JP6758733B1 - Self-driving car - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for a self-driving vehicle having a following traveling function to perform safer following traveling. An imaging unit that images the front of a vehicle, a lane detection unit that detects the lane in which the vehicle is traveling, and a vehicle in front of the vehicle that deviates from the traveling lane detected by the lane detection unit It has a lane departure detection unit and a control unit. When the lane departure detection unit detects that the vehicle immediately before the vehicle deviates more than a predetermined number of times within a predetermined time, the control unit stops following the vehicle immediately before the vehicle. [Selection diagram] Fig. 1

Description

The present invention relates to an autonomous vehicle capable of following a vehicle immediately in front of the vehicle.

In recent years, the development of autonomous driving technology for automobiles has accelerated, and the technology has been integrated with car navigation technology, advanced wireless communication technology, AI technology, etc., and has reached a level at which human operation is almost unnecessary. Patent Document 1 discloses a technique for detecting a doze of a driver who drives a vehicle having a cruise control function (a function of following a preceding vehicle) and canceling the function. ..

Special Table 2014-511301 Publication

However, the technique described in Patent Document 1 reflects the physical condition of the driver with respect to a follow-up function that reduces the driver's fatigue when driving the own vehicle, and further improves the driving safety of the own vehicle. The parameters and the like are modified so as to improve. Therefore, this technique does not determine whether the preceding vehicle immediately before the own vehicle follows is unsuitable for the follow-up.

An object of the present invention is to provide a technique for an autonomous vehicle having a following traveling function to perform safer following traveling.

In the present invention of claim 1, in an automatically driving vehicle capable of following a vehicle in front of the own vehicle, an imaging unit that captures the front of the own vehicle and an image captured by the imaging unit are used. Regarding the lane detection unit that detects the lane in which the vehicle is traveling and the image of the vehicle immediately before the vehicle is following, the lane in which the vehicle is detected by the lane detection unit is immediately before the above. a lane deviation detecting unit for detecting that the vehicle is traveling deviate, and a notification unit for notifying the information on how the follow-up running, during the follow-up run of the vehicle, the lane deviation detection unit the immediately preceding When it is detected that the vehicle deviates from the vehicle more than a predetermined number of times within a predetermined time, the notification unit has a control unit for notifying the operation method of canceling the following traveling.

With this configuration, the driver having received the notification of the operation method, for example, drinking, consider whether traveling by dozing or unwell to maintain the following operation for unstable immediately preceding vehicle, release the follow-up run Alternatively, it is possible to shift to manual driving and select safer driving.

Further, in the present invention of claim 2, in an automatic driving vehicle capable of following a vehicle that follows the vehicle immediately before the own vehicle, the distance measurement that measures the distance between the vehicle and the vehicle immediately before the own vehicle follows is measured. Based on the inter-vehicle distance measured by the distance measuring unit, the inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to the predetermined inter-vehicle distance, and the operation method related to the following traveling. When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance or more and the inter-vehicle distance or less within a predetermined time during the follow-up running of the own vehicle, the notification unit is described. It has a control unit for notifying an operation method for canceling the following running .

With this configuration, the driver who has been notified of the above operation method maintains follow-up driving for future unexpected dangerous driving of the vehicle immediately before the driving is unstable due to drinking, dozing, or poor physical condition , for example. It is possible to consider whether or not to drive, cancel the follow-up driving, or shift to manual driving, and select safer driving.

Further, in the present invention of claim 3, in an automatically driving vehicle capable of following traveling following a vehicle immediately in front of the own vehicle, traveling that controls driving, braking, steering, and instruction of the traveling direction of the own vehicle. Based on the distance measurement unit that measures the inter-vehicle distance between the control unit and the vehicle immediately before the own vehicle follows, and the inter-vehicle distance measured by the distance measurement unit, the vehicle immediately before the own vehicle follows is the predetermined inter-vehicle distance. An inter-vehicle change detection unit that detects that the distance has fallen below the distance, another vehicle detection unit that detects whether or not another vehicle is traveling to the side or diagonally behind the own vehicle, and the following vehicle running When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has reached the inter-vehicle distance by a predetermined number of times or more within a predetermined time, the travel control unit detects that the vehicle is currently traveling from the lane in which the vehicle is currently traveling. It has a control unit that automatically changes the lane to the lane farthest from the own vehicle in which the other vehicle is not detected .

With this configuration, no other vehicle was detected from the lane in which the vehicle is currently traveling, for example, for future unforeseen dangerous driving of the vehicle immediately before the vehicle is unstable due to drinking, dozing, or poor physical condition. By automatically changing lanes to the lane farthest from the own vehicle, it is possible to drive a safer autonomous vehicle.

Further, in the present invention of claim 4, in an automatically driving vehicle capable of following traveling following the vehicle immediately in front of the own vehicle, traveling that controls driving, braking, steering, and instruction of the traveling direction of the own vehicle. The control unit, the imaging unit that images the front of the vehicle, the lane detection unit that detects the lane in which the vehicle is traveling from the image captured by the imaging unit, and the vehicle imaged by the imaging unit follow. Regarding the image of the vehicle immediately before, the lane deviation detection unit that detects that the vehicle immediately before is deviating from the traveling lane of the own vehicle detected by the lane detection unit, and the side and diagonally rearward of the own vehicle. The other vehicle detection unit that detects whether or not another vehicle is traveling, and the lane deviation detection unit deviates from the vehicle immediately before the vehicle a predetermined number of times or more within a predetermined time while the vehicle is following the vehicle. When is detected, the driving control unit automatically changes the lane from the lane in which the vehicle is currently traveling to the lane farthest from the vehicle in which the other vehicle is not detected. It has a.

With this configuration, no other vehicle was detected from the lane in which the vehicle is currently traveling , for example, for future unforeseen dangerous driving of the vehicle immediately before the vehicle is unstable due to drinking, dozing, or poor physical condition. By automatically changing lanes to the lane farthest from the own vehicle, it is possible to drive a safer autonomous vehicle.

Further, in the present invention of claim 5, in an automatically driving vehicle capable of following traveling that follows the vehicle immediately in front of the own vehicle, traveling that controls driving, braking, steering, and instruction of the traveling direction of the own vehicle. Based on the distance measurement unit that measures the inter-vehicle distance between the control unit and the vehicle immediately before the own vehicle follows, and the inter-vehicle distance measured by the distance measurement unit, the vehicle immediately before the own vehicle follows is the predetermined inter-vehicle distance. An inter-vehicle change detection unit that detects that the distance has fallen below the distance, another vehicle detection unit that detects whether or not another vehicle is traveling to the side or diagonally behind the own vehicle, and the following vehicle running When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance more than a predetermined number of times within a predetermined time, the travel control unit detects that the vehicle is in another lane from the lane in which the vehicle is currently traveling. After changing the lane to another lane, the vehicle has a control unit that causes the other vehicle immediately before the other lane to follow the vehicle again .

With this configuration, for example, in response to unforeseen and dangerous driving of a vehicle immediately before driving is unstable due to drinking, falling asleep, or poor physical condition, the vehicle is changed from the current lane to another lane. After that, by causing the other vehicle immediately before in the other lane to perform the following running again, it is not necessary to set the following running again, and safer automatic driving can be performed.

Further, in the present invention of claim 6, in an automatically driving vehicle capable of following traveling following the vehicle immediately in front of the own vehicle, traveling that controls driving, braking, steering, and instruction of the traveling direction of the own vehicle. The control unit, the imaging unit that captures the front of the vehicle, the lane detection unit that detects the lane in which the vehicle is traveling from the image captured by the imaging unit, and the vehicle imaged by the imaging unit follow. Regarding the image of the vehicle immediately before, the lane deviation detection unit that detects that the vehicle immediately before is deviating from the traveling lane of the own vehicle detected by the lane detection unit, and the side and diagonally rearward of the own vehicle. Another vehicle detection unit that detects whether or not another vehicle is running,
When the lane departure detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time during the follow-up driving of the own vehicle, the travel control unit detects that the vehicle is currently traveling from the lane in which the vehicle is currently traveling. It has a control unit for changing the lane to another lane and then re-following the other vehicle immediately before the other lane .

With this configuration, for example, in response to unforeseen and dangerous driving of a vehicle immediately before driving is unstable due to drinking, dozing, or poor physical condition, the vehicle is changed from the lane currently being driven to another lane. After that, by causing the other vehicle immediately before in the other lane to perform the following running again, it is not necessary to set the following running again, and safer automatic driving can be performed.

In the present invention, an autonomous vehicle having a follow-up running function can perform safer follow-up running.

It is a circuit block diagram in the Example of the autonomous driving vehicle of this invention. It is an operation flowchart in the Example of the autonomous driving vehicle of this invention. It is an operation flowchart in the Example of the autonomous driving vehicle of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a traveling explanatory drawing in the Example of the automatic driving vehicle of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention. It is a front image figure at the time of traveling in the Example of the self-driving car of this invention.

(Example) Hereinafter, an embodiment of the autonomous driving vehicle of the present invention will be described with reference to the drawings. The present invention is not limited to the following examples.

The circuit block configuration in the embodiment of the autonomous driving vehicle of the present invention will be described in detail with reference to FIG. In addition, this self-driving car can perform automatic driving including manual driving and follow-up driving.

First, in FIG. 1, the autonomous driving vehicle A has an accelerator unit 11A for driving in basic traveling, an accelerator control unit 11B controlled by the accelerator unit, a steering unit 13A for steering, and a steering drive for controlling the accelerator unit 11B. It has a control unit 13B, a brake unit 14A that brakes the own vehicle, a brake control unit 14B that controls the control unit, and an engine unit 12 that is controlled by the accelerator control unit. In addition, it has a direction indicating unit (not shown) that indicates the traveling direction of the own vehicle. The traveling control unit is a comprehensive functional unit including each of the accelerator unit, steering unit, brake unit, and direction indicating unit.

Further, the self-driving car A is provided with a manual driving function, an automatic driving function, a car navigation function, a follow-up driving function, and the like. Therefore, regarding the automatic driving function of the autonomous driving vehicle, the control unit 10 including the ECU (Electronic Control Unit) and the like includes the accelerator unit 11A, the brake unit 14A, the steering wheel (steering unit) 13A, and the direction indicator unit (not shown). ) Is automatically controlled. That is, in this vehicle, a traveling route is set by the car navigation function unit 16, and while receiving travel guidance along the traveling route, the distance measuring unit (radar unit or sonar, a plurality of cameras) 21, the imaging unit 22, and the lane detection The unit 23, the vehicle deviation detection unit 24, and the like can automatically drive or follow the vehicle while maintaining a predetermined distance from the preceding vehicle without deviating from the lane. In particular, if the cruise control function is activated, the distance measuring unit 21 or the imaging unit 22 can travel while keeping a constant inter-vehicle distance from the immediately preceding vehicle (details will be described later).

Further, the numerical values measured by the distance measuring unit 21 and the imaging unit 22 and the captured images (see FIGS. 6 to 9) are stored and stored in the storage unit 29. Further, the distance measuring unit 21 measures the distance to the object outside the vehicle, but mainly measures the distance to the vehicle immediately before and after. The lane detection unit 23 detects a lane in the image in front of the own vehicle captured by the image pickup unit 22. The lane departure detection unit 24 detects whether or not the immediately preceding vehicle deviates from the lane L detected by the lane detection unit 23 in the image captured by the imaging unit 22.

The inter-vehicle change detection unit 25 measures the inter-vehicle distance between the own vehicle and the immediately preceding vehicle by the distance measuring unit 21 and detects that the inter-vehicle distance is equal to or less than a predetermined distance. In addition, the other vehicle detection unit 28 detects the presence of the other vehicle by using an image captured around the own vehicle A, particularly laterally and diagonally behind, an object inspection by radar or sonar, and the like. Therefore, the imaging unit 22 and the distance measuring unit 21 may be used to detect other vehicles in the vicinity.

Further, the self-driving car A can detect the position of the own vehicle and the position of another vehicle by the car navigation function unit 16 by using GPS (Global Positioning System). Further, the display unit 17 has functions such as map display, traveling guidance, and warning notification by the car navigation function unit 16. The operation mode switching unit 18 switches between manual operation and automatic operation. In addition, the in-vehicle speaker unit 19 makes an announcement regarding traveling guidance by the car navigation function unit 16. Further, the in-vehicle microphone unit 20 can instruct driving by the voice of the driver. Further, the transmission unit 27 can transmit various signals and comments to other vehicles. On the other hand, the receiving unit 26 can receive various signals and comments from other vehicles. The display unit 17 and / or the in-vehicle speaker unit 19 is used as a notification unit.

Next, the operation of the embodiment of the autonomous driving vehicle of the present invention will be described in detail with reference to the operation flowcharts of FIGS. 2 and 3. First, referring to FIG. 2, in step 10, the driver starts driving the self-driving car A, and activates a cruise control function that follows the vehicle B immediately before the preceding vehicle on the highway (). (See FIGS. 4 and 7). After that, in step 11, based on the image of the imaging unit 22 (see FIG. 8) and the detection result of the lane detection unit 23, the vehicle deviation detection unit 24 is currently in the vehicle B immediately before the vehicle B more than a predetermined number of times within a predetermined time. Detects whether or not the vehicle deviates from the traveling lane L (see FIGS. 4, 5, 7, and 8). For example, if the vehicle deviation detection unit 24 detects deviations three or more times within 30 seconds, the process proceeds to step 13.

Further, the inter-vehicle distance while the cruise control function is operating varies depending on the traveling speed. For example, if the traveling speed of the immediately preceding vehicle is 40 km / h, the safe inter-vehicle distance is about 50 meters. Therefore, in step 12, for example, when a predetermined inter-vehicle distance is set to 50 meters, the immediately preceding vehicle suddenly repeats deceleration, and the inter-vehicle distance becomes 15 meters or less three times within a predetermined time of 30 seconds. In the above cases, the inter-vehicle change detection unit 25 detects the change (see FIGS. 7 and 9). On the contrary, when the inter-vehicle distance repeats a sudden acceleration of 80 meters within a predetermined time of 30 seconds three or more times, it is detected in the same manner (see FIG. 10). Further, the same applies even if the above-mentioned deceleration and acceleration are detected three or more times within 30 seconds. By this detection, the process proceeds to step 13.

Next, in step 13, the control unit 10 notifies the driver of the operation (method) for canceling the cruise control function currently in operation by the in-vehicle speaker unit 19 and the display unit 17 (voice). Announcement, display output). For example, the in-vehicle speaker unit 19 makes a voice announcement saying, "Cruise control is released when the steering wheel is turned or the brake is stepped on." Further, at this time, instead of notifying the operation method, an alarm or a reminder to cancel the cruise control function may be used. As described above, this release method may be to step on the brake portion 14A or turn the steering portion 13A by a predetermined angle or more within a predetermined time. Further, by the above detection, the transmission unit 27 transmits a warning signal to the immediately preceding vehicle B. The vehicle immediately before receiving the warning signal is warned from the display or speaker in the vehicle.

Next, in step 14, the control unit 10 detects whether or not the driver has canceled the cruise control function after a predetermined time or more has elapsed from the detection of the deviation, for example, 90 seconds. If it is not detected that the cruise control function has been canceled, the process proceeds to step 15 with reference to FIG. In step 15, the autonomous driving vehicle A automatically increases the inter-vehicle distance from the preceding vehicle B. In this case, the distance measuring unit 21 measures the distance of the own vehicle from the following vehicle, or the other vehicle detecting unit 28 detects the following other vehicle and adjusts the inter-vehicle distance to be widened. If it is detected that the cruise control function has been canceled, the operation of this embodiment ends. Therefore, the driver can then switch to manual operation.

Next, in step 16, the other vehicle detection unit 28 detects whether or not another vehicle is traveling on the side and diagonally behind the own vehicle A. This is to determine whether or not the own vehicle can safely change lanes to the lane adjacent to the lane in which the own vehicle A travels and the lane outside the lane. Therefore, if the other vehicle detection unit 28 detects the other vehicle, the notification unit notifies that fact in step 17. If the other vehicle detection unit 28 does not detect the other vehicle, the notification unit similarly notifies that fact in step 21 and returns to step 13.

Further, in step 18, the lane detection unit 23 detects whether or not the lane in which the own vehicle A is currently traveling is the outermost lane based on the image in front of the own vehicle captured by the imaging unit 22. For example, when the road on which the own vehicle A is traveling has four lanes on each side, the outermost lanes are the first lane and the fourth lane. Therefore, when the lane detection unit 23 detects that the vehicle A is currently traveling in the first lane, which is the outermost lane, the control unit 10 instructs the travel control unit in step 19. The vehicle A is automatically moved from the current lane to the fourth lane, which is the outermost lane on the opposite side. That is, in the above example, the current lane change from the first lane to the fourth lane. When the other vehicle detection unit 28 detects another vehicle in the outermost lane, the control unit 10 instructs the travel control unit to automatically change lanes to the adjacent lane. Further, in this case, the steering unit is operated to change lanes, but the cruise control function is canceled by this operation. Therefore, the control unit 10 notifies the notification unit (“cruise control has been released”) from the notification unit by operating the steering unit.

Further, when the lane detection unit 23 detects that the lane in which the own vehicle A is currently traveling is not the outermost lane, the process proceeds to step 20. In this case, the control unit 10 automatically changes the lane to the lane adjacent to the lane in which the vehicle is currently traveling. Similarly, in this case as well, the cruise control function is canceled by operating the steering unit for changing lanes. The same applies to the notification from the notification unit described above. Regarding the cancellation of the cruise control function by the predetermined operation of the steering section or the braking section described above, instead of the above cancellation, depending on the setting, after changing lanes, follow-up running that follows the rear of the immediately preceding vehicle again is also possible. It is possible.

As described above, the self-driving car of the present embodiment can surely greatly improve the safety of the subsequent driving of the own vehicle by extending the inter-vehicle distance and changing the lane.

The present invention relates to an autonomous vehicle capable of following traveling, and has high industrial utility because it is a technique for further improving the safety of following traveling.

16 Car navigation function unit 21 Distance measurement unit 22 Imaging unit 23 Lane detection unit 24 Lane departure unit 25 Inter-vehicle change detection unit 26 Receiver 27 Transmitter 28 Other vehicle detection unit

Claims (6)

In an autonomous vehicle that can follow the vehicle in front of the own vehicle
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image captured by the imaging unit,
With respect to the image of the vehicle immediately before the vehicle following the image captured by the imaging unit, the lane for detecting that the vehicle immediately before the vehicle deviates from the traveling lane of the vehicle detected by the lane detection unit. Deviation detector and
A notification unit that notifies the operation method related to the following running , and
When the lane departure detection unit detects that the vehicle immediately before the vehicle has deviated a predetermined number of times or more within a predetermined time during the following traveling of the own vehicle, the notification unit is notified of an operation method for canceling the following traveling. Control unit to make
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
A notification unit that notifies the operation method related to the following running, and
When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become the inter-vehicle distance or more and the inter-vehicle distance or less within a predetermined time during the follow-up travel of the own vehicle, the notification unit cancels the follow-up travel. A control unit that notifies the operation method and
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A driving control unit that controls driving, braking, steering, and driving direction instructions of the own vehicle,
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become less than or equal to the predetermined number of times within a predetermined time during the follow-up driving of the own vehicle, the vehicle is currently in the travel control unit. A control unit that automatically changes the lane of the vehicle to the lane farthest from the vehicle in which the other vehicle was not detected from the lane in which the vehicle is traveling.
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A driving control unit that controls driving, braking, steering, and driving direction instructions of the own vehicle,
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image captured by the imaging unit,
With respect to the image of the vehicle immediately before the vehicle following the image captured by the imaging unit, the lane for detecting that the vehicle immediately before the vehicle deviates from the traveling lane of the vehicle detected by the lane detection unit. Deviation detector and
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
When the lane deviation detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time during the follow-up driving of the own vehicle, the travel control unit detects that the vehicle is currently traveling from the lane in which the vehicle is currently traveling. A control unit that automatically changes the lane of the own vehicle to the lane farthest from the own vehicle in which the other vehicle was not detected, and
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A driving control unit that controls driving, braking, steering, and driving direction instructions of the own vehicle,
A distance measuring unit that measures the distance between the vehicle and the vehicle immediately before the vehicle follows,
Based on the inter-vehicle distance measured by the distance measuring unit, an inter-vehicle change detection unit that detects that the vehicle immediately before the own vehicle follows is less than or equal to a predetermined inter-vehicle distance,
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
When the inter-vehicle change detection unit detects that the vehicle immediately before the vehicle has become less than or equal to the predetermined number of times within a predetermined time during the follow-up driving of the own vehicle, the vehicle is currently in the travel control unit. After changing the lane from the running lane to another lane, a control unit that causes the other vehicle immediately before the other lane to follow the driving again.
Self-driving car with. In an autonomous vehicle that can follow the vehicle in front of the own vehicle
A driving control unit that controls driving, braking, steering, and driving direction instructions of the own vehicle,
An imaging unit that captures the front of the vehicle and
A lane detection unit that detects the lane in which the vehicle is traveling based on the image captured by the imaging unit,
With respect to the image of the vehicle immediately before the vehicle following the image captured by the imaging unit, the lane for detecting that the vehicle immediately before the vehicle deviates from the traveling lane of the vehicle detected by the lane detection unit. Deviation detector and
Another vehicle detection unit that detects whether or not another vehicle is running on the side and diagonally behind the own vehicle,
When the lane departure detection unit detects that the vehicle immediately before the vehicle has deviated more than a predetermined number of times within a predetermined time during the follow-up driving of the own vehicle, the travel control unit detects that the vehicle is currently traveling from the lane in which the vehicle is currently traveling. After changing lanes to another lane, a control unit that causes the other vehicle immediately before in the other lane to follow the vehicle again.
Self-driving car with.

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