JP6451211B2 - Travel control device - Google Patents

Description

  The present invention relates to a vehicle travel control device.

  With regard to this type of device, there is known a technology for executing travel support control so as not to collide with another vehicle when a movable range of the other vehicle is set in advance and there is a possibility of collision with the other vehicle ( Patent Document 1).

JP 2006-256493 A

  However, in the conventional technology, there is a problem that an appropriate driving behavior cannot be determined when the own vehicle cannot avoid contact with other vehicles, pedestrians, and other obstacles.

  The problem to be solved by the present invention is to provide a travel control device that determines appropriate driving behavior even when the host vehicle cannot avoid contact with an obstacle.

In the present invention, the occurrence of a contact situation in which the host vehicle and the obstacle are in contact with each other is associated with the movement position belonging to the movement locus of the obstacle in the contact situation and the movement position belonging to the movement locus of the own vehicle. and a combination of positional relationship, with reference to the risk prediction information and damage degree associated with the position on the road which occurs in the contact situation that is calculated for each obstacle, the obstacle is less damage degree occurring in the contact situation The above problem is solved by obtaining a positional relationship between an object and the host vehicle and causing the host vehicle to execute a driving action that realizes the positional relationship .

  According to the present invention, since the own vehicle is caused to execute the driving action with the lowest degree of damage generated with reference to the risk prediction information, the situation where the contact between the own vehicle and the obstacle is unavoidable occurred. Even in this case, the degree of damage that occurs can be reduced as much as possible.

It is a block block diagram of the traveling control system using the danger prediction information which concerns on this embodiment. It is a figure for demonstrating the danger prediction information of this embodiment. It is a flowchart figure which shows the control procedure of the traveling control system of this embodiment. It is a flowchart figure which shows the subroutine of step S104 of the control procedure shown in FIG. It is a flowchart figure which shows the subroutine of the memory | storage process of danger prediction information of step S103 of the control procedure shown in FIG. It is a figure for demonstrating an example of the 1st scene where the contact of the own vehicle and another vehicle is assumed. It is a figure for demonstrating an example of the 2nd scene where the contact of the own vehicle and another vehicle is assumed.

  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, an in-vehicle device 200, and a storage device 300.

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. Note that the lane marker in the present embodiment is not limited as long as it has a function of defining the lane, and may be a diagram drawn on the road surface or may be planted between the lanes. Alternatively, it may be a road structure such as a guardrail, a curb, a sidewalk, or a motorcycle road existing on the shoulder side of the lane. The lane marker may be an immovable object such as a signboard, a sign, a store, or a roadside tree that exists on the shoulder side of the lane.
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 situation around the host vehicle. The detection device 50 detects the presence of an object including obstacles around the host vehicle and the position of the target. Although not particularly limited, the detection device 50 of the present embodiment includes a camera 51. The camera 51 of the present embodiment is an imaging device that includes an imaging element such as a CCD. The camera 51 is installed at a predetermined position of the host vehicle and images an object including an obstacle around the host vehicle. The periphery of the host vehicle includes the front, rear, front side, and rear side of the host vehicle. The camera 51 may be provided behind the host vehicle and may capture an object behind the host vehicle (including right behind and the side). The target imaged by the camera 51 includes a stationary object such as a sign, and a moving object such as a pedestrian or another vehicle. Obstacles include road structures such as guardrails, median strips, curbs. Obstacles include other vehicles such as two-wheeled vehicles and four-wheeled vehicles in addition to pedestrians.

  Further, the detection device 50 may analyze the image data and identify the type of the object based on the analysis result. The detection device 50 identifies whether an object included in the image data is a vehicle, a pedestrian, or a sign using a pattern matching technique or the like. The detection device 50 extracts an image of the object (obstacle) from the image data, and determines the specific type of the object (obstacle) from the size and shape of the image (four-wheeled vehicle, two-wheeled vehicle, bus, truck). , Construction vehicles, etc.), vehicle types (small vehicles, large vehicles), and special vehicles (emergency vehicles, etc.). 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. The detection device 50 can recognize whether the pedestrian included in the image data is an adult or a child.

  The detection device 50 processes the acquired image data, and acquires the distance from the host vehicle to the target object based on the position of the target object existing around the host vehicle. In particular, the detection device 50 acquires the positional relationship between the obstacle and the host vehicle. The camera 51 may be an infrared camera or a stereo camera.

  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 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 V1. 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 accelerator operation and the brake operation, and control signals acquired from the vehicle controller 70 or the travel control device 100, and performs travel control including acceleration / deceleration of the vehicle. Run. 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 change control of the traveling direction of the vehicle based on a control signal acquired from the vehicle controller 70 or an input signal by a steering operation. The vehicle controller 70 executes control for changing the traveling direction by sending control information including the steering amount to the steering device 90. The traveling control apparatus 100 may execute change control of the traveling direction of the vehicle by controlling the braking amount of each wheel of the vehicle. In this case, the vehicle controller 70 executes control for changing the traveling direction 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 of the present embodiment stores information on the position of the intersection, the traveling direction of the intersection, the type of the intersection, and other information about the intersection for each road link identification information. In addition, the road information 122 of the present embodiment associates road type, road width, road shape, passability (possibility of entry into adjacent lanes), and other road-related information for each road link identification information. Remember. The road type, road width, and road shape on which the host vehicle travels are used for calculating a target route on which the host vehicle travels in the travel control process. Note that the target route 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 of this embodiment includes at least one point that suggests the next traveling position of the host vehicle V1. The target path may be constituted by continuous lines 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 outputs information related to travel control based on driving behavior. As information corresponding to the control information for causing the host vehicle to travel on the target route, the steering operation and acceleration / deceleration are executed via the display 111, the speaker 112, the vehicle interior lamp, and the vehicle interior lamp. Notify passengers or passengers of other vehicles in advance. 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 transportation 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. 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.

  The storage device 300 stores danger prediction information 310 described later in a readable state. The storage device 300 may be configured as a part of the in-vehicle device, or may be configured as a device physically different from the in-vehicle device. Since the danger prediction information 310 may be present in a state where it can be accessed via a communication line, it may be distributed while being associated.

  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 200 may be used.

  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 information acquisition function and a control function. In addition, the control device 10 of the present embodiment further includes a storage function. 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 information acquisition function of the control device 10 will be described. The control device 10 acquires obstacle information including the positions of obstacles existing around the host vehicle. The control device 10 acquires obstacle information from the detection device 50 described above. The obstacle information includes the positional relationship between the host vehicle and the obstacle. The positional relationship includes a change in position over time (relative speed) and a change in speed over time (relative acceleration).

  If the other vehicle and the host vehicle can perform inter-vehicle communication, the control device 10 of the host vehicle may acquire the vehicle speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle as obstacle information. Good. Of course, the control device 10 can also acquire obstacle information including the position, speed, and acceleration of another vehicle from an external device of the intelligent transportation system.

  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 object at a future time can be obtained.

  Next, the control function of the control device 10 will be described.

The control device 10 refers to the readable danger prediction information 310.
First, the danger prediction information 310 of this embodiment will be described. An example of the risk prediction information 310 of this embodiment is shown in FIG. The risk prediction information 310 of the present embodiment includes a contact situation in which the host vehicle and the obstacle are assumed in advance, a combination of the positional relationship between the obstacle information and the host vehicle information in the contact situation, and damage that occurs in the contact situation. A data structure is associated with each degree.

  The contact situation of the risk prediction information 310 of the present embodiment is a situation in which the host vehicle and an obstacle assumed on an actual road are in contact with each other. The situation in which a vehicle and an obstacle (including pedestrians, two-wheeled vehicles, four-wheeled vehicles, signs, and road structures) are in contact with each other differs depending on the shape of the road, intersection, merge, branch, and right / left turn. For this reason, it is preferable to obtain the risk prediction information 310 for each point such as each road, each road link, and each intersection. A road link is a road section delimited by a predetermined node (point). The road link may be defined in the map information 123.

  The correspondence information of the risk prediction information 310 of the present embodiment is information in which obstacle information and own vehicle information are associated with each other when the own vehicle and the obstacle are in contact with each other. Specifically, the correspondence information is information in which the position information of the obstacle and the position information of the own vehicle are correlated over time within a predetermined time before and after the timing at which the own vehicle and the obstacle come into contact. The movement trajectory of the own vehicle and the movement trajectory of the obstacle having a contact point with this (that is, the contact trajectory) (the set of movement positions) and the movement trajectory of the own vehicle (set of movement positions) Is associated with each other. Actually, when the host vehicle and the obstacle are in contact with each other, a simulation is performed to determine the movement path of the host vehicle and the obstacle, and the position information of the host vehicle and the position information of the obstacle in the simulation are calculated. To obtain correspondence information.

The obstacle information in the correspondence information of the present embodiment includes the current position. The obstacle information in the correspondence information of the present embodiment includes an area that can be moved from the current position. The obstacle information regarding the movable area includes the position (coordinates) of the extension of the movable area. The distance that the obstacle can move varies depending on the attribute of the obstacle. For this reason, in this embodiment, the position information of the obstacle in the correspondence information is given a width according to the distance that the obstacle can move. That is, in the correspondence information, the position information included in the movable range from the current position of the obstacle information is associated with the position information of the host vehicle. For example, when the obstacle is a pedestrian, the movable range differs between an adult and a child. In the present embodiment, a movable range is set according to the obstacle attribute, and correspondence information is created for the range. As a result, it is possible to obtain danger prediction information including correspondence information considering that the obstacle moves.
In addition, you may obtain | require correspondence information from the movement locus | trajectory of the vehicle in actual driving | running | working.

The degree of damage of the risk prediction information 310 of the present embodiment is the degree of damage that occurs when the host vehicle and an obstacle come into contact with each other. The degree of damage may be defined according to the attribute of the obstacle. For example, when the obstacle is a pedestrian, when the obstacle is a two-wheeled vehicle, when the obstacle is an oncoming other vehicle that runs opposite to the own vehicle, the following other vehicle on which the obstacle runs behind the own vehicle If the obstacle is a road structure such as a guardrail, the degree of damage is defined according to the attribute of the obstacle. For example, if the obstacle is a pedestrian, the degree of damage is set to the highest, the degree of damage to the pedestrian> the degree of damage to the two-wheeled vehicle> the degree of damage to the oncoming vehicle> the degree of damage to the following vehicle> to the road structure It may be defined as the degree of damage. Moreover, even if the obstacle has the same attribute, the damage that occurs depends on whether the vehicle is a large vehicle or a truck. Moreover, even if the two-wheeled vehicle has the same obstacle attribute, the damage caused by whether it is a bicycle or a motorcycle is different. In this embodiment, in addition to the first attribute “vehicle”, the degree of damage is defined for each of the second attributes “large car” and “small car”, which are the lower attributes, so the degree of damage caused at the time of contact can be determined with high accuracy. Can be recognized.

The risk prediction information 310 described above can be created in advance and stored in the storage device 300.
By the way, in actual traffic, the generated contact situation differs depending on the shape of the road, the intersection angle of the road, the gradient of the road, the width of the intersecting road, and the like. In addition, the correspondence information between the obstacle information ( movement locus ) and the own vehicle information ( movement locus ) in the contact state between the own vehicle and the obstacle may differ depending on the actual road.

  The control device 10 of the present embodiment has a storage function for storing the risk prediction information 310 based on the own vehicle information and obstacle information during actual travel.

Here, the storage function of the control device 10 will be described.
When the host vehicle enters the predetermined area, the control device 10 predicts a contact situation where the host vehicle and the obstacle contact based on the detected obstacle information and host vehicle information. The predetermined area is defined on the basis of a place where contact is likely to occur, such as an intersection, a junction, a branch point, and a right / left turn point. A predetermined distance section is set as a predetermined area in the upstream and downstream directions of traffic from an intersection or the like. The predetermined area may be defined in the map information 123 of the navigation device 120. The storage function is operated at the timing when the current position of the host vehicle belongs to the predetermined area.

  The control device 10 obtains the movement path of the obstacle from the position information of the obstacle detected by the host vehicle. Moreover, the control apparatus 10 calculates | requires the movement locus | trajectory of the own vehicle from the positional information on the own vehicle. Based on these movement trajectories, the contact situation is estimated.

  Furthermore, the control apparatus 10 calculates the damage degree which generate | occur | produces in the estimated contact condition. The damage degree, the contact state, and the correspondence information between the obstacle information and the vehicle information in the contact state are associated with each other and stored in the storage device 300 as the risk prediction information 310. The storage device 300 may be mounted on the vehicle or provided outside the vehicle. The storage device 300 may be configured as a single integrated device, or may be configured as a plurality of devices arranged in a distributed manner. The danger prediction information 310 is preferably formed based on a large number of data and used for a large number of vehicles. For this reason, it is preferable to provide the storage device 300 on a communication line network that can be accessed by a large number of travel control devices 100. Of course, the storage device 300 may be mounted on a vehicle, and the temporarily stored risk prediction information may be transmitted to the shared storage device 300 via communication.

  As described above, the risk prediction information 310 generated based on the actual position information on the road matches the actual contact situation. By using the risk prediction information 310 including the correspondence information with high accuracy, the driving behavior to be performed becomes appropriate. In addition, it is possible to store contact situations that are likely to occur at each intersection according to the actual positional relationship. When the host vehicle falls into a contact state, the processing load for determining the contact state with a plurality of obstacles is high. By accumulating the contact situations that occur in accordance with each traveling scene in advance, the processing capability of the control device 10 (hardware) can be directed to the determination and execution of driving behavior when a contact situation occurs.

  The control device 10 according to the present embodiment refers to the risk prediction information 310 described above, and outputs control information that causes the host vehicle to execute a driving action with the lowest degree of damage that occurs in the contact situation. The driving behavior includes a target route that the host vehicle should follow, a braking behavior of the host vehicle, and a steering behavior of the host vehicle. The driving behavior can be obtained based on correspondence information included in the risk prediction information 310.

  According to the travel control apparatus 100 of the present embodiment, the host vehicle is caused to execute the driving action with the lowest degree of damage that occurs with reference to the danger prediction information 310, so that the contact between the host vehicle and the obstacle should be avoided. When an unavoidable situation occurs, the degree of damage that occurs can be reduced as much as possible.

  The control device 10 of the present embodiment calculates the possibility that the host vehicle will contact the obstacle based on the acquired obstacle information and the host vehicle information, and if the possibility is equal to or greater than a predetermined threshold, Let the vehicle execute the driving action with the lowest. The control device 10 of the present embodiment causes the host vehicle to execute a driving action that is predicted to have the lowest degree of damage only when the host vehicle is highly likely to contact an obstacle. The predetermined threshold value in this process is a threshold value with which it is possible to determine a case where contact is determined to be unavoidable.

  According to the travel control device 100 of the present embodiment, processing for obtaining low-damage driving behavior is performed with reference to the risk prediction information 310 only in the worst situation where contact is unavoidable. The load can be reduced.

  Then, the control procedure of the traveling control apparatus 100 of this embodiment is demonstrated based on the flowchart of FIGS. 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, the overall procedure of travel control will be described with reference to FIG.

  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 obstacle information including the presence, position, and the like of an object including an obstacle existing around the host vehicle V1. The obstacles in the obstacle information include road structures, stationary objects such as signs, and moving objects such as pedestrians and other vehicles. The obstacle information may include the presence, position, speed, and acceleration of the obstacle. As described above, the detection device 50 can detect an object (a traffic light, a road surface sign, etc.) other than an obstacle from an image captured by the camera 51.

  In step S103, the control device 10 recognizes the contact state.

  In Step S104, control device 10 determines driving action based on the recognized contact situation. The subroutine of the driving action determination process will be described with reference to FIG.

  In step S105, the control device 10 calculates a target route for realizing the driving action. The target route 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). A target route 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. Accordingly, the host vehicle V1 travels on the target route defined by the target lateral position. When a plurality of target coordinates are set in step S105, the processing in steps S106 to S112 is repeated each 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 change control and drive control of the traveling direction of the vehicle, and causes the host vehicle to travel on the target route 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 on the output device 110 is the driving action determined in step S104. For example, it may be the content of the driving action such as “stop to the left and stop after passing the intersection” or according to the driving action calculated in steps S105 to S111. It may be the shape of the target route, or the target control value output to the in-vehicle device 200 in step S112.

  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 the driver's operation is not detected, the process returns to step S101, and the setting of a new object, calculation of the target route, and traveling control are repeated. 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 of the driving action determination process (S104 in FIG. 3) of the travel control device 100 of the present embodiment will be described based on the flowchart of FIG.

  After acquiring the own vehicle information, the own vehicle information, and the obstacle information and recognizing the contact state (step S103), in step S1, the control device 10 determines that the own vehicle has an obstacle based on the obstacle information and the own vehicle information. Calculate the possibility of contact with an object. When the calculated possibility is equal to or greater than the predetermined first threshold value, the process proceeds to step S2 to execute a driving action determination process. When the calculated possibility is less than the predetermined first threshold value, the process proceeds to step S201, and the control device 10 accumulates the recognized contact status in the storage device 300. The subroutine of this process will be described with reference to FIG.

In step S2, the control device 10 executes a simulation in the current situation (positional relationship) based on the current host vehicle information and the obstacle information. It calculates the movement trajectory where the vehicle can take, and a moving locus other vehicles may take.

In step S3, the control unit 10 based on the movement locus of the movement trajectory and other vehicles of the vehicle, to search for the trajectory and the vehicle and the other vehicle to avoid contact. In this case, the control device 10 according to the present embodiment calculates six patterns of movement trajectories when moving by steering (straight forward / right / left) and when braking (maintenance / deceleration). If a trajectory that can avoid contact can be searched, the process proceeds to step S6, and a driving action that moves according to the searched avoidance trajectory is employed.

The control device 10 continuously determines the possibility of contact at a predetermined period. In step S4, when the control device 10 determines that the possibility of contact is equal to or higher than the second threshold (> first threshold or higher) without searching for the avoidance locus , the process proceeds to step S5.

  In step S5, the control device 10 reads the danger prediction information 310. The control device 10 refers to the degree of damage in the risk prediction information 310 and determines the driving action with the lowest degree of damage that occurs in the contact state as the driving action to be executed. Thereafter, the processing after step S104 in FIG. 3 is performed.

Next, the accumulation process of the risk prediction information 310 will be described based on FIG.
In step S <b> 11, the control device 10 of the present embodiment determines whether or not the host vehicle has entered a predetermined area that is set in advance as a place to collect danger prediction information. The predetermined area is set based on points where contact conditions are likely to occur, such as intersections, merge points, branch points, and left and right turn points. The predetermined area is defined on the map information 123 of the navigation device 120. If the current position of the host vehicle belongs to the predetermined area, the process proceeds to step S12.

In step S12, the control device 10 of the present embodiment simulates the movement trajectory of the own vehicle and the movement trajectory of the obstacle based on the currently acquired own vehicle information and obstacle information. Further, in step S13, the movement locus of the vehicle and an obstacle in the case of performing avoidance steering to simulate the movement locus of the vehicle and an obstacle when performing a braking operation.

  Furthermore, in step S13, the control device 10 of the present embodiment calculates the degree of damage when the host vehicle and the obstacle come into contact. The control device 10 calculates the damage degree according to the attribute of the obstacle (pedestrian, motorcycle, vehicle, road structure, etc.). The control device 10 calculates the degree of damage based on the kinetic energy according to the size and weight of the obstacle. Further, the degree of damage of the host vehicle is calculated based on the structure and size of the host vehicle. The degree of damage is expressed as an additional value that can be evaluated.

In step S <b> 15, the control device 10 of the present embodiment stores the simulated contact status, positional relationship correspondence information, and damage degree in the risk prediction information 310. The danger prediction information 310 can be accumulated even when contact can be avoided. The control device 10 stores the avoidable contact situation , the positional relationship correspondence information, and the damage degree in the risk prediction information 310. Once stored, the processes in and after step S101 are repeated.

  By accumulating the risk prediction information 310 in actual traveling in advance, the determination of the driving action performed in the contact state can be performed in a short time. If all the possible contact between the host vehicle and the obstacle that can occur at the intersection is assumed, the number of obstacles cannot be limited, and the amount of information becomes enormous.

  In this example, when the possibility of contact is less than the first threshold, the risk prediction information accumulation process is performed. When the contact possibility is equal to or higher than the first threshold, the hardware resources are concentrated on the process for searching for driving behavior to avoid contact and the process for searching for driving behavior when contact cannot be avoided. It is the purpose. When the processing capability of the hardware is sufficiently high, the risk prediction information accumulation process may be executed when the contact possibility is equal to or higher than the first threshold value.

  6A and 6B are diagrams illustrating an example of a scene in which the host vehicle V1 passes through an intersection. In the scene shown in FIG. 6A, the host vehicle V1 is approaching the intersection S. A guardrail GL is installed on the shoulder side of the traveling lane of the host vehicle V. Another vehicle V2 travels behind the host vehicle V1. The other vehicle V3 is on standby in the opposite lane of the host vehicle V1 across the intersection S. A motorcycle is about to cross the pedestrian crossing from the right side of the host vehicle V1. A pedestrian M1 is present at the pedestrian crossing just before the host vehicle V1.

The control device 10 simulates the movement trajectory of the pedestrian M1 and the movement trajectory of the host vehicle V1 in consideration of the range in which the pedestrian M1 can move . For example, the movable range of the pedestrian M1 when the signal instructing the traffic of the host vehicle V1 is blue (pass permission) is greater than the movable range of the pedestrian M1 when the signal is yellow or red. Is too narrow. If the vehicle V1 is allowed to pass, the pedestrian M1 signal indicating the traffic of the pedestrian M1 should be red, so the pedestrian M1 is not allowed to pass. This is because the movable range can be predicted to be narrow. The reason why the movable range is set according to the situation is to reduce the calculation load for calculating the movement trajectory of the own vehicle V1 and the plurality of obstacles M1, V2 at the intersection.

FIG. 6B is a diagram illustrating driving behavior of the host vehicle V1 in a scene where the pedestrian M1 has jumped out despite the pedestrian signal being red.
When the possibility of contact with the pedestrian M1 is greater than or equal to the first threshold (corresponding to step S1 in FIG. 4), the movement of the obstacle and the own vehicle based on the currently obtained obstacle information and own vehicle information. The trajectory is simulated (corresponding to step S2 in FIG. 4). At this time, the control device 10 makes contact between the host vehicle V1 and the pedestrian M1, a rear-end collision between the host vehicle V1 and the following other vehicle V2, a contact between the host vehicle V1 and the other right turn vehicle V3, and the host vehicle V1 and the two-wheeled vehicle M2. The movement trajectory for all combinations is obtained in consideration of the contact with. At this time, the control device 10 refers to the risk prediction information 310 and reads correspondence information that matches the current position of the host vehicle V1 and correspondence information that matches the positional relationship between the host vehicle V1 and the obstacle. In the risk prediction information 310, since the correspondence information is associated with the contact situation, the contact situation can be quickly determined.

The avoidance locus is searched with reference to the correspondence relationship between the host vehicle V1 and the obstacle in the contact state. For example, it is determined whether or not contact can be avoided by a driving action of deceleration, stopping, or a driving action that changes the direction of travel left and right. If the avoidance locus can be searched, the driving action is executed using the avoidance locus (corresponding to step S3 in FIG. 4).

On the other hand, when the avoidance trajectory cannot be searched and contact cannot be avoided, the degree of damage in the risk prediction information 310 (corresponding to steps S3, S4, and S5 in FIG. 4) is read. Although not particularly limited, in the contact situation shown in FIG. 6B, the highest degree of damage is the contact between the pedestrian M1 and the host vehicle V1. The next highest degree of damage is the contact between the motorcycle M2 and the host vehicle V1. The next highest degree of damage is the contact between the right turn other vehicle V3 and the host vehicle V1. The next highest degree of damage is the contact between the succeeding other vehicle V2 and the host vehicle V1. The lowest degree of damage is the contact between the side of the host vehicle V1 and the guardrail GL.

  The control device 10 decides to adopt a driving action in which the side surface of the host vehicle V1 with the lowest damage level is brought into contact with the guard rail GL and the host vehicle V1 is stopped by the guard rail GL (corresponding to step S6 in FIG. 4). The control device 10 causes the host vehicle to execute the determined driving action (corresponding to step S104 and subsequent steps in FIG. 3). Although the own vehicle V1 suffers its own loss, this driving behavior can avoid contact between the own vehicle V1 and the pedestrian M1. In addition, since the host vehicle V1 moves to the shoulder side, the subsequent other vehicle V2 can be prevented from rearwardly colliding with the host vehicle V1 by changing the traveling direction to the right side. Since the host vehicle V1 comes into contact with the guard rail GL and stops, contact with the two-wheeled vehicle M2 and the right turn other vehicle V3 can be avoided.

  If the host vehicle V1 pays attention only to the pedestrian M1 and the host vehicle takes a simple driving action of braking because the obstacle is within a predetermined distance, the following other vehicle will collide with the host vehicle V1. Another contact situation occurs. When the host vehicle V1 pays attention only to the pedestrian M1 and takes a simple driving action of steering for avoidance because the obstacle is within a predetermined distance, the two-wheeled vehicle M2, the right turn other vehicle V3, There is a possibility of contact. In such a scene where many obstacles are involved in a complicated manner, it is difficult to determine the driving action that minimizes the degree of damage.

  Most preferably, no contact situation occurs. However, in reality, accidents may be unavoidable. When trying to automatically drive the vehicle, it is preferable to make preparations for avoiding contact in advance for the worst situation in which a contact state occurs. According to the travel control device 100 of the present embodiment, it is possible to execute a driving action that keeps damage as small as possible even when the worst situation occurs while performing the best travel control. Thus, by preparing in advance, when a contact situation occurs, it is possible to effectively utilize hardware resources and efficiently improve the situation.

  In this embodiment, referring to the risk prediction information 310 that associates the contact status, the correspondence information between the obstacle information and the own vehicle information, and the damage degree, the positional relationship between the obstacle and the own vehicle having the lowest damage degree. Therefore, when the contact situation occurs, the best driving action can be executed in the situation.

  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, the host vehicle is caused to execute the driving action with the lowest degree of damage that occurs with reference to the danger prediction information 310. Even when the situation where the contact of this is inevitable occurs, the degree of damage that occurs can be reduced as much as possible.

[2] According to the travel control device 100 of the present embodiment, the possibility that the host vehicle contacts the obstacle is calculated based on the obstacle information and the host vehicle information, and the possibility is equal to or greater than a predetermined threshold. In addition, the driving action with the lowest damage level is caused to be executed by the own vehicle. In this way, only in the worst situation where contact is unavoidable, processing for obtaining low-damage driving behavior is performed with reference to the risk prediction information 310, so that the processing load in normal driving control can be reduced.

[3] According to the travel control device 100 of the present embodiment, the obstacle position information in the correspondence information is given a width according to the distance that the obstacle can move, so that the obstacle actually moves. It is possible to obtain risk prediction information including the considered correspondence information.

[4] According to the travel control apparatus 100 of the present embodiment, the risk prediction information 310 including the correspondence information with high accuracy that matches the actually generated contact situation can be generated, and thus the host vehicle is caused to execute an appropriate driving action. be able to. Further, if the process of simulating the contact situation is executed when the host vehicle falls into the contact situation, the load on the hardware becomes high. By preparing the danger prediction information 310 in advance, when the contact situation occurs, the positional relationship and the degree of damage in the contact situation can be acquired by referring to the danger prediction information 310. As a result, when the host vehicle falls into a contact state, the processing capability of the control device 10 can be directed to judgment / execution of driving behavior.

  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 the present specification, as an example of a travel control device including an information acquisition unit and a control unit according to the present invention, a travel control device 100 including a control device 10 that executes an information acquisition function and a control function is taken as an example. However, the present invention is not limited to this.

  In the present specification, as an example of a travel control device further including a storage unit according to the present invention, a travel control device 100 in which the control device 10 executes a storage function will be described as an example. However, the present invention is not limited to this. .

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 300 ... Storage device 310 ... Hazard prediction information

Claims (4)

Acquisition of obstacle information including a movement locus calculated based on a movable range set according to an attribute of an obstacle existing around the own vehicle, and own vehicle information including the movement locus of the own vehicle Information acquisition means,
The occurrence of a contact situation in which the host vehicle and the obstacle are in contact with each other, which is predicted based on the moving track of the host vehicle, the moving track of the host vehicle, and the moving track of the obstacle having a contact; Correspondence information in which the movement position belonging to the movement locus of the obstacle in the situation and the movement position belonging to the movement locus of the own vehicle of the own vehicle information are associated with each other over time, Refer to the risk prediction information in which the degree of damage that occurs in the contact situation, which is calculated for each obstacle based on the attribute or kinetic energy and the structure and size of the vehicle, is associated with the position on the road And determining the positional relationship between the obstacle having the lowest degree of damage that occurs in the contact situation and the host vehicle, and outputting control information for causing the host vehicle to execute a driving action that realizes the positional relationship. When the travel control apparatus having a.   The control means calculates a possibility that the own vehicle will contact the obstacle based on the acquired movement locus of the obstacle information and the movement locus of the own vehicle information, and the possibility is equal to or greater than a predetermined threshold value. 2. The control information according to claim 1, wherein the positional relationship between the obstacle having the lowest damage degree and the own vehicle is obtained, and control information for causing the own vehicle to execute a driving action for realizing the positional relationship is output. Travel control device. When the vehicle enters a predetermined area set at a place where contact between the host vehicle and the obstacle is likely to occur, the host vehicle's movement trajectory, and the movement of the obstacle having contact points and contact points of the host vehicle. The contact situation between the vehicle and the obstacle is predicted from a trajectory, and calculated for each obstacle based on the attribute or kinetic energy of the obstacle and the structure and size of the vehicle. Calculate the degree of damage that occurs in the contact situation,
Storage means for associating the damage degree, the contact situation, and the corresponding information on the positional relationship between the obstacle and the own vehicle in the contact situation based on the position on the road and accumulating as the risk prediction information The travel control device according to claim 1, further comprising:   The said accumulation | storage means sets the said predetermined area | region as a section of predetermined distance in the upstream direction and downstream direction of traffic from any one or more of an intersection, a junction point, a branch point, and a right-left turn point. Travel control device.

Images