JP6606154B2 - Vehicle control device - Google Patents

Description

  The present invention relates to a vehicle control device that automatically and at least partially performs traveling control of a host vehicle.

  2. Description of the Related Art Conventionally, a technique (automatic driving technique or driving support technique) that automatically and at least partially performs traveling control of a host vehicle has been developed. For example, various techniques for appropriately dealing with a water pool formed on a road have been proposed.

  In Patent Document 1, when raining is detected, the safety distance from other objects (pedestrians and stopped vehicles) is set to be long so that the water that the own vehicle splashes when passing through a puddle is another object. There has been proposed a driving support device that copes with the situation so that it does not get caught.

JP 2006-264466 A

  However, the apparatus proposed in Patent Document 1 does not take into consideration the situation when the situation is opposite to that described above, specifically, the influence of water splashed by another vehicle on the own vehicle.

  For example, unexpected splashes may adhere to the host vehicle, temporarily causing a driver's poor visibility or misrecognition of the outside world condition, and the ongoing automatic driving may have to be suspended. Since the execution section of automatic driving is shortened by that much, it can be said that the merchantability of the vehicle is impaired from the viewpoint of driving convenience.

  The present invention has been made to solve the above-described problem, and an object of the present invention is to provide a vehicle control device capable of improving the convenience of driving in a traveling scene in which a puddle is formed.

A vehicle control device according to the present invention is a device that at least partially automatically performs a traveling control of the host vehicle, and includes an object detection unit that detects an object including a puddle and other vehicles around the host vehicle, When the trigger condition indicating the interrelationship between the water pool and the other vehicle detected by the object detection means and the own vehicle is satisfied, the water pool of the water pool caused by the other vehicle is dealt with in advance. A coping control unit that performs coping control, and a timing setting unit that sets a timing for executing the coping control , wherein the timing setting unit is an execution start position that is a position of the host vehicle that starts the coping control When the position at which execution ending position of the vehicle to exit the address control, you set before performing the addressing control.

  As described above, when the trigger condition indicating the interrelationship between the water pool, the other vehicle, and the host vehicle is satisfied, the water that jumps up by performing the countermeasure control that copes with the water jump of the water pool by the other vehicle in advance. It is possible to reduce the influence of the vehicle on the traveling of the host vehicle, and it is possible to improve the convenience of driving in a traveling scene in which a puddle is formed.

  In addition, the trigger condition is a condition that indicates a high possibility that the water in the puddle jumps up due to the passage of the other vehicle and the splash of the water has an influence on the traveling of the host vehicle. There may be.

  The object detection means includes an external sensor that detects an external state of the host vehicle, and an external recognition unit that performs a recognition process for recognizing an object based on a detection result of the external sensor. The control unit may perform countermeasure control that suppresses a decrease in detection accuracy by the external sensor or recognition accuracy by the external recognition unit.

  In addition, the countermeasure control unit starts driving the wiper that operates on the detection surface of the external sensor or increases the wiper driving speed as compared with a case where the countermeasure control is not performed, thereby reducing the detection accuracy. You may perform the countermeasure control which suppresses. Thereby, it is possible to prevent a phenomenon in which the detection accuracy of the external sensor temporarily decreases due to the adhesion of water.

  Further, the countermeasure control unit suppresses the decrease in recognition accuracy by increasing the execution frequency of the recognition process by the external recognition unit or increasing the amount of calculation processing compared to the case where the countermeasure control is not performed. Control may be performed. As a result, a decrease in detection accuracy can be compensated for, and the overall object detection accuracy is maintained.

  Further, the countermeasure control unit suppresses the reduction in the recognition accuracy by limiting the determination that the object has been lost due to the recognition process by the external field recognition unit, as compared with the case where the countermeasure control is not performed. Coping control may be performed. Thereby, even after the influence of the splashed water is reduced and the detection performance is recovered, there is a high possibility that the object can be continuously tracked without performing the recognition process again.

  In addition, the external sensor is composed of a plurality of types of sensors, and the countermeasure control unit relatively increases the reliability of a sensor that is strong against water splashing and the reliability of a sensor that is weak against water splashing It is also possible to perform countermeasure control that suppresses the decrease in the recognition accuracy by lowering the relative value. As a result, it is possible to reduce the influence that the detection accuracy temporarily decreases depending on the type of sensor, and the overall detection accuracy of the object is maintained.

  According to the vehicle control device of the present invention, it is possible to improve the convenience of driving in a traveling scene in which a puddle is formed.

It is a block diagram which shows the structure of the vehicle control apparatus common to each embodiment of this invention. It is a main functional block diagram of the vehicle control apparatus in 1st Embodiment. 3 is a flowchart provided for explaining the operation of the arithmetic device shown in FIG. 2. It is a figure which shows an example of the driving scene in the periphery of the own vehicle. It is a figure which shows an example of the countermeasure control in 1st Embodiment. It is a main functional block diagram of the vehicle control apparatus in 2nd Embodiment. 7A and 7B are diagrams illustrating a first example of countermeasure control in the second embodiment. 8A and 8B are diagrams illustrating a second example of countermeasure control in the second embodiment. 9A and 9B are diagrams illustrating a third example of countermeasure control in the second embodiment.

  Hereinafter, preferred embodiments of the vehicle control apparatus according to the present invention will be described with reference to the accompanying drawings.

[Overall Configuration of Vehicle Control Device 10 (150)]
FIG. 1 is a block diagram showing a configuration of a vehicle control device 10 (150) common to the embodiments of the present invention. The vehicle control device 10 (150) is incorporated in a vehicle (the own vehicle 100 in FIG. 4 and the like), and performs driving control of the vehicle automatically or manually. This “automatic driving” is a concept that includes not only “fully automatic driving” in which all driving control of a vehicle is automatically performed, but also “partial automatic driving” in which driving control is partially performed automatically.

  The vehicle control device 10 (150) includes a control system device group 12 that supervises the driving control of the vehicle, a device group that performs an input function of the control system device group 12 (hereinafter, input system device group 14), And a device group (hereinafter, output system device group 16) having 12 output functions.

<Specific Configuration of Input System Device Group 14>
The input system device group 14 includes an external sensor 18 that detects the state of the vehicle's surroundings (external environment), a communication device 20 that transmits / receives information to / from various communication devices outside the vehicle, and map information that indicates a high-precision map. A high-accuracy map database (hereinafter referred to as map information DB 22) for acquiring the vehicle, a navigation device 24 that generates a travel route to the destination and measures the travel position of the vehicle, and a vehicle sensor 26 that detects the state of the vehicle. It is.

  The external sensor 18 includes one or more cameras 30 that image the external world, one or more radars 31 that detect the distance and relative speed between the vehicle and another object, and one or more LIDARs 32 (Light Detection and Ranging). Optical detection and ranging; laser imaging detection and ranging).

  The communication device 20 includes a first communication device 34 that performs vehicle-to-vehicle communication with another vehicle, and a second communication device 36 that performs road-to-vehicle communication with a roadside device. The navigation device 24 includes a satellite navigation system and a self-contained navigation system. The vehicle sensor 26 includes various sensors that detect the behavior of the vehicle, such as a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, and a tilt sensor, various sensors that detect the operation state of the vehicle, and various sensors that detect the state of the driver.

<Specific Configuration of Output System Device Group 16>
The output system group 16 includes a driving force output device 40, a steering device 42, a braking device 44, and a notification device 46.

  The driving force output device 40 includes a driving force output ECU (Electronic Control Unit) and a driving source such as an engine and a driving motor. The driving force output device 40 generates driving force in response to an accelerator pedal operation performed by the driver or a driving control instruction output from the control system device group 12.

  The steering device 42 includes an EPS (electric power steering system) -ECU and an EPS actuator. The steering device 42 generates a steering force in response to a steering wheel operation performed by the driver or a steering control instruction output from the control system device group 12.

  The braking device 44 includes a brake ECU and a brake actuator. The braking device 44 generates a braking force in response to a brake pedal operation performed by the driver or a braking control instruction output from the control system device group 12.

  The notification device 46 includes a notification ECU and an information transmission device (for example, a display device, an acoustic device, a tactile device, etc.). The notification device 46 performs notification to the driver (for example, provision of information through the five senses including audiovisual) in response to a notification instruction output from the control system device group 12 or another ECU.

<Specific Configuration of Control System Device Group 12>
The control system device group 12 includes one or a plurality of ECUs, and includes an arithmetic device 50 (152) such as a processor and a storage device 52 such as a ROM and a RAM. The control system device group 12 realizes various functions when the arithmetic device 50 (152) executes a program stored in the storage device 52.

[First Embodiment]
Next, the vehicle control device 10 in the first embodiment will be described with reference to FIGS.

<Functional block diagram>
FIG. 2 is a main functional block diagram of the vehicle control apparatus 10 in the first embodiment. This computing device 50 can execute various functions of an external environment recognition unit 60, a vehicle position recognition unit 62, an action plan creation unit 64, a track generation unit 66, a vehicle control unit 68, and an operation mode switching unit 70. It is configured.

  The outside world recognition unit 60 recognizes the situation and objects around the vehicle based on the information output from the outside world sensor 18. The outside world recognizing unit 60 includes a puddle recognizing unit 72, another vehicle recognizing unit 74, and an outside world state recognizing unit 76.

  The own vehicle position recognition unit 62 recognizes the absolute position of the vehicle or the relative position on the high-accuracy map (hereinafter also referred to as the own vehicle position) based on the information output from the map information DB 22 and the navigation device 24.

  The action plan creation unit 64 creates an action plan (time series of events for each travel section) according to the vehicle situation based on the recognition results of the external world recognition unit 60 and the vehicle position recognition unit 62, and as necessary. Update the contents of the action plan. The action plan creation unit 64 includes a scene determination unit 78, a timing setting unit 80, and a countermeasure control unit 82.

  The track generation unit 66 generates a travel track (time series of target behavior) according to the action plan created by the action plan creation unit 64 based on the recognition results of the external world recognition unit 60 and the vehicle position recognition unit 62.

  The vehicle control unit 68 instructs the output system group 16 (FIG. 1) to operate based on the creation result of the action plan creation unit 64 or the creation result of the trajectory generation unit 66. The vehicle control unit 68 includes a travel control unit 84 that performs vehicle travel control and a notification control unit 86 that performs notification control for the driver.

  The driving mode switching unit 70 selects a plurality of driving modes including an “automatic driving mode” and a “manual driving mode” according to a predetermined action by the driver (for example, operation of an input device including a mode selection switch and a steering wheel). It is configured to be switchable.

  By the way, the vehicle control device 10 further includes a wiper 90 that removes foreign matter adhering to the detection surface of the external sensor 18 and a wiper drive unit 92 that drives the wiper 90 in response to a control instruction from the arithmetic device 50. That is, the outside sensor 18, the outside recognition unit 60, the wiper 90, and the wiper driving unit 92 function as an object detection unit 94 that detects an object around the vehicle.

<Operation of Vehicle Control Device 10>
The vehicle control device 10 in the first embodiment is configured as described above. Next, the operation of the vehicle control device 10 when dealing with the water pool 112 (FIG. 4 and the like) will be described with reference mainly to the flowchart of FIG. Here, it is assumed that the host vehicle 100 equipped with the vehicle control device 10 travels by automatic driving.

  FIG. 4 is a diagram illustrating an example of a traveling scene around the host vehicle 100. The host vehicle 100 tries to go straight on the road 104 along the planned travel route 102 indicated by the dashed arrow. Here, the planned travel route 102 means a route on which the host vehicle 100 intends to travel.

  This figure shows a road 104 in an area where an arrangement is made that the car will run “left”. The road 104 is divided into two lanes by a continuous lane mark 106. The road 104 includes a traveling lane 107 in which the host vehicle 100 is traveling and an opposing lane 108 that faces the traveling lane 107.

  The other vehicle 110 travels on the opposite lane 108 while facing the host vehicle 100. In addition, at a substantially intermediate position between the host vehicle 100 and the other vehicle 110, a water pool 112 that partially covers the opposite lane 108 is formed.

  In step S <b> 1 of FIG. 3, the object detection unit 94 detects the outside world of the host vehicle 100. Specifically, the external environment recognition unit 60 recognizes a situation and an object around the host vehicle 100 based on information output from the external sensor 18.

  For example, the puddle recognition unit 72 recognizes the presence, position, and size of the puddle 112 on the road 104 by recognizing the reflection of a specular reflection image that can be included in the information output from the camera 30. To do.

  For example, the other vehicle recognition unit 74 recognizes the presence, position, size, and type of the other vehicle 110 that runs or stops around the host vehicle 100 based on information output from the camera 30, the radar 31, or the LIDAR 32. At the same time, the distance and relative speed between the host vehicle 100 and the other vehicle 110 are calculated.

  The external state recognition unit 76, for example, based on the image information of the camera 30 or the map information (high-precision map) read from the map information DB 22, the overall road environment, for example, the road shape, the road width, the position of the lane mark 106 It recognizes the number of lanes, the lane width, the lighting state of the traffic light, the open / close state of the circuit breaker, and the like.

  In step S <b> 2, the object detection unit 94 confirms whether or not the puddle 112 and the other vehicle 110 in front of the host vehicle 100 are simultaneously detected. When the puddle 112 and the other vehicle 110 are not detected simultaneously (step S2: NO), the flowchart of FIG. On the other hand, when the own vehicle 100 reaches the detection position 114 and simultaneously detects the puddle 112 and the other vehicle 110 for the first time (step S2: YES), the process proceeds to the next step S3.

  In step S <b> 3, the scene determination unit 78 evaluates the possibility that the water in the puddle 112 will jump up by the passage of the other vehicle 110 based on the detection result in step S <b> 1 (hereinafter, referred to as jumping possibility). Specifically, [1] there is a puddle 112 on the opposite lane 108, [2] the puddle 112 has a size greater than or equal to a predetermined value, and [3] the speed of the other vehicle 110 is greater than or equal to a predetermined value. [4] When the other vehicle 110 shows a traveling behavior that passes over the water pool 112, it is evaluated that this possibility of jumping is high.

  In step S <b> 4, the scene determination unit 78 determines whether or not a trigger condition indicating a mutual relationship among the puddle 112, the other vehicle 110, and the host vehicle 100 is satisfied based on the evaluation result in step S <b> 3. This “trigger condition” is used to determine that the water in the puddle 112 has jumped due to the passage of the other vehicle 110 and that the splash of water is likely to affect the traveling of the host vehicle 100. It is a condition. This trigger condition may be that one or a plurality of individual conditions are satisfied, or that a score indicating the high possibility of jumping exceeds a threshold value.

  For example, the scene determination unit 78 determines that the trigger condition is satisfied when it is estimated that the possibility of jumping is high and the own vehicle 100 is predicted to pass the other vehicle 110 at the position of the puddle 112. To do.

  Alternatively, the scene determination unit 78 determines that the trigger condition is satisfied when the evaluation that the possibility of jumping is high is made and the relationship of 0 ≦ (Tarv1−Trv2) <Tth is satisfied. Here, the time Tarv <b> 1 is a time required for the host vehicle 100 to reach the position of the puddle 112. Time Tarv <b> 2 is a time required for the other vehicle 110 to reach the position of the puddle 112. The threshold value Tth is a preset positive value (generally about 1 to 3 seconds).

  If the trigger condition is not satisfied (step S4: NO), the flowchart of FIG. On the other hand, when the trigger condition is satisfied (step S4: YES), the process proceeds to the next step S5.

  In step S <b> 5, the timing setting unit 80 sets the timing for executing the countermeasure control (hereinafter, execution timing). Specifically, the timing setting unit 80 executes an execution start position 116 (FIG. 5) that is the position of the host vehicle 100 at which the countermeasure control is started, and an execution end position 118 (the position at which the host vehicle 100 ends the countermeasure control. FIG. 5) is set. Here, the execution start position 116 corresponds to a position before the water jumps up, and the execution end position 118 corresponds to a position after the water jumps up.

  In step S6, the countermeasure control unit 82 determines whether or not the host vehicle 100 has reached the execution start position 116 set in step S5. If it has not reached yet (step S6: NO), it remains at step S6 until the host vehicle 100 reaches the execution start position 116. On the other hand, when the host vehicle 100 has reached the execution start position 116 (step S6: YES), the process proceeds to the next step S7.

  In step S <b> 7, the countermeasure control unit 82 performs countermeasure control (in the first embodiment, drive control of the wiper 90) that copes in advance with the water splashing of the puddle 112 by the other vehicle 110. This “preliminary” includes the meaning of “before the other vehicle 110 reaches the position of the puddle 112”.

  This countermeasure control is performed for the purpose of suppressing a decrease in detection accuracy by the external sensor 18. Specifically, the countermeasure control unit 82 generates a control signal for driving the wiper 90 on the detection surface of the external sensor 18, and outputs this control signal to the wiper driving unit 92.

  As shown in FIG. 5, the wiper 90 has stopped operating when the host vehicle 100 is at the detection position 114, but starts driving when the host vehicle 100 reaches the execution start position 116. The wiper 90 is operating at a normal driving speed when the host vehicle 100 is at the detection position 114, but starts high-speed driving when the host vehicle 100 reaches the execution start position 116. Thereby, even when the water splash actually occurs, water droplets adhering to the detection surface of the external sensor 18 can be quickly removed.

  In step S8, the countermeasure control unit 82 confirms whether or not the host vehicle 100 has reached the execution end position 118 set in step S5. If it has not reached yet (step S8: NO), the process returns to step S7, and steps S7 and S8 are sequentially repeated until the host vehicle 100 reaches the execution end position 118. On the other hand, when the host vehicle 100 has reached the execution end position 118 (step S8: YES), the process proceeds to the next step S9.

  In step S9, the handling control unit 82 ends the handling control at the execution end position 118. Specifically, the countermeasure control unit 82 outputs the control signal of the wiper 90 to the wiper driving unit 92, so that the operation of the wiper 90 returns to the state before the countermeasure control is executed.

<Effects of vehicle control device 10>
As described above, the vehicle control device 10 is a device that at least partially automatically performs the traveling control of the host vehicle 100, and includes [1] the water reservoir 112 and the other vehicle 110 around the host vehicle 100. When the object detection means 94 for detecting an object and [2] the trigger condition indicating the interrelationship between the detected water pool 112 and other vehicle 110 and the host vehicle 100 are satisfied, A coping control unit 82 that performs coping control for coping with water splashing in advance.

  Further, in this vehicle control method, [1] the object detection means 94 detects an object including the puddle 112 and the other vehicle 110 around the host vehicle 100 (step S1), and [2] the detected puddle. 112, the other vehicle 110, and the trigger condition which shows the mutual relationship between the own vehicle 100 are satisfy | filled (step S4: YES), the countermeasure control part 82 is prior to the water jump of the water pool 112 by the other vehicle 110. Countermeasure control for coping with is performed (step S7).

  By configuring in this way, it is possible to reduce the influence of the splashing water on the traveling of the host vehicle 100, and it is possible to improve the convenience of driving in the traveling scene in which the water pool 112 is formed.

  The above-described trigger condition is a condition that indicates the possibility that the water in the puddle 112 will jump up due to the passage of the other vehicle 110 and that the splash of water may affect the traveling of the host vehicle 100. There may be.

  The object detection means 94 includes an external sensor 18 that detects an external state of the host vehicle 100, and an external recognition unit 60 that performs a recognition process for recognizing an object based on the detection result of the external sensor 18. The handling control unit 82 may perform handling control that suppresses a decrease in detection accuracy by the external sensor 18 or recognition accuracy by the external recognition unit 60.

  In particular, in the first embodiment, the countermeasure control unit 82 starts driving the wiper 90 that operates on the detection surface of the external sensor 18 or increases the driving speed of the wiper 90 compared to the case where the countermeasure control is not performed. Thus, countermeasure control for suppressing a decrease in detection accuracy may be performed. Thereby, it is possible to prevent a phenomenon in which the detection accuracy of the external sensor 18 temporarily decreases due to the adhesion of water.

[Second Embodiment]
Next, the vehicle control device 150 according to the second embodiment will be described with reference to FIGS. 6 to 9B. In addition, about the structure or function similar to 1st Embodiment, the same referential mark may be attached | subjected and the description may be abbreviate | omitted.

<Functional block diagram>
FIG. 6 is a main functional block diagram of the vehicle control device 150 in the second embodiment. This computing device 152 can execute various functions of the external environment recognition unit 154, the vehicle position recognition unit 62, the action plan creation unit 156, the track generation unit 66, the vehicle control unit 68, and the operation mode switching unit 70. It is configured.

  The outside world recognition unit 154 recognizes the situation and objects around the vehicle based on the information output from the outside world sensor 18. As in the first embodiment, the outside world recognition unit 154 includes a puddle recognition unit 72, another vehicle recognition unit 74, and an outside world state recognition unit 76. The external environment recognition unit 154 is configured to be able to change the execution mode of the recognition process in accordance with an instruction from the action plan creation unit 156 (more specifically, the countermeasure control unit 158).

  The action plan creation unit 156 creates an action plan according to the vehicle situation based on the recognition results of the external environment recognition unit 154 and the vehicle position recognition unit 62, and updates the content of the action plan as necessary. In addition to the scene determination unit 78 and the timing setting unit 80, the action plan creation unit 156 includes a countermeasure control unit 158 having a function different from that of the first embodiment.

  Here, the external sensor 18 and the external recognition unit 154 function as an object detection unit 160 that detects an object around the vehicle. Unlike the configuration of the first embodiment (object detection unit 94), the object detection unit 160 does not include the wiper 90 and the wiper drive unit 92.

<Operation of Vehicle Control Device 150>
The vehicle control device 150 in the second embodiment is configured as described above. The vehicle control device 150 basically operates according to the flowchart of FIG. 3 when dealing with the water pool 112 (FIG. 4 and the like). However, it should be noted that in step S7, the countermeasure control unit 158 performs countermeasure control different from that in the first embodiment (drive control of the wiper 90).

(First example: Change of recognition process)
In the first example, the handling control unit 158 performs handling control that suppresses a reduction in recognition accuracy by instructing the outside world recognition unit 154 to change the execution mode of the recognition process. Hereinafter, an example of a specific change method will be described in detail with reference to FIGS. 7A and 7B.

  FIG. 7A is a diagram schematically illustrating the execution timing of the recognition process. Each solid line orthogonal to the time axis indicates the start point of a recognition process that is periodically executed. Here, the time point Ts is a time point when the execution of the countermeasure control is started (hereinafter referred to as an execution start time point), and corresponds to a time point when the host vehicle 100 is at the execution start position 116 (FIG. 5).

  As understood from this figure, before the execution of the countermeasure control is started (t <Ts), the object recognition process is performed with a relatively long execution period ΔTc1, that is, with a relatively low execution frequency. On the other hand, after the execution of the countermeasure control (t ≧ Ts), the object recognition process is performed with a relatively short execution cycle ΔTc2 (ΔTc2 <ΔTc1), that is, with a relatively high execution frequency.

  FIG. 7B is a diagram schematically illustrating the execution time of the recognition process. Each solid line orthogonal to the time axis indicates the start point of a recognition process that is periodically executed. The execution start time Ts is defined in the same way as in FIG. 7A.

  As understood from this figure, before the execution of the countermeasure control is started (t <Ts), the object recognition process is performed with a relatively short calculation processing time ΔTp1, that is, with a relatively small calculation processing amount. On the other hand, after the execution of the countermeasure control (t ≧ Ts), the object recognition process is performed with a relatively long calculation processing time ΔTp2 (ΔTp2> ΔTp1), that is, with a relatively large calculation processing amount.

  As described above, the countermeasure control unit 158 suppresses a decrease in recognition accuracy by increasing the execution frequency of the recognition processing by the external recognition unit 154 or increasing the amount of arithmetic processing compared to the case where the countermeasure control is not performed. Coping control may be performed. As a result, a decrease in detection accuracy can be compensated for, and the overall object detection accuracy is maintained.

(Second example: Restriction of lost state determination)
In the second example, the handling control unit 158 performs handling control that suppresses the reduction in recognition accuracy by instructing the outside world recognition unit 154 to limit the determination of the lost state. Hereinafter, an example of a specific change method will be described in detail with reference to FIGS. 8A and 8B.

  8A and 8B are diagrams schematically showing the recognition result of the same object by the recognition process. The horizontal axis of the graph indicates time (t), and the vertical axis of the graph indicates an object recognition state (“possible” or “impossible”). Note that the execution start time Ts is defined in the same manner as in FIGS. 7A and 7B.

  FIG. 8A shows the processing contents when an object is recognized before the execution of the countermeasure control is started (t <Ts). Here, it is assumed that the external environment recognition unit 154 first recognizes an object at time t = Tap, and first loses sight of the object at time t = Tls after the “recognizable” state continues.

  For example, when the state of “recognition is impossible” continues for the holding time ΔT1 from the time when the object is lost (t = Tls), that is, it is determined that the object is in the lost state at time t = Tls + ΔT1. Thereafter, the external environment recognition unit 154 starts the retry of the recognition process after finishing the tracking of the object.

  FIG. 8B shows processing contents when an object is recognized during execution of countermeasure control (t> Ts). Here, it is assumed that the external environment recognition unit 154 first recognizes an object at time t = Tap, and first loses sight of the object at time t = Tls after the “recognizable” state continues.

  For example, when the state of “unrecognizable” continues for the holding time ΔT2 (> ΔT1) from the time when the object is lost (t = Tls), that is, it is determined that the object is in the lost state at time t = Tls + ΔT2. . By increasing the holding time ΔT2, there is a time margin for recovering the detection performance of the external sensor 18, and there is a possibility that the processing load may not increase due to retrying the recognition processing.

  In this way, the countermeasure control unit 158 suppresses a decrease in recognition accuracy by restricting the determination that the object has been lost due to the recognition processing by the external recognition unit 154, as compared with the case where the countermeasure control is not performed. You may perform coping control. Thereby, even after the influence of the splashed water is reduced and the detection performance is recovered, there is a high possibility that the object can be continuously tracked without performing the recognition process again.

(Third example: Change in sensor reliability)
In the third example, the countermeasure control unit 158 performs countermeasure control that suppresses a decrease in recognition accuracy by instructing the outside world recognition unit 154 to change the reliability of a plurality of types of sensors. Hereinafter, an example of a specific change method will be described in detail with reference to FIGS. 9A and 9B.

  FIG. 9A is a diagram schematically showing input / output characteristics of the external recognition unit 154. For example, when the external sensor 18 is composed of n (n ≧ 2) types of sensors, the external recognition unit 154 receives n types of detection information (first to nth detection information) as an input, and one recognition result. Is considered as an output unit. For example, when all the sensor reliability levels are equal, the same weighting coefficient Wi = C (i = 1 to n) is given to the first to nth detection information.

  Here, some types of sensors are strong against water splashing and others are weak due to differences in detection method or device structure. Therefore, it is assumed that the first and second sensors are particularly vulnerable to water splashing.

  FIG. 9B is a diagram schematically illustrating a temporal change in the weighting coefficient applied to the sensor. The horizontal axis of the graph represents time (t), and the vertical axis of the graph represents the weighting coefficient W. The execution start time Ts is defined in the same way as in the case of FIGS. 7A to 8B.

  The external recognition unit 154 sets all the weighting factors Wi (i = 1 to n) to a constant value C before the execution of the countermeasure control is started (t <Ts). However, the external environment recognition unit 154 reduces the first weighting coefficient W1 by ΔC1 and reduces the second weighting coefficient W2 by ΔC2 at the execution start time t = Ts. Thereby, the reliability of the 1st and 2nd detection information (sensor) can be lowered relatively.

  Moreover, the external field recognition part 154 may change the timing which returns a weighting coefficient according to the recovery degree of the detection performance of each sensor. In the example of this figure, the external recognition unit 154 returns the weighting coefficient W1 of the first sensor that is expected to be restored early to the original value C at t = Te1, and the second sensor that is expected to be restored slowly. The weighting coefficient W2 is returned to the original value C at t = Te2 (> Te1).

  As described above, when the external sensor 18 is composed of a plurality of types of sensors, the countermeasure control unit 158 relatively increases the reliability of the types of sensors that are strong against water splashing, and the types of sensors that are weak against water jumping up. Countermeasure control that suppresses a decrease in recognition accuracy may be performed by relatively reducing the reliability. As a result, it is possible to reduce the influence that the detection accuracy temporarily decreases depending on the type of sensor, and the overall detection accuracy of the object is maintained.

<Effects of vehicle control device 150>
As described above, the vehicle control device 150 is a device that at least partially automatically performs the travel control of the host vehicle 100, and includes [1] the water reservoir 112 and the other vehicle 110 around the host vehicle 100. When the object detection means 160 for detecting an object and [2] the detected water pool 112, the other vehicle 110, and the trigger condition indicating the interrelationship between the host vehicle 100 are satisfied, A coping control unit 158 that performs coping control for coping with water splashing in advance.

  Further, in this vehicle control method, [1] the object detection means 160 detects an object including the puddle 112 and the other vehicle 110 around the host vehicle 100 (step S1), and [2] the detected puddle. 112, the other vehicle 110, and the trigger condition which shows the mutual relationship between the own vehicle 100 are satisfy | filled (step S4: YES), the countermeasure control part 158 is prior to the water jump of the water pool 112 by the other vehicle 110. Countermeasure control for coping with is performed (step S7).

  By configuring in this way, as in the case of the first embodiment, it is possible to reduce the influence of the splashing water on the traveling of the host vehicle 100 and improve the convenience of driving in the traveling scene in which the puddle 112 is formed. Can be made.

[Supplement]
In addition, this invention is not limited to embodiment mentioned above, Of course, it can change freely in the range which does not deviate from the main point of this invention. Or you may combine each structure arbitrarily in the range which does not produce technical contradiction.

DESCRIPTION OF SYMBOLS 10,150 ... Vehicle control apparatus 12 ... Control system apparatus group 14 ... Input system apparatus group 16 ... Output system apparatus group 18 ... External sensor 20 ... Communication apparatus 22 ... Map information DB 24 ... Navigation apparatus 26 ... Vehicle sensor 40 ... Driving force Output device 42 ... steering device 44 ... braking device 46 ... notification device 50, 152 ... calculation device 52 ... storage device 60, 154 ... external world recognition unit 62 ... own vehicle position recognition unit 64, 156 ... action plan creation unit 66 ... trajectory generation Unit 68 ... Vehicle control unit 70 ... Driving mode switching unit 72 ... Puddle recognition unit 74 ... Other vehicle recognition unit 76 ... External world state recognition unit 78 ... Scene determination unit 80 ... Timing setting unit 82, 158 ... Countermeasure control unit 84 ... Driving Control unit 86 ... notification control unit 90 ... wiper 92 ... wiper driving unit 94, 160 ... object detection means 100 ... own vehicle 102 ... scheduled travel route 104 ... road 106 ... Nmaku 107 ... driving lane 108 ... opposite lane 110 ... other vehicle 112 ... puddle 114 ... detection position 116 ... execution start position 118 ... run end position

Claims (7)

A vehicle control device that automatically and at least partially performs traveling control of the host vehicle,
An object detection means for detecting an object including a puddle and other vehicles around the host vehicle;
When the trigger condition indicating the interrelationship between the water pool and the other vehicle detected by the object detection means and the own vehicle is satisfied, the water splash of the water pool by the other vehicle is dealt with in advance. A coping control unit that performs coping control, and
A timing setting unit that sets timing for executing the countermeasure control ,
The timing setting unit includes:
An execution start position said starting the address control is the position of the vehicle, it positions a is run end position of the vehicle to exit the address control, to set before performing the addressing control A vehicle control device. The vehicle control device according to claim 1,
The trigger condition is a condition indicating a high possibility that the water in the puddle jumps up due to the passage of the other vehicle and the splash of the water has an influence on the traveling of the own vehicle. A vehicle control device. In the vehicle control device according to claim 1 or 2,
The object detection means includes
An external sensor for detecting the external state of the vehicle;
An external recognition unit that performs recognition processing for recognizing an object based on the detection result of the external sensor;
Comprising
The vehicle control device, wherein the response control unit performs response control to suppress a decrease in detection accuracy by the external sensor or recognition accuracy by the external recognition unit. In the vehicle control device according to claim 3,
The countermeasure control unit starts driving the wiper that operates on the detection surface of the external sensor, or suppresses a decrease in the detection accuracy by increasing the drive speed of the wiper as compared with the case where the countermeasure control is not performed. A vehicle control device that performs coping control. In the vehicle control device according to claim 3,
The coping control unit performs coping control that suppresses the decrease in the recognition accuracy by increasing the execution frequency of recognition processing by the external field recognition unit or increasing the amount of calculation processing compared to the case where coping control is not performed. The vehicle control apparatus characterized by performing. In the vehicle control device according to claim 3,
The coping control unit suppresses the reduction in the recognition accuracy by limiting the determination that the object has been lost due to the recognition process by the external field recognition unit, as compared with the case where the coping control is not performed. The vehicle control apparatus characterized by performing. In the vehicle control device according to claim 3,
The external sensor comprises a plurality of types of sensors,
The countermeasure control unit relatively increases the reliability of a sensor that is strong against water splashing, and relatively decreases the reliability of a sensor that is weak against water splashing, thereby reducing the recognition accuracy. A vehicle control device that performs countermeasure control to suppress.

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