time has elapsed from the start of lighting, or may be turned off when the host vehicle 1 decelerates to a predetermined speed or less. .

  When it is determined that the signal color of the target traffic signal identified by the target traffic signal identifying unit 168 is not red lighting (blue, yellow, or red blinking) (NO in step S214), the traveling control unit 190 The ACC is maintained as it is without limiting the acceleration when accelerating to the target speed by automatic acceleration.

  As described above, when the traveling road is the automobile-only road 300, when the vehicle control unit 170 determines that the signal color of the target traffic light is blue, yellow, or blinking red, the ACC is maintained as it is. Further, when the vehicle control unit 170 determines that the signal color of the target traffic light is red, the vehicle control unit 170 performs notification to the driver and the subsequent vehicle, deceleration stop of the own vehicle 1, etc. according to the presence or absence of the preceding vehicle, Vehicle control simulating an operation that will be executed when the driver finds a signal that lights red on the exclusive road 300 is performed. Thereby, the vehicle control apparatus 120 can perform vehicle control corresponding to the road on which the host vehicle 1 travels, and can reduce the driver's uncomfortable feeling.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  For example, in the above-described embodiment, the determination condition for an automobile-only road is such that the width of the light emitting portion is in the range of 300 mm to 450 mm and the height difference dj of the plurality of traffic lights 304 is considered to be equal height. Within the range in which the difference dz of the depth distances of the plurality of traffic lights 304 is regarded as the same depth distance, and within the range in which the horizontal intervals i (i1, i2) of the plurality of traffic lights 304 are considered to be equal. Something is set as a judgment condition. However, as a determination condition for an automobile exclusive road, the target traffic signal may be specified using at least one determination condition among the plurality of determination conditions, and any determination condition may be selected from the plurality of determination conditions. May be combined to identify the target traffic signal.

  Further, in the above-described embodiment, when the traveling road is the automobile-only road 300, the target traffic light is lit red, and there is a preceding vehicle, the hazard lamp is blinked to issue a warning to the following vehicle. At the same time, the host vehicle 1 is decelerated to maintain a constant speed. However, in such a case, the traveling control unit 190 may blink the hazard lamp to issue a warning to the following vehicle, and decelerate the host vehicle 1 and stop it at the stop position. Also, the driver may set in advance whether the host vehicle 1 is decelerated and stopped at the stop position, or whether the host vehicle 1 travels at a constant speed when the speed of the host vehicle 1 falls below a predetermined threshold. Furthermore, together with these controls, the traveling control unit 190 may notify the driver by displaying on the display 122, for example, that the traveling forward is dangerous.

  Further, in the above-described embodiment, when the traveling road is the automobile-only road 300, the target traffic light is lit red, and there is a preceding vehicle, the hazard lamp is blinked to issue a warning to the following vehicle. At the same time, after the host vehicle 1 is decelerated, ACC is released. However, the traveling control unit 190 may decelerate the host vehicle 1 via the braking mechanism 146 and control the traveling of the host vehicle 1 at a constant speed as it is when the speed reaches a predetermined threshold value or less. Further, the traveling control unit 190 may decelerate the host vehicle 1 through the braking mechanism 146 and stop the host vehicle 1 at the stop position, or may cancel the ACC without decelerating the host vehicle 1. .

  In the above-described embodiment, the traffic light is specified based on the luminance images 210 captured by the two imaging devices 110. However, the traffic light may be specified from the luminance image captured by the monocular camera. Moreover, you may identify a traffic signal based on the data transmitted from various infrastructures, such as an electromagnetic wave.

  Further, each step of the above-described specific control process does not necessarily have to be processed in time series in the order described in the flowchart, and may include a process in parallel or a subroutine.

  The present invention relates to a vehicle control device that performs vehicle control of the host vehicle, and is particularly applicable to a vehicle control device that performs vehicle control of the host vehicle based on the type of traveling road and the signal color of a traffic light.

1 own vehicle 120 vehicle control device 160 image processing unit (image acquisition unit)
162 Three-dimensional position information generation unit 164 Object identification unit 166 Road identification unit 168 Target signal identification unit 170 Vehicle control unit 180 Traffic signal identification unit 184 Preceding vehicle identification unit 190 Travel control unit 192 Notification control unit

Claims (6)

A target traffic signal identifying unit that identifies an instruction state of a traffic signal installed on a road on which the vehicle travels;
A road identifying unit that identifies whether the type of traveling road on which the vehicle travels is an automobile-only road on which only the vehicle can travel, or a general road other than the automobile-only road;
A vehicle control unit that performs vehicle control of the host vehicle based on a type of the traveling road and an instruction state of the traffic light;
Equipped with a,
The vehicle control unit
When it is determined that the travel road is the general road, and when the traffic light is identified as blinking red, it is executed when the traffic light is identified as lit red. The same control as
When it is determined that the travel road is the road for exclusive use of the automobile, and the traffic light is identified as blinking in red, it was executed before it was identified as blinking in red A vehicle control device characterized by continuing to maintain control. The vehicle control unit
When it is determined that the traveling road is the road for exclusive use of the automobile, and the traffic light is determined to be lit in red, the light source at the rear of the host vehicle is blinked. The vehicle control device according to claim 1. The vehicle control unit includes a traveling control unit that performs traveling control of the host vehicle based on the type of the traveling road and an instruction state of the traffic light, and a notification control unit that performs notification control on the inside and outside of the host vehicle,
The travel controller is
When it is determined that the traveling road is the automobile-only road, and when the traffic light is identified as being lit red, the traveling control for the host vehicle is canceled,
The notification control unit
The vehicle control device according to claim 1 or 2, wherein the driver is notified that attention is required ahead. A preceding vehicle specifying unit that specifies a preceding vehicle that travels ahead of the host vehicle;
The vehicle control unit
When the indication state of the traffic light is specified, vehicle control of the host vehicle is performed based on the presence / absence of the preceding vehicle, the type of the traveling road, and the indication state of the specified traffic light. The vehicle control device according to any one of claims 1 to 3 . The vehicle control unit
The traveling road is determined to the a general road, when the traffic is other than red, characterized in that the running control for limiting the acceleration to accelerate the running speed of the vehicle to a predetermined target speed The vehicle control device according to any one of claims 1 to 3. A target traffic signal identifying unit that identifies an instruction state of a traffic signal installed on a road on which the vehicle travels;
A road identifying unit that identifies whether the type of traveling road on which the vehicle travels is an automobile-only road on which only the vehicle can travel, or a general road other than the automobile-only road;
A vehicle control unit that performs vehicle control of the host vehicle based on a type of the traveling road and an instruction state of the traffic light;
A preceding vehicle specifying unit for specifying a preceding vehicle traveling ahead of the host vehicle;
Equipped with a,
The vehicle control unit includes a traveling control unit that performs traveling control of the host vehicle based on the type of the traveling road and an instruction state of the traffic light.
The travel controller is
When it is determined that the travel road is the road for exclusive use of the automobile and the traffic light is specified to be lit in red, when the preceding vehicle is specified, the host vehicle is decelerated, and then the speed is reduced. The vehicle control device is characterized in that when the preceding vehicle is not specified, the host vehicle is decelerated and then the travel control for the host vehicle is canceled.

Images