JP6323246B2 - Vehicle travel control apparatus and method - Google Patents

Description

  The present invention relates to a travel control apparatus and method for controlling travel of a vehicle.

  With regard to this type of device, when the width of the narrow road portion of the vehicle traffic band is equal to or greater than the minimum width, a technique of traveling near the center of the narrow road portion is known (Patent Document 1).

JP 2008-143263 A

  However, the accuracy of the recognition of the position of the lane marker is low due to the loss of the lane marker that marks the lane or the change of the imaging environment, and the actual lane mark position is closer to the host vehicle than the recognized position. However, there is a problem that if the travel position is set so as to recognize the avoidance target and avoid the avoidance target, the vehicle travels outside the actual lane mark.

  The problem to be solved by the present invention is to determine the traveling position of the host vehicle so that the actual lane mark is not deviated or the deviation amount can be suppressed even when part or all of the lane markers cannot be accurately recognized. is there.

  The present invention relates to a vehicle control device and a control method for setting a target region as an avoidance target and controlling a travel position based on the target region, wherein the region setting means determines whether the avoidance target is based on the travel direction of the host vehicle. When the evaluation value of the lane marker on the side opposite to the existing side is less than the first evaluation criterion, the host vehicle passes through the side to be avoided than when the evaluation value is equal to or higher than the first evaluation criterion. By setting the target route of the own vehicle so that the distance between the lateral end portion located on the own vehicle side and the avoidance target when viewed from the own vehicle in the left and right end portions of the target region is reduced. Solve.

  According to the present invention, when the accuracy of the recognition of the position of the lane marker is low, that is, when the first evaluation value criterion is not satisfied, the amount of avoiding the avoidance target of the target route of the host vehicle is suppressed. The amount of deviation can be suppressed.

It is a block block diagram of the traveling control system concerning this embodiment. It is a figure for demonstrating a target area | region. It is a 1st figure for demonstrating the setting process of an object area | region. It is a 2nd figure for demonstrating the setting process of an object area | region. It is a 3rd figure for demonstrating the setting process of an object area | region. It is a 1st figure for demonstrating the setting process of the object area | region when an oncoming vehicle exists. It is a figure explaining the process which estimates the position of a lane marker based on the position of an oncoming vehicle. It is a 1st flowchart which shows the control procedure of the traveling control system of this embodiment. It is a 2nd flowchart which shows the control procedure of the traveling control system of this embodiment.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a case where the vehicle travel control apparatus according to the present invention is applied to a travel control system mounted on a vehicle will be described as an example. The embodiment of the travel control device of the present invention is not limited, and can be applied to a mobile terminal device capable of exchanging information with the vehicle side. The travel control device, the travel control system, and the mobile terminal device are all computers that execute arithmetic processing.

  FIG. 1 is a diagram showing a block configuration of the travel control system 1. The travel control system 1 of this embodiment is mounted on a vehicle and includes a travel control device 100 and an in-vehicle device 200.

The travel control device 100 according to the present embodiment recognizes the lane in which the host vehicle is traveling, and controls the movement of the host vehicle so that the position of the lane marker in the lane and the position of the host vehicle maintain a predetermined relationship. Equipped with lane departure prevention function (lane keep support function). The travel control device 100 of this embodiment controls the movement of the host vehicle so that the host vehicle travels in the center of the lane. The travel control device 100 may control the movement of the host vehicle so that the distance along the road width direction from the lane marker on the lane to the host vehicle is within a predetermined value range.
The travel control device 100 has a communication device 20, the in-vehicle device 200 has a communication device 40, and both devices exchange information with each other by wired communication or wireless communication.

First, the in-vehicle device 200 will be described.
The in-vehicle device 200 of the present embodiment includes a detection device 50, a sensor 60, a vehicle controller 70, a drive device 80, a steering device 90, an output device 110, and a navigation device 120. The devices constituting the in-vehicle device 200 are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.

Hereinafter, each device constituting the in-vehicle device 200 will be described.
The detection device 50 detects the presence of an avoidance target that should be avoided by the vehicle and its location. Although not particularly limited, the detection device 50 of the present embodiment includes a camera 51. The camera 51 of the present embodiment is a camera including an image sensor such as a CCD. The camera 51 is installed at a predetermined position of the host vehicle, images the surroundings of the host vehicle, and acquires image data including an avoidance target existing around the host vehicle.

  The detection device 50 processes the acquired image data, and calculates the distance from the own vehicle to the avoidance target based on the position of the avoidance target with respect to the own vehicle. The detection device 50 changes the position of the avoidance target with time. The relative speed between the host vehicle and the avoidance target and the relative acceleration between the host vehicle and the avoidance target are calculated as target information. For the process of deriving the positional relationship between the host vehicle and the other vehicle based on the image data and the process of deriving the speed information based on the change over time, the method known at the time of filing this application can be used as appropriate.

  Further, the detection device 50 may analyze the image data and identify the type of the avoidance target based on the analysis result. The detection device 50 uses a pattern matching technique or the like to identify whether the avoidance target included in the image data is a vehicle, a pedestrian, or a sign. Further, the detection device 50 extracts an image of the object from the image data, and determines the specific type of the object (four-wheeled vehicle, two-wheeled vehicle, bus, truck, construction vehicle, etc.) and the vehicle type from the size and shape of the image. (Small car, large car) can be identified. Furthermore, the detection device 50 can identify the type and model of the vehicle from the identifiers written on the license plate included in the image data. Each type of avoidance target may be associated with the size in advance, and the size of the avoidance target may be obtained by referring to the information. This identification information can be used in the target area setting process.

  The detection device 50 of the present embodiment detects a lane marker that defines a lane in which the host vehicle travels from a captured image. The lane marker in the present embodiment is not limited as long as it has a function of defining a lane, and may be a diagram drawn on a road surface or planting existing between lanes. Road structures such as guardrails, curbs, sidewalks, and motorcycle roads existing on the shoulder side of the lane may also be used. Further, it may be a stationary object such as a signboard, a sign, a store, a roadside tree, etc. existing on the shoulder side of the lane.

  The lane marker detection method is not particularly limited, and a method known at the time of filing can be used as appropriate. The detection device 50 according to the present embodiment detects the boundary of the lane marker drawn on the road surface as an edge that causes a lightness difference from the road surface. Edges along the lane extending direction are extracted from the captured image of the front road surface, and lane markers are detected based on edge continuity, edge direction, continuous edge length, and the like.

  Incidentally, since the lane marker is drawn regularly along the extending direction of the lane, the position of the lane marker that will be detected in the future can be predicted from the position of the lane marker detected in the past. The detection device 50 sets the predicted detection area of the lane marker as a search area. The detection device 50 acquires an evaluation value for detecting a lane marker in each set search region.

  For example, the detection device 50 can extract an edge indicating a predetermined brightness difference, if the presence rate of an edge indicating a predetermined brightness difference is a predetermined value or more, if the edge indicates a predetermined continuity, When the difference between the direction and the predicted lane marker direction is less than the predetermined value, or when the edge length indicating continuity is greater than or equal to the predetermined value, the evaluation value satisfies the criterion for one predetermined evaluation item In this case, or when the evaluation values of a plurality of evaluation items are totaled and the reference value is satisfied, it is determined that the lane marker has been successfully detected in that region. On the other hand, when the edge that indicates the predetermined brightness difference cannot be extracted, the detection rate of the edge that indicates the predetermined brightness difference is less than the predetermined value, or when the edge does not exhibit the predetermined continuity, When the difference between the edge direction and the predicted lane marker direction is greater than or equal to a predetermined value, or when the edge length indicating continuity is less than the predetermined value, the evaluation value for the predetermined one evaluation item is the same. If not, or if the evaluation values of a plurality of evaluation items are totaled and these evaluation values do not satisfy the reference value, the accuracy (accuracy) for recognizing the position of the lane marker is low. Judge that it was not detected well. The reference value for evaluation when the lane marker can be detected satisfactorily and when the lane marker cannot be detected satisfactorily may be the same value or different values.

  When the lane marker is planting, a road structure, or an immovable object, the position of the lane marker is detected by pattern matching the feature points extracted from the captured image. As an evaluation value in this case, a pattern matching result or the like can be used.

  The detection device 50 associates the position of the search area of the lane marker with the evaluation result, and sends it to the control device 10 of the travel control device 100 described later. The detection device 50 may send a result indicating whether or not the lane marker has been detected to the control device 10, or may send an evaluation value used for detecting the lane marker to the control device 10. The control device 10 that has acquired the evaluation value may determine whether or not the lane marker has been detected based on the evaluation value.

  Note that the radar apparatus 52 may be used as the detection apparatus 50 of the present embodiment. As the radar device 52, a system known at the time of filing such as a millimeter wave radar, a laser radar, and an ultrasonic radar can be used. The detection apparatus 50 according to the present embodiment may use a plurality of stereo cameras.

  The target information including the position of the avoidance target is sent to the traveling control device 100 side. The detection device 50 includes speed information, acceleration information, type information of the avoidance target obtained from the change in the position of the avoidance target, and information such as the vehicle type when the avoidance target is a vehicle. You may send to the control apparatus 100 side.

  The “avoidance target” in the present embodiment is an object that the host vehicle should avoid. That is, the host vehicle travels while maintaining a state where it is not too close to the avoidance target. The detection device 50 detects an object having a predetermined positional relationship with the host vehicle as an avoidance object. The detection device 50 detects an object or the like that exists on the traveling lane of the own vehicle and exists in front of the traveling direction of the own vehicle within a predetermined distance from the own vehicle as an avoidance target.

  The avoidance target of the present embodiment includes a stationary object and a moving object. Examples of stationary avoidance targets include other parked vehicles, other parked vehicles, road structures such as sidewalks, median strips, guardrails, road installations such as signs and power poles, fallen objects, and snow removed An object that obstructs driving of the vehicle, such as an object placed on the road, is included. Other vehicles and pedestrians are included as moving avoidance targets. As other vehicles, other vehicles traveling in front of the own vehicle, other vehicles traveling in the front side of the own vehicle, other vehicles traveling in the rear, other vehicles traveling in the rear side, from the traveling direction of the own vehicle Other vehicles (oncoming vehicles) approaching the host vehicle are included. Examples of vehicles include motorcycles such as bicycles and motorcycles, large vehicles such as buses and trucks, and special vehicles such as trailers and crane vehicles. Further, the avoidance targets include objects that the host vehicle should avoid, such as a construction site, a damaged area of a road surface, and a puddle, although there is no object.

  The sensor 60 of this embodiment includes a steering angle sensor 61 and a vehicle speed sensor 62. The steering angle sensor 61 detects steering information related to steering such as the steering amount, steering speed, and steering acceleration of the host vehicle, and sends the steering information to the vehicle controller 70 and the travel control device 100. The vehicle speed sensor 62 detects the vehicle speed and acceleration of the host vehicle and sends them to the vehicle controller 70 and the travel control device 100.

  The vehicle controller 70 of this embodiment is an in-vehicle computer such as an engine control unit (ECU), and electronically controls the driving state of the vehicle. Examples of the vehicle of the present embodiment include an electric vehicle including an electric motor as a travel drive source, an engine vehicle including an internal combustion engine as a travel drive source, and a hybrid vehicle including both the electric motor and the internal combustion engine as a travel drive source. Note that electric vehicles and hybrid vehicles using an electric motor as a driving source include a type using a secondary battery as a power source for the electric motor and a type using a fuel cell as a power source for the electric motor.

  The drive device 80 of this embodiment includes a drive mechanism for the host vehicle V. The drive mechanism includes an electric motor and / or an internal combustion engine that are the above-described travel drive sources, a power transmission device including a drive shaft and an automatic transmission that transmits output from these travel drive sources to the drive wheels, and brakes the wheels. A braking device 81 and the like are included. The drive device 80 generates control signals for these drive mechanisms based on input signals from the driver's accelerator operation and brake operation, and control signals acquired from the vehicle controller 70 or the travel control device 100, and includes acceleration and deceleration of the vehicle. Run control. By sending control information to the driving device 80, traveling control including acceleration / deceleration of the vehicle can be automatically performed. In the case of a hybrid vehicle, torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 80.

  The steering device 90 of this embodiment includes a steering actuator. The steering actuator includes a motor and the like attached to the column shaft of the steering. The steering device 90 executes turning control of the vehicle based on the control signal acquired from the vehicle controller 70 or the input signal by the driver's steering operation. The vehicle controller 70 performs turn control by sending control information including the steering amount to the steering device 90. Moreover, the traveling control apparatus 100 may execute the turn control by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 70 executes turning control of the vehicle by sending control information including the braking amount of each wheel to the braking device 81.

  The navigation device 120 according to the present embodiment sets a route from the current position of the host vehicle to the destination, and outputs route guidance information via the output device 110 described later. The navigation device 120 includes a position detection device 121, road type, road width, road shape, and other road information 122, and map information 123 in which the road information 122 is associated with each point. The position detection device 121 according to the present embodiment includes a global positioning system (GPS) and detects a traveling position (latitude / longitude) of a traveling vehicle. The navigation device 120 specifies a road link on which the host vehicle travels based on the current position of the host vehicle detected by the position detection device 121. The road information 122 according to the present embodiment stores the road type, road width, road shape, passability (possibility of entry into adjacent lanes), and other road-related information for each road link identification information. . And the navigation apparatus 120 acquires the information regarding the road to which the road link where the own vehicle drive | works refers with reference to the road information 122, and sends it out to the traveling control apparatus 100. The road type, road width, and road shape on which the host vehicle travels are used to calculate the target route RT on which the host vehicle travels in the travel control process. Note that the target route RT in the present embodiment includes specific information (coordinate information) of one or more points where the host vehicle V1 will pass in the future. The target route RT of the present embodiment includes at least one point that suggests the next traveling position of the host vehicle V1. The target route RT may be constituted by a continuous line or may be constituted by discrete points.

  The output device 110 according to the present embodiment outputs various types of information relating to driving support to a user or a passenger in a surrounding vehicle. In the present embodiment, the output device 110 includes information according to target information, information according to the position of the target area, information according to the position of the target route, and information according to control information that causes the host vehicle to travel on the target route. Any one or more of them are output. The output device 110 according to the present embodiment includes a display 111, a speaker 112, a vehicle exterior lamp 113, and a vehicle interior lamp 114. The vehicle exterior lamp 113 includes a headlight, a blinker lamp, and a brake lamp. The vehicle interior lamp 114 includes an indicator lighting display, a display 111 lighting indication, other lamps provided on the steering wheel, and lamps provided around the steering wheel. Further, the output device 110 of the present embodiment may output various types of information related to driving support to an external device such as an intelligent transport system (ITS) via the communication device 40. An external device such as an intelligent road traffic system uses information related to travel support including vehicle speed, steering information, travel route, and the like for traffic management of a plurality of vehicles.

A specific information output mode will be described by taking as an example a case where there is a parked vehicle to be avoided in front of the left side of the host vehicle.
The output device 110 provides the occupant of the own vehicle with the direction and position where the parked vehicle exists as information corresponding to the target information. The display 111 displays the direction and position where the parked vehicle exists in a visible manner. The speaker 112 utters and outputs a text indicating the direction and position of the parked vehicle, such as “There is a parked vehicle in front of the left side”. Of the lamps provided on the left and right door mirrors that are the vehicle exterior lamps 113, only the left lamp may be blinked to notify the occupant of the host vehicle that a parked vehicle is present in front of the left side. Of the lamps provided on the left and right in the vicinity of the steering wheel, which is the vehicle interior lamp 114, only the left lamp may blink to notify the occupant that there is a parked vehicle in front of the left side.

  Further, the setting direction and the setting position of the target area may be output via the output device 110 as information corresponding to the position of the target area. As described above, the display 111, the speaker 112, the vehicle exterior lamp 113, and the vehicle interior lamp 114 can inform the occupant that the target area is set to the left front.

  In the present embodiment, the setting direction and the setting position of the target area are output to the outside using the outside lamp 113 from the viewpoint of notifying passengers of other vehicles in advance of the movement of the host vehicle. When the target area is set, the traveling direction of the host vehicle is changed (steering is performed) in order to avoid this. By notifying the outside that the target area has been set, the driver of the other vehicle can be notified in advance that the traveling direction of the host vehicle changes in order to avoid the target area. For example, when the target area is set to the left front side, the right turn signal lamp (outside cabin lamp 113) is turned on, so that the host vehicle moves to the right side in order to pass the side of the avoidance target existing on the left side. This can be notified to other external vehicles.

  Further, as information corresponding to the position of the target route, the shape of the target route and the position of the curved point can be notified to the occupant through the display 111 and the speaker 112. The display 111 displays the shape of the target route and the like as a visible diagram. The speaker 112 outputs an announcement such as “turn the steering wheel to the right to avoid a parked vehicle ahead”.

  Furthermore, through the display 111, the speaker 112, the vehicle exterior lamp 113, and the vehicle interior lamp 114, the steering operation and acceleration / deceleration are executed as information corresponding to the control information for causing the vehicle to travel on the target route. Inform the passenger of the own vehicle or the passenger of another vehicle in advance.

  In this way, by outputting information related to travel control when passing the side of the avoidance target, it is possible to notify the occupant of the host vehicle and / or another vehicle of the behavior of the host vehicle in advance. The output device 110 may output the above-described information to an external device of the intelligent transportation system via the communication device 20. Thereby, the passenger | crew of the own vehicle and / or the passenger | crew of another vehicle can respond | correspond according to the behavior of the own vehicle by which traveling control is carried out.

  Hereinafter, the traveling control apparatus 100 of this embodiment is demonstrated.

  As shown in FIG. 1, the travel control device 100 of this embodiment includes a control device 10, a communication device 20, and an output device 30. The communication device 20 exchanges information with the in-vehicle device 200. The output device 30 has the same function as the output device 110 of the in-vehicle device 200 described above. As the output device 30, the output device 110 of the in-vehicle device 110 may be used. When the travel control device 100 is a computer that can be carried by an occupant, the travel control device 100 outputs control information for controlling blinking of the vehicle interior lamp 113 and the vehicle interior lamp 114 of the in-vehicle device 200 to each device. May be.

  The control device 10 of the travel control device 100 is configured as a travel control device 100 by executing a ROM (Read Only Memory) 12 in which a program for executing travel control of the host vehicle is stored, and a program stored in the ROM 12. The computer includes a CPU (Central Processing Unit) 11 as a functioning operation circuit and a RAM (Random Access Memory) 13 functioning as an accessible storage device.

  The control device 10 of the travel control device 100 according to the present embodiment has an evaluation acquisition function, a target information acquisition function, an area setting function, a route setting function, and a control function. The control device 10 of the present embodiment may include a host vehicle information acquisition function that acquires the position, speed, steering angle (turning angle), and the like of the host vehicle. The control apparatus 10 of this embodiment performs each function by cooperation of the software for implement | achieving the said function, and the hardware mentioned above.

Hereinafter, each function of the traveling control apparatus 100 according to the present embodiment will be described.
First, the evaluation acquisition function of the control device 10 will be described. The control device 10 acquires an evaluation value for detecting each lane marker with respect to a pair of lane markers that define the lane in which the host vehicle travels. Each evaluation value is associated with the traveling position or timing of the host vehicle. The evaluation value is a value indicating the probability that the lane marker has been detected in detecting the lane marker. As an “evaluation value” when detecting a lane marker based on a captured image of the camera 51, the lane marker is detected, such as the luminance difference of the edge of the lane marker, the continuity of the edge, and the length of the continuous edge. The values used in doing so can be used. Based on each evaluation value, the control device 10 determines that the luminance difference between the edges of the lane marker is greater than or equal to a predetermined value, whether the edge continuity is greater than or equal to a predetermined value, or the length of successive edges is greater than or equal to the predetermined value. From the viewpoint of whether the difference between the width between the lane markers and the road width obtained from the road information 122 is less than a predetermined value, the likelihood of the detection result of the lane marker is obtained.

  The control device 10 analyzes one or more evaluation values among the preset evaluation values, and determines whether or not the total evaluation value of the one or more evaluation values is less than the first evaluation criterion. The first evaluation criterion is a threshold value for determining whether or not the detection result of the lane marker is unreliable, that is, whether or not the lane marker has been detected. The control device 10 determines whether or not the overall evaluation value of one or more evaluation values is greater than or equal to the second evaluation criterion. The second evaluation criterion is a threshold value for determining whether or not the detection result of the lane marker is reliable, that is, the lane marker has been detected, with high accuracy (accuracy) for the recognition of the position of the lane marker. The second evaluation criterion is a value equal to or higher than the first evaluation criterion. The second evaluation criterion may be the same value as the first evaluation criterion. When the second evaluation criterion is the same value as the first evaluation criterion, the second evaluation criterion in this specification may be read as the first evaluation criterion.

  The value of the first evaluation criterion and the value of the second evaluation criterion can be appropriately set according to the accuracy of the lane marker detection result that is obtained. The value of the first evaluation criterion and the value of the second evaluation criterion are not constant, and may be set according to the location such as the type of road to be traveled, and depending on whether the travel area is a suburb or an urban area It may be set according to the time zone.

  The evaluation value for detecting the lane marker may be obtained by the detection device 50 of the in-vehicle device 200 and may be obtained by the control device 10 or may be obtained by the control device 10. Whether or not the evaluation value is less than the first evaluation reference value may be obtained by the detection device 50 of the in-vehicle device 200 and may be obtained by the control device 10 or may be obtained by the control device 10.

  Similarly, when the radar apparatus 52 detects a lane marker, it is used when detecting the lane marker such as the intensity of the signal received by the radar apparatus 52, the pattern, the continuity of the received signal, and the positional relationship between the detected lane markers. Using the value, an evaluation value is obtained as the probability of the detection result of the lane marker.

  The evaluation value for detecting the lane marker, the evaluation result that this evaluation value is less than the first evaluation criterion, and the evaluation value that is equal to or more than the second evaluation criterion are used in the setting process of the target area described later.

  The target information acquisition function of the control device 10 will be described. The control apparatus 10 acquires target information including the position of the avoidance target that the host vehicle should avoid. The avoidance target has a predetermined positional relationship with the host vehicle. The control device 10 acquires target information including the position of the avoidance target detected by the detection device 50. The target information includes a relative position, a relative speed, and a relative acceleration of the avoidance target.

  If the avoidance target is another vehicle, and the other vehicle and the host vehicle are capable of inter-vehicle communication, the control device 10 of the host vehicle detects the vehicle speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle as target information. You may get as Of course, the control device 10 can also acquire target information including the position, speed, and acceleration of other vehicles from an external device of the intelligent transportation system.

  The own vehicle information acquisition function of the control device 10 will be described. The control device 10 acquires host vehicle information including the position of the host vehicle. The position of the host vehicle can be acquired by the position detection device 121 of the navigation device 120. The own vehicle information includes the vehicle speed and acceleration of the own vehicle. The control device 10 acquires the speed of the host vehicle from the vehicle speed sensor 62. The speed of the host vehicle can also be acquired based on the change over time of the position of the host vehicle. The acceleration of the host vehicle can be obtained from the speed of the host vehicle. The host vehicle information includes the position of the host vehicle at a future time determined from the current position of the host vehicle and the vehicle speed. Based on the position of the host vehicle at a future time, the positional relationship between the host vehicle and the avoidance target at a future time can be obtained.

  The area setting function of the control device 10 will be described. The control device 10 sets the target area based on the position of the avoidance target included in the acquired target information. The avoidance target is a three-dimensional object that exists around the host vehicle and should be avoided.

FIG. 2 is a diagram illustrating an example of a method for setting the target region R. In the example shown in FIG. 2, the traveling direction Vd1 of the host vehicle is the + y direction in the figure. In the figure, the extending direction of the traveling lane Ln1 on which the host vehicle travels is also the + y direction in the figure.
FIG. 2 is a view of a state in which the other vehicle V2 parked on the left shoulder side of the traveling lane Ln1 of the host vehicle V1 is detected as viewed from above. FIG. 2 shows a scene in which the host vehicle V1 approaches the other vehicle V2 from the rear, passes through the side of the other vehicle V2 (avoidance target), and travels in the lane Ln1 in the traveling direction Vd1. The other vehicle V2 to be avoided exists in front of the host vehicle V1. The detected other vehicle V2 exists in the travel lane Ln1 on which the host vehicle V1 travels, and prevents the host vehicle V1 from going straight, and is therefore an avoidance target that the host vehicle V1 should avoid.

  In this example, when the own vehicle V1 approaches the avoidance target V2 along the traveling direction Vd1, the control device 10 sets the target region R0 based on the relationship between the position of the own vehicle and the avoidance target position ( Hereinafter, R including R1 and R2 may be collectively referred to as R). The target region R may be set from the viewpoint of avoiding an approaching state or a contact state in which the distance between the host vehicle V1 and the avoidance target V1 is less than the predetermined value X1, or between the host vehicle V1 and the avoidance target V1. It may be set from the viewpoint of keeping the distance at or above the predetermined value X2.

  The control device 10 sets the target area R in a predetermined range including the other vehicle V2. The control device 10 sets the target region R based on the position of the avoidance target such as the other vehicle V2. The “position to avoid” used in setting the target area R can be defined in advance. When the avoidance target is the other vehicle V2, the position of the center of gravity of the other vehicle V2, the center position, any position of the front portion of the other vehicle V2, any position of the rear portion of the other vehicle V2, Any position of the left and right door portions can be defined as “the position of the other vehicle V <b> 2”. The control device 10 sets the target region R with reference to the “position to be avoided”. In the drawing, the target region R0 is described as an example, but the same applies to target regions R1 and R2 described later.

  In the present embodiment, the target region R0 may have a shape that follows the outer shape of the other vehicle V2, or may have a shape that includes the other vehicle V2. Further, the control device 10 may set the boundary of the target region R0 to a shape along the outer shape of the other vehicle V2, or may be a circle, an ellipse, a rectangle, or a polygon that includes the other vehicle V2. Further, the target area R0 may be set so that the boundary of the target area R0 is less than a predetermined distance (A) from the surface (outer edge) of the other vehicle V2, and the area of the target area R0 may be set small. The area of the target region R0 may be set to be larger than the predetermined distance B (B> A) separated from the other vehicle V2.

  The target region R0 shown in FIG. 2 is defined by a rectangular shape that includes the other vehicle V2. As shown in FIG. 2, when the traveling direction Vd1 of the host vehicle is defined as the front and the opposite direction is defined as the rear, the target region R0 has front and rear end portions RL1, RL2. The front and rear end portions RL1 and RL2 are end lines that define the length of the target region R0 along the extending direction (+ y) of the traveling lane Ln1 of the host vehicle. The length along the extending direction (+ y) of the travel lane Ln1 of the target region R0 shown in FIG. 2 is L0, which is the distance between (y1) and RL2 (y2) of the front and rear end portions RL1. Of the front and rear end portions RL1 and RL2, a front and rear end portion located on the near side (upstream side) when viewed from the host vehicle V1 approaching the target region R0 is defined as a first end portion RL1. On the other hand, out of the front and rear end portions RL1 and RL2, a front and rear end portion located on the back side (downstream side) when viewed from the own vehicle V1 approaching or passing through the side to be avoided is referred to as a second end portion RL2. The first end RL1 and the second end RL2 are set according to the distance from the position (reference position) V20 of the other vehicle V2. The first end RL1 and the second end RL2 are located on the boundary of the target region R0.

As shown in FIG. 2, when the vehicle width direction of the host vehicle is defined as Vw1 (X direction in the figure), the target region R0 has left and right end portions RW1 and RW2 on the left and right sides thereof. The left and right end portions RW1 and RW2 are end lines (end portions) that define a distance along the vehicle width direction from the host vehicle V1. The left and right end portions RW1 and RW2 are end lines that define the length (width) of the target region along the road width direction (X) of the travel lane Ln1 of the host vehicle. The length along (X) in the road width direction of the target region R0 shown in FIG. 2 is a distance W0 between the left end RW1 (end on the lane marker x1 side) and the right end RW2 (end on the lane marker x2 side). is there.
When the host vehicle approaches the avoidance target V2 along the vehicle width direction, left and right end portions of the left and right end portions RW1 and RW2 of the target region R0 that are located to the side of the host vehicle V1 when viewed from the host vehicle V1 Is the first lateral end RW1. On the other hand, of the left and right end portions RW1 and RW2, the left and right end portions located on the side (road shoulder side) opposite to the side of the own vehicle V1 when viewed from the own vehicle V1 are defined as the second lateral end portion RW2. The first lateral end RW1 and the second lateral end RW2 can be set according to the distance from the position (reference position) V20 of the other vehicle V2. The first horizontal end RW1 and the second horizontal end RW2 are located on the boundary of the target region R0.

  As shown in FIG. 2, when there is an oncoming vehicle V3 that faces the opposite lane Ln2 of the traveling lane Ln1 of the host vehicle V1, the control device 10 detects the oncoming vehicle V3 as an avoidance target. Although not shown in the figure, the control device 10 sets a target region in a range including the oncoming vehicle V3 by the same method.

  As illustrated in FIG. 2, the control device 10 according to the present embodiment corresponds to the lane marker based on the position of the lane marker that is evaluated to be less than the first evaluation criterion, that is, the lane marker that is not accurately detected. The target region RL is set at a position to be performed.

  When any one of the lane markers is not detected, the control device 10 according to the present embodiment positions the area where the lane marker cannot be detected as an area where attention should be paid more than usual, and sets the target area. To do. The target area RL for the undetected lane marker and the target area R0 for a three-dimensional object such as another vehicle may exist on the right and left sides of the lane on which the host vehicle V1 travels, or one may exist on the right side. The other may be on the left side.

  Next, based on FIG. 3A to FIG. 3C, the target area setting method of the present embodiment will be described. 3A to 3C are views, as seen from above, showing a state in which the other vehicle V2 is parked in the traveling direction of the host vehicle, as in FIG.

FIG. 3A shows an example of the target region R1 set when the evaluation value of the lane marker is equal to or higher than the second evaluation criterion, and FIG. 3B shows the target region set when the evaluation value of the lane marker is less than the first evaluation criterion. An example of R2 is shown.
In FIG. 3A and FIG. 3B, the case where the other vehicle V2 as an avoidance target exists at a position on the lane marker X1 side opposite to the position of the lane marker X10 that could not be detected with the traveling direction Vd1 of the host vehicle V1 as a reference. Show.

  The control device 10 of the present embodiment has an evaluation value that is less than the first evaluation criterion, that is, when the right lane marker X10 cannot be accurately detected, than when the evaluation value is equal to or greater than the second evaluation criterion. The target region R is set so that the distance between the lateral end RW1 and the avoidance target is shortened. The lateral end RW1 is a lateral position located on the own vehicle V1 side of the left and right ends of the target region R when the own vehicle V1 passes the right side of the other vehicle v2 (avoidance target) existing on the lane marker X1 side. This is the end RW1. By shortening the distance between the position of the lateral end RW1 of the target area R2 and the other vehicle V2 that is the avoidance target, a wide distance between the lane marker that could not be detected and the target area R2 is secured.

  According to a different viewpoint, the control device 10 according to the present embodiment determines that the evaluation value of the lane marker X10 is less than the first evaluation criterion, that is, if at least a part of the lane marker X10 cannot be accurately detected. When V1 passes by the side of the other vehicle V2 (avoidance target), the distance between the lane marker X10 and the lateral end RW1 located on the lane marker X10 side of the left and right ends of the target region R2 is increased. The target area R is set. Thus, by separating the position of the lateral end RW1 of the target region R2 from the lane marker X10, a wide traveling space formed between the lane marker X10 that has not been detected and the target region R2 can be secured.

  By securing a distance between the lane marker X10 where a part of the lane marker X10 is not detected and the target area R2, the target route set based on the position of the target area R2 is also set on the other vehicle V2 (avoidance target) side. The As shown in FIG. 3B, the position of the lateral end RW1 of the target area R2 when a part or all of the lane marker is not detected is different from that of the lateral end RW1a of the target area R1 shown in FIG. 3A. The vehicle is shifting in the direction approaching V2 (the opposite side of the target route RT of the host vehicle V1).

  FIG. 3A shows a distance dW1 between the position of the horizontal end RW1 in the target region R1 when the lane marker is detected and the position V2X0 on the side of the horizontal end RW1 to be avoided. FIG. 3B shows the distance dW2 between the position of the lateral end RW1 in the target region R2 and the avoidance target position V2X0 when a part of the lane marker (region indicated by Q) is not detected. The distance dW2 when the lane marker is not detected is shorter than the distance dW1 when the lane marker is detected satisfactorily.

  In this way, since the distance between the lane marker that has not been detected and the target route is ensured, the host vehicle V1 can pass through a position separated from the non-detected lane marker that should be paid more attention than usual.

  Further, in the present embodiment, when the entire lane marker X10 cannot be detected satisfactorily, the position of the lateral end RW1 of the target region R1 is shifted to a position close to the other vehicle V2, so that the detection of the lane marker X10 is not good. Even in this case, it is possible to prevent the host vehicle V1 from being too close to the lane marker X10 (approaching a predetermined distance or more). According to the travel control device 100 of the present embodiment, even when the lane marker X10 cannot be accurately detected, an appropriate target route can be set and the travel control of the host vehicle V1 can be continued. As a result, the traveling control is not interrupted according to the detection result of the lane marker.

  Next, a specific method for setting the target region R0 will be described with reference to FIG. 3C. Since it is the lateral end RW1 adjacent to the host vehicle V1 among the left and right ends of the target region R1 that affects the target route RT of the traveling host vehicle V1, the lateral position of the target region R0 to be described Is the position of the lateral end RW1 located on the host vehicle V1 side.

  As shown in FIG. 3C, when the width from the lane marker X1 on the shoulder side of the target region R is W0, the sum (W0 + VW1) of the width W0 of the target region R and the width VW1 of the host vehicle V1 is the travel lane. When the width is smaller than the width LW, the host vehicle V1 can travel to the side of the other vehicle V2 to be avoided. The width W0 of the target region R in this example is set in consideration of the size of the other vehicle V2. The width W0 of the target area R is a value obtained by adding the width VW2 of the other vehicle V2 and the margin width dw1 considering the moving range and the like. The width VW2 of the other vehicle V2 may be obtained based on an actual detection result such as a captured image or a radar signal, or may be obtained according to the type of evasion target (pedestrian, two-wheeled vehicle, four-wheeled vehicle) or the like. . If the avoidance target is another vehicle, it may be determined according to the type of other vehicle (light car, compact car, truck, bus, etc.). The vehicle type of the other vehicle V2 may be obtained based on appearance characteristics such as size and shape, and an identifier of the license plate. The margin width d can be set according to the type of evasion target (pedestrian, two-wheeled vehicle, four-wheeled vehicle) and the like. The margin width dw1 may be set according to the length of the width actually detected for the other vehicle V2. The margin width dw1 may be set according to the vehicle type (light vehicle, compact car, truck, bus, etc.) of the other vehicle V2.

  In the present embodiment, the position of the target region R (distance in the width direction between the lane marker x1 on the road shoulder side and the lateral end RW1 on the own vehicle V1 side: one aspect of the side distance) is calculated so as to satisfy the above condition. The position of the lateral end RW1 of the target region R may be defined by the distance from the lane marker X1 on the shoulder side, or may be defined by the width W0 of the target region R. Further, the lateral end RW1 of the target region R may be defined by the distance from the lane marker x10 on the opposite lane side of the lane Ln1.

  Furthermore, in the present embodiment, a safety allowance d1 that should be ensured at a minimum between the host vehicle V1 and the target region R0, and a margin allowance d2 that allows an occupant to pass through the side of the other vehicle V2 that is an avoidance target with peace of mind. In consideration, the horizontal position RW1 of the target region R0 or its width W0 ′ may be set. These d1 and d2 may be set together or may be set separately. In this case, the control device 10 calculates the width W0 of the target region R0 so that W0 + VW + (d1 and / or d2) <LW. The travel lane width LW may be calculated based on the road width LW2 and the number of lanes included in the road information 122, or the position of a pair of lanes is detected from the image information of the detection device 50, and the image information is displayed. Based on this, the lane width may be calculated. The width VW of the host vehicle V1 is acquired from the vehicle controller 70.

  The width W0 of the target region R0 may be a distance from one of the pair of lane markers x1 and x10 that define the lane in which the host vehicle V1 travels to the end RW1 on the host vehicle V1 side of the target region R0. The position of the lateral end RW1 on the host vehicle V1 side in the target region R0 may be defined by the distance from the host vehicle V1 when traveling on the side of the other vehicle V2 that is the avoidance target. Although not particularly limited, the dimension of the width W0 may be a value proportional to the square of the relative speed of the host vehicle V1 with respect to the other vehicle V2.

  The control device 10 according to the present embodiment acquires target information related to the oncoming vehicle V3 (avoidance target) that approaches the host vehicle V1 from the traveling direction of the host vehicle V1 in the travel lane Ln2 other than the travel lane Ln1 on which the host vehicle V1 travels. To do.

  As shown in FIG. 3C, in the present embodiment, when there is an oncoming vehicle V3 that runs opposite the opposite lane that faces the running lane of the host vehicle V1, a target region R3 including the oncoming vehicle V3 is set. The target region R3 is set by the same method as the method for setting the target region R1 described above. The lateral end RW3 on the host vehicle V1 side of the target region R3 is set based on the position of the oncoming vehicle V3.

  When the control device 10 according to the present embodiment acquires target information related to a plurality of avoidance targets including the oncoming vehicle V3 and the other vehicle V2, the position of the target region R3 related to the oncoming vehicle V3 and the avoidance target other than the oncoming vehicle V3. Based on the position of the other vehicle V2, the target region R2 of the other vehicle V2 that is the avoidance target other than the oncoming vehicle R3 is set.

  The case where it is assumed that the host vehicle V1 cannot travel beyond the lane marker x2 will be described as an example. In this case, the control device 10 calculates the width W0 of the target region R2 so that W0 + VW + (d1and / ord2) + dV1 <LW2. That is, when the relationship of VW <LW2− (W0 ′ + dV1) is established, the host vehicle V1 can pass the opposite oncoming vehicle V3 while avoiding the other vehicle V2 that is parked. If the above relationship is not established, the host vehicle V1 stops in front of the other vehicle V2 (on the −y side) and waits for the timing when the oncoming vehicle V3 passes by the side of the host vehicle V1. In addition, dV1 is a width | variety ensured at least when the own vehicle V1 drive | works, such as the width | variety of an opposing lane.

  Furthermore, as illustrated in FIG. 3C, when there is a lane x10 in which a part or all of the lane markers cannot be detected satisfactorily, the target region RL is set so as to include a lane marker that cannot be detected. In this case, the control device 10 calculates the dimension (distance between the end portions) of the width W0 of the target region R0 so that W0 + VW + (d1 and / or sd2) + d4 + W4 * (1/2) <LW.

Next, a method for controlling the length of the target area (the length in the Y direction in the figure) will be described with reference to FIG. FIG. 4 is a diagram illustrating a scene in which a part of the lane marker x10 is not detected well when the host vehicle V1 approaches the other vehicle V2 to be avoided.
When the host vehicle V1 approaches the other vehicle V2 to be avoided, the control device 10 of the present embodiment has the first evaluation value of at least one of the lane markers x1 and x10 that define the travel lane of the host vehicle V1. When the evaluation value is less than the evaluation criterion, the first end portion RL1 and the other vehicle V2 (avoidance) of the front and rear end portions of the target region R2 located on the own vehicle V1 side are compared to the case where the evaluation value is equal to or higher than the second evaluation criterion. The target region R2 is set so that the distance dL1 to the target) becomes longer.

  FIG. 4 shows the target region R2 ′ that is set when the lane marker is not detected well, superimposed on the target region R2. The target region R2 ′ is a region indicated by a broken line. As shown in FIG. 4, the target area R2 ′ extends closer to the host vehicle V1 than the target area R2. The length dL1 ′ of the target region R2 ′ is longer than the length dL1 of the target region R2.

  In the present embodiment, when a part or all of the lane markers ahead of the host vehicle V1 cannot be detected, the appropriate length of the target region R0 is different from the case where all the lane markers ahead are detected well. When the control device 10 cannot detect a part or all of the lane markers, the control device 10 is more in line with the extending direction (Y direction) of the lane on which the host vehicle V1 travels than when all of the lane markers are detected well. A length dL1 from the vehicle V2 to the first end RL1 of the target region R0 is set to be long. Specifically, when all of the lane markers are detected satisfactorily, the length from the other vehicle V2 to the first end RL1 is dL1, and when some or all of the lane markers are not detected satisfactorily The length from the other vehicle V2 to the first end RL1 ′ is dL1 ′. At this time, dL1 ′> dL1.

  Incidentally, the target region R0 is set at the timing when the avoidance target is detected, that is, before the operation for turning for avoidance (steering operation or the like) is performed. If the target region R0 is set by a uniform method without considering the detection state of the lane marker, the target route RT1 calculated based on the incorrect position of the lane marker may have to be changed. When the target route RT1 is changed, the steering amount, the steering angle, the vehicle speed, the acceleration, and the like are changed, so that the continuity of the behavior of the vehicle cannot be maintained. Such behavior of the vehicle may give distrust to the occupant.

  In the present embodiment, in consideration of the detection state of the lane marker, if the lane marker cannot be detected satisfactorily, the length dL1 from the other vehicle V2 to the first end RL1 on the host vehicle V1 side of the target region R0. Is set to be long, an appropriate target region R1 can be set. According to the target route RT1 set based on the position of the boundary of the target region R1, the timing at which the host vehicle V1 starts turning in order to avoid the other vehicle V2 can be advanced (the host vehicle V1 makes a turn). Since the starting point can be shifted upstream), changes in the turning amount and turning angle of the host vehicle can be moderated. Further, when the driver corrects the set target route RT1, it is possible to set a longer time for accepting the driver's operation.

  The control device 10 of the present embodiment detects only one lane marker x1 on the side where the other vehicle V2 to be avoided exists among the pair of left and right lane markers x1 and x10 that define the lane Ln1 on which the host vehicle V1 travels. When an evaluation value indicating that the other lane marker x10 has not been detected is acquired, the position of the other lane marker x10 that has not been detected is estimated from the position of the detected lane marker x1.

  Although the detection method of the other lane marker x10 that has not been detected is not particularly limited, in the present embodiment, the road width information included in the road information 122 is referred to, and based on the position of the one lane marker x1, the other lane marker x10 is detected. Guess the position.

  The control device 10 according to the present embodiment sets the target region R based on the position of the other lane marker that has not been detected and the position of the avoidance target. In this process, it is preferable that the target region R takes into account the size of the avoidance target lane Ln1 along the road width direction. As described in FIG. 3C, the target region R is defined in consideration of the width VW2 of the other vehicle V2 that is the avoidance target.

  Based on FIG. 5, a method for estimating the position of the lane marker x10 based on the position of the oncoming vehicle V3 will be described.

  The control device 10 of the present embodiment travels in the adjacent lane Ln2 adjacent to the lane Ln1 in which the host vehicle V1 travels, and acquires the position of the oncoming vehicle V3 that approaches the host vehicle V1. Then, the control device 10 determines the position of the oncoming vehicle V3 when the evaluation value of the lane marker x10 on the adjacent lane Ln2 side is less than the first evaluation standard among the lane markers x1 and x10 of the lane Ln1 where the host vehicle V1 travels. Based on this, the position of the lane marker x10 that divides the lane Ln1 and the adjacent lane Ln2 on which the host vehicle V1 travels is estimated.

  The control device 10 of the present embodiment extracts the edge of one or a plurality of oncoming vehicles V3. The place where the edge is extracted is not limited. The control apparatus 10 extracts the edge corresponding to the edge of the tire of the oncoming vehicle V3, the edge of the tire wheel, the edge of the body, or the boundary between the road surface of the lane L2 and the oncoming vehicle V3.

As shown in FIG. 5, when there are a plurality of oncoming vehicles V3 and a plurality of edges are extracted, the control device 10 selects the edge of the oncoming vehicle V3 that is closest to the host vehicle V1.
In the example shown in FIG. 5, when the oncoming vehicles V3a, V3b, and V3c exist, edge positions P3a, P3b, and P3c are obtained for each oncoming vehicle V3. Among these, the position P3c of the edge closest to the host vehicle V1 is estimated as the position of the lane marker x10 that divides the lane Ln2 on which the oncoming vehicle V3 travels from the lane Ln1 on which the host vehicle V1 travels. Then, the control device 10 sets the target region R2 of the other vehicle V2 based on the estimated position of the lane marker x10 and the position of the other vehicle V2 that is the avoidance target.

  Next, the route setting function of the control device 10 will be described. The control device 10 of the present embodiment calculates the target route RT based on the set boundary position of the target region R0 and controls the distance between the host vehicle V1 and the avoidance target. Here, the method of “calculating the target route RT based on the position of the target region R0” is not limited. The control device 10 may calculate the target route RT so that the host vehicle V1 does not enter the target region R0, and the overlapping area between the target region R0 and the existing region of the host vehicle V1 is less than a predetermined value. Alternatively, the target route RT may be calculated, a position separated from the boundary line of the target region R0 by a predetermined distance may be calculated as the target route RT, or the boundary line of the target region R0 may be calculated as the target route RT. May be. As described above, the target region R0 is set so that the distance between the host vehicle V1 and the avoidance target does not become less than a predetermined value, or the distance between the host vehicle V1 and the avoidance target is maintained at a predetermined threshold. The For this reason, the target route RT is also set at a position where the distance between the host vehicle V1 and the avoidance target is not less than a predetermined value, or at a position where the distance between the host vehicle V1 and the avoidance target is maintained at a predetermined threshold.

  A control function of the control device 10 will be described. The control device 10 of the present embodiment outputs control information for causing the host vehicle V1 to travel on the target route RT to the vehicle controller 70, the drive device 80, and the steering device 90 on the vehicle side.

  The vehicle controller 70 of the present embodiment that has acquired the control information from the control device 10 controls the drive device 80 and the steering device 90 to drive the host vehicle V1 along the target route RT. The vehicle controller 70 uses the road shape detected by the detection device 50 and the lane marker model stored in the road information 122 and the map information 123 of the navigation device 120 to maintain the vehicle in a predetermined lateral position with respect to the lane. The steering device 90 is controlled to travel while traveling. The vehicle controller 70 calculates a steering control amount (turning control amount) based on the steering angle acquired from the steering angle sensor 61, the vehicle speed acquired from the vehicle speed sensor 62, and the current of the steering actuator, and a current is supplied to the steering actuator. By sending a command, control is performed so that the host vehicle travels in the target lateral position. In addition, as a method for controlling the lateral position of the host vehicle V1, in addition to using the steering device 90 described above, the driving direction of the host vehicle V1 is determined by the difference in rotational speed between the left and right drive wheels using the driving device 80 and / or the braking device 81. (That is, the lateral position) may be controlled. In that sense, the “turning” of the vehicle includes not only the case of using the steering device 90 but also the case of using the driving device 80 and / or the braking device 81.

  Finally, the presentation function of the control apparatus 10 of this embodiment is demonstrated. The control device 10 calculates the information according to the target information, the information according to the position of the target region R, the information according to the position of the target route, and the information according to the control information for causing the host vehicle to travel on the target route. Is output to the output device 110 and output to the outside in the manner described above.

  Subsequently, a control procedure of the travel control device 100 of the present embodiment will be described based on the flowcharts of FIGS. 6 and 7. In addition, since the content of the process in each step is as above-mentioned, it demonstrates centering on the flow of a process here.

  First, based on FIG. 6, the whole procedure of traveling control is demonstrated.

  In step S101, the control device 10 acquires host vehicle information including at least the position of the host vehicle V1. The own vehicle information may include the vehicle speed and acceleration of the own vehicle V1. In step S102, the control device 10 acquires target information including a position to be avoided that the host vehicle V1 should avoid. The target information may include speed / acceleration to be avoided.

  In step S <b> 103, the control device 10 acquires the detection result of the avoidance target from the detection device 50. The detection result of the avoidance target includes information on the position of the avoidance target. In step S104, the control device 10 sets the target region R according to the position to be avoided. A subroutine for setting the target area R will be described with reference to FIG.

  In step S105, the control device 10 calculates the target route RT based on the position of the boundary of the target region R. The target route RT includes one or a plurality of target coordinates on which the host vehicle V1 travels. Each target coordinate includes a target horizontal position (target X coordinate) and a target vertical position (target Y coordinate). The target route RT is obtained by connecting the calculated one or more target coordinates and the current position of the host vehicle V1. The method for calculating the target coordinates shown in step S105 will be described later.

  In step 106, the control apparatus 10 acquires the target lateral position of the target coordinates calculated in step S105. In step S107, the control device 10 calculates a feedback gain related to the lateral position based on the comparison result between the current lateral position of the host vehicle V1 and the target lateral position acquired in step S106.

  In step S108, the control device 10 moves the target lateral position to the host vehicle V1 based on the actual lateral position of the host vehicle V1, the target lateral position corresponding to the current position, and the feedback gain in step S107. A target control value related to a steering angle, a steering angular velocity, etc. necessary for the movement is calculated. In step S112, the control device 10 outputs the target control value to the in-vehicle device 200. Thereby, the host vehicle V1 travels on the target route RT defined by the target lateral position. When a plurality of target coordinates are calculated in step S105, the process of steps S106 to S112 is repeated every time the target lateral position is acquired, and the control value for each of the acquired target lateral positions is transmitted to the in-vehicle device 200. Output.

  In step S109, the control device 10 acquires a target vertical position for one or a plurality of target coordinates calculated in step S105. In step S110, the control device 10 determines the current vertical position of the host vehicle V1, the vehicle speed and acceleration / deceleration at the current position, the target vertical position corresponding to the current vertical position, and the vehicle speed and acceleration / deceleration at the target vertical position. Based on the comparison result, a feedback gain related to the vertical position is calculated. In step S111, the control device 10 calculates a target control value related to the vertical position based on the vehicle speed and acceleration / deceleration according to the target vertical position and the feedback gain of the vertical position calculated in step S110. The processing in steps S109 to S112 is repeated every time the target vertical position is acquired, similarly to steps S106 to S108 and S112 described above, and the control values for each of the acquired target horizontal positions are output to the in-vehicle device 200.

  Here, the target control value in the vertical direction means the operation of a drive mechanism for realizing acceleration / deceleration and vehicle speed according to the target vertical position (in the case of an engine vehicle, the operation of an internal combustion engine, in the case of an electric vehicle system). This includes the electric motor operation, and in the case of a hybrid vehicle, also includes torque distribution between the internal combustion engine and the electric motor) and the brake operation control values. For example, in an engine vehicle, the control function calculates a target intake air amount (target opening of the throttle valve) and a target fuel injection amount based on the calculated values of the current and target acceleration / deceleration and vehicle speed. Then, this is sent to the driving device 80. The control function calculates the acceleration / deceleration and the vehicle speed, and sends them to the vehicle controller 70. The vehicle controller 70 operates the drive mechanism for realizing the acceleration / deceleration and the vehicle speed (in the case of an engine vehicle, an internal combustion engine). Control values for engine operation, electric motor operation in an electric vehicle system, and torque distribution between an internal combustion engine and an electric motor in a hybrid vehicle) and brake operation may be calculated.

  Then, the process proceeds to step S112, and the control device 10 outputs the vertical target control value calculated in step S111 to the in-vehicle device 200. The vehicle controller 70 executes turn control and drive control, and causes the host vehicle to travel on the target route RT defined by the target lateral position and the target vertical position.

  In step S113, the control device 10 causes the output device 110 to present information. The information to be presented to the output device 110 may be the position / velocity of the target area calculated in step S106, the shape of the target route calculated in steps S105 to S111, or in step S112. The target control value output to the in-vehicle device 200 may be used.

  In step S114, it is determined whether or not the driver has performed a steering operation or the like and whether or not the driver has performed an operation intervention. If no driver operation is detected, the process returns to step S101 to repeat the setting of a new target area, calculation of the target route, and travel control. On the other hand, when the driver performs an operation, the process proceeds to step S115, and the traveling control is interrupted. In the next step S116, information indicating that the traveling control has been interrupted is presented.

  Next, a subroutine for target area setting processing (S104 in FIG. 6) of the travel control device 100 of the present embodiment will be described based on the flowchart of FIG.

  After acquiring the host vehicle information and the target information (step S103), in step S201, the control device 10 performs a step when an avoidance target (such as another parked vehicle) existing in the lane on which the host vehicle V1 travels is detected. The process proceeds to S202. In step S202, the evaluation value for detecting the lane marker x10 on the opposite side (+ x side in FIG. 2) to the side where the other vehicle V2 as the avoidance target detected in step S201 exists (−x side in FIG. 2). Is less than the first evaluation criterion, it is determined that the lane marker x10 cannot be detected (the detection position of the lane marker x10 has been lost), and the process proceeds to step S203.

  In step S203, the control device 10 sets the target region R. Since the lane marker x10 could not be detected satisfactorily, the control device 10 sets the target region RL at the position of the lane marker x10 that could not be detected, and based on the target region RL and the position of the other vehicle V2, the other The target region R2 of the vehicle V2 may be set.

  In step S203, the control device 10 shifts the lateral end RW1 of the target region R2 of the other vehicle V2 to the other vehicle V2 side. In this process, the distance between the lateral end RW1 of the target region R2 and the other vehicle V2 is shorter than when the lane marker x10 is detected. In this process, the distance between the lateral end RW1 of the target region R2 and the lane marker x10 that cannot be detected is longer than when the lane marker x10 is detected.

  In step S203, the control device 10 shifts the front end RL1 of the target region R2 of the other vehicle V2 to the own vehicle V1 side. In this process, the distance between the front end RL1 of the target region R2 and the other vehicle V2 is longer than when the lane marker x10 is detected.

  In step S <b> 204, the control device 10 estimates the position of the lane marker x <b> 10 that has not been successfully detected in part or all, based on the position of the lane marker x <b> 1 that has been successfully detected. The control device 10 estimates the position of the lane marker x10 that has not been successfully detected based on the position of the edge of the oncoming vehicle V3 that travels on the lane Ln2. In step S204, if the position of the lane marker x10 that has not been successfully detected can be estimated, the process proceeds to step S205. If the position cannot be estimated, the process proceeds to step S208.

  In step S208, the control device 10 estimates the position of the lane marker x10 from the edge of the oncoming vehicle. If the position of the lane marker x10 that has not been successfully detected can be estimated, the process proceeds to step S205.

  In step S205, an avoidance target region R such as each other vehicle V2 is set based on the position of the lane marker, the size of the other vehicle V2, and the position of the target region R2 of the oncoming vehicle V2. Thereafter, the process proceeds to step S206.

  In subsequent step S <b> 206, the control device 10 calculates a target route based on the set target region R. Subsequently, the target route calculation process of step S105 in FIG. 6 is started, and the processes after step S106 are executed.

  Since the traveling control apparatus 100 according to the embodiment of the present invention is configured and operates as described above, the following effects can be obtained.

[1] According to the travel control device 100 of the present embodiment, if the lane marker x10 on the side opposite to the side where the other vehicle V2 to be avoided is not detected, the lane marker x10 is detected well. Since the distance between the lateral end RW1 located on the host vehicle side of the target area R2 and the other vehicle V2 is shortened compared to the case where it can be made, the boundary between the lane marker x10 and the target area R2 that could not be detected (horizontal end RW1) The distance between can be secured. As a result, even if the lane marker is lost, an appropriate continuous target route RT can be set, and traveling that matches the driving sensation of the driver of the host vehicle V1 is maintained. That is, even if the lane marker is lost, it is possible to realize traveling control that does not cause the driver to feel uneasy.

[2] According to the travel control device 100 of the present embodiment, when the lane marker x10 in front of the host vehicle V1 cannot be detected well, the target region R2 is detected more than when the lane marker x10 can be detected well. The distance between the front end RL1 located on the own vehicle side and the other vehicle V2 is increased. According to the target route RT1 set based on the position of the boundary of the target region R1, the timing at which the host vehicle V1 starts turning can be advanced in order to avoid the other vehicle V2. Thereby, the change of the turning amount and turning angle of the own vehicle can be moderated. In addition, it is possible to take a long time to accept the driving operation of the driver who monitors the driving situation.

[3] Since the travel control apparatus 100 according to the present embodiment estimates the position of the lane marker that could not be detected from the position of the detected lane marker, stable travel control can be executed.

[4] Since the travel control device 100 of the present embodiment sets the target region R2 of the other vehicle V2 that is the avoidance target in consideration of the position of the oncoming vehicle V3, the target region that considers friction with the oncoming vehicle V3 R2 can be set.

[5] The travel control device 100 of the present embodiment estimates the position of the lane marker that could not be detected based on the position of the oncoming vehicle V3, and therefore can perform stable travel control.

[6] When the traveling control method of the present embodiment is executed by the control device 10, the same operation as the traveling control device 100 is achieved and the same effect is achieved.

  The embodiment described above is described for facilitating the understanding of the present invention, and is not described for limiting the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  That is, in the present specification, as an example of the travel control device according to the present invention, the travel control device 100 that constitutes the travel control system 1 together with the in-vehicle device 200 will be described as an example, but the present invention is limited to this. It is not a thing.

  In this specification, as an example of a travel control device including an evaluation acquisition unit, a target information acquisition unit, a region setting unit, a route setting unit, and a control unit, an evaluation acquisition function, a target information acquisition function, The travel control device 100 including the control device 10 that executes the region setting function, the route setting function, and the control function will be described as an example, but the present invention is not limited to this. In this specification, as an example of the travel control device further including the own vehicle information acquisition unit, the travel control device 100 in which the control device 10 executes the own vehicle information acquisition function will be described as an example. However, the present invention is not limited thereto. is not. In the present specification, as an example of the travel control device further including the output unit, the travel control device 100 further including the output devices 30 and 110 will be described as an example, but the present invention is not limited thereto.

DESCRIPTION OF SYMBOLS 1 ... Travel control system 100 ... Travel control apparatus 10 ... Control apparatus 11 ... CPU
12 ... ROM
13 ... RAM
DESCRIPTION OF SYMBOLS 20 ... Communication apparatus 30 ... Output device 31 ... Display 32 ... Speaker 200 ... In-vehicle apparatus 40 ... Communication apparatus 50 ... Detection apparatus 51 ... Camera 52 ... Radar apparatus 60 ... Sensor 61 ... Steering angle sensor 62 ... Vehicle speed sensor 70 ... Vehicle controller 80 DESCRIPTION OF SYMBOLS ... Drive device 90 ... Steering device 110 ... Output device 111 ... Display 112 ... Speaker 113 ... Outside lamp 114 ... Vehicle interior lamp 120 ... Navigation device 121 ... Position detection device 122 ... Road information 123 ... Map information

Claims (7)

An evaluation acquisition means for acquiring an evaluation value for detecting the lane marker with respect to a lane marker that defines a lane in which the host vehicle is traveling;
Target information acquisition means for acquiring target information including a position of an avoidance target to be avoided around the host vehicle;
Region setting means for setting a target region based on the position of the avoidance target;
Route setting means for setting a target route based on the position of the target area;
Control means for outputting control information for causing the host vehicle to travel on the target route,
When the evaluation value of the lane marker on the side opposite to the side where the avoidance target is present is less than a first evaluation criterion with respect to the traveling direction of the host vehicle, the region setting means When the host vehicle passes through the side of the avoidance target, the lateral position of the target region on the side of the host vehicle when viewed from the host vehicle when compared to the first evaluation criterion or more. A travel control device that sets the target area so that a distance between an end portion and the avoidance target is short. An evaluation acquisition means for acquiring an evaluation value for detecting the lane marker with respect to a lane marker that defines a lane in which the host vehicle is traveling;
Target information acquisition means for acquiring target information including a position of an avoidance target to be avoided around the host vehicle;
Region setting means for setting a target region based on the position of the avoidance target;
Route setting means for setting a target route based on the position of the target area;
Control means for outputting control information for causing the host vehicle to travel on the target route,
When the evaluation value is less than the first evaluation criterion when the host vehicle approaches the avoidance target, the area setting unit is more than the case where the evaluation value is equal to or greater than the first evaluation criterion. A travel control device that sets the target area so that a distance between a first end located on the host vehicle side of the front and rear ends of the target area and the avoidance target is increased.   The region setting means evaluates that only one lane marker on the side where the avoidance target exists is detected and the other lane marker is not detected among a pair of left and right lane markers defining the lane on which the host vehicle is traveling. When the value is acquired, the position of the other lane marker not detected is estimated from the detected one lane marker, and the position of the avoidance target is determined based on the estimated position of the other lane marker and the position of the avoidance target. The travel control device according to claim 1, wherein the target region is set. The avoidance target includes an oncoming vehicle that approaches the host vehicle from the traveling direction of the host vehicle,
When the target information acquisition unit acquires target information related to a plurality of the avoidance targets including the oncoming vehicle,
The region setting means sets a target region related to the oncoming vehicle based on the position of the oncoming vehicle, and also sets the target region based on the position of the target region related to the oncoming vehicle and the position of the avoidance target other than the oncoming vehicle. The travel control apparatus according to any one of claims 1 to 3, wherein a target area related to the avoidance target other than the vehicle is set. The avoidance target includes an oncoming vehicle that approaches the host vehicle from an advancing direction of the host vehicle in an adjacent lane that exists next to a lane in which the host vehicle travels.
When the target information acquisition unit acquires target information related to a plurality of the avoidance targets including the oncoming vehicle,
When the evaluation value of the lane marker on the adjacent lane among the lane markers of the lane on which the host vehicle is traveling is less than a first evaluation criterion, the area setting unit is configured to determine the host vehicle based on the position of the oncoming vehicle. A target of the avoidance target other than the oncoming vehicle based on the estimated position of the lane marker and the position of the avoidance target other than the oncoming vehicle. The travel control device according to any one of claims 1 to 4, wherein an area is set. A vehicle running control method executed by a computer that runs a host vehicle according to a target route set based on a predetermined target area,
For a lane marker that defines a lane in which the host vehicle travels, obtaining an evaluation value for detecting the lane marker;
Obtaining target information including a position of an avoidance target to be avoided around the host vehicle;
Setting a target area based on the position of the avoidance target;
Setting a target route based on the position of the target area;
Outputting control information for causing the host vehicle to travel on the target route,
The step of setting the target area includes the evaluation when the evaluation value of the lane marker on the side opposite to the side where the avoidance target is present is less than a first evaluation standard with reference to the traveling direction of the host vehicle. Rather than when the value is equal to or greater than the first evaluation criterion, when the own vehicle passes the side of the avoidance target, the left and right end portions of the target region are closer to the own vehicle when viewed from the own vehicle. A travel control method for setting the target area so that a distance between a lateral end portion positioned and the avoidance target is shortened. A vehicle running control method executed by a computer that runs a host vehicle according to a target route set based on a predetermined target area,
For a lane marker that defines a lane in which the host vehicle travels, obtaining an evaluation value for detecting the lane marker;
Obtaining target information including a position of an avoidance target to be avoided around the host vehicle;
Setting a target area based on the position of the avoidance target;
Setting a target route based on the position of the target area;
Outputting control information for causing the host vehicle to travel on the target route,
In the step of setting the target area, when the own vehicle approaches the avoidance target, the evaluation value is greater than or equal to the first evaluation criterion when the evaluation value is less than the first evaluation criterion. The traveling control method of setting the target region so that the distance between the first end portion located on the host vehicle side and the avoidance target is longer than the front and rear end portions of the target region.