JP7008537B2 - Vehicle control device, vehicle control method, and vehicle follow-up driving system - Google Patents

Description

The present invention relates to a vehicle-following traveling system including a preceding vehicle and a following vehicle that follows the preceding vehicle.

For example, Patent Document 1 is a background technology in the technical field relating to a traveling support device that assists traveling so as to follow a preceding vehicle. Patent Document 1 discloses that when the inter-vehicle error is larger than the target while traveling on a curved road, the inter-vehicle error is reduced by steering and traveling inside the curve than the vehicle to be followed.

Japanese Unexamined Patent Publication No. 2008-155882

Patent Document 1 describes the follow-up control of a curved road based on the inter-vehicle distance, but does not consider the correspondence to a road having a minimum turning radius that requires turning back. That is, when it is necessary to turn the preceding vehicle back and forth depending on the road shape, there is a possibility that the preceding vehicle and the following vehicle may collide with each other due to the reverse movement of the preceding vehicle, and Patent Document 1 does not consider this point.

An object of the present invention has been devised in view of this conventional problem, and is a vehicle control device, a vehicle control method, capable of suppressing a collision due to a turning turn between a preceding vehicle and a following vehicle. Further, it is an object of the present invention to provide a vehicle follow-up traveling system.

In view of the above background technology and problems, the present invention is mounted on a first vehicle in a vehicle follow-up traveling system in which a first vehicle and a second vehicle are non-mechanically connected to follow and travel, to give an example. It is a vehicle control device, and is configured to output a command for decelerating, stopping, or reversing the first vehicle to an actuator related to braking drive of the first vehicle based on an input signal regarding turning back of the second vehicle.

According to the present invention, it is possible to provide a vehicle control device, a vehicle control method, and a vehicle follow-up traveling system capable of suppressing a collision due to a turning turn between a preceding vehicle and a following vehicle.

It is a block diagram which showed the concept of the vehicle follow-up traveling system in an Example. It is a block diagram of the structure of the vehicle follow-up traveling system in an Example. It is a figure explaining the determination of the presence / absence of a turn-back turn in the L-shaped traveling path in an Example. It is a figure explaining the determination of the presence / absence of a turn-back turn in the case of making a U-turn in an embodiment. It is a figure which shows the time chart when the preceding vehicle and the following vehicle make a turning turn in the embodiment. It is a figure which shows the time chart when the preceding vehicle makes a turning turn in an Example. It is a figure which shows the time chart when the following vehicle makes a turning turn in an Example. It is a figure which shows the time chart when the preceding vehicle and the following vehicle do not make a turning turn in the embodiment.

Hereinafter, examples of the present invention will be described in detail with reference to the drawings.

FIG. 1 is a configuration diagram showing the concept of a vehicle following traveling system in this embodiment. In FIG. 1, 1 is a preceding vehicle, and 2 is a following vehicle that follows the preceding vehicle 1. The preceding vehicle 1 is equipped with an outside world recognition sensor 3 that recognizes obstacles and vehicles in front of the own vehicle, an outside world recognition sensor 4 that recognizes obstacles and vehicles behind the own vehicle, and an inter-vehicle communication device 7. Is a vehicle driven by. The following vehicle 2 is equipped with an outside world recognition sensor 5 that recognizes obstacles and vehicles in front of the own vehicle, an outside world recognition sensor 6 that recognizes obstacles and vehicles behind the own vehicle, and an inter-vehicle communication device 8. It is a vehicle that is electronically and non-mechanically connected to the vehicle 1 and follows and travels unmanned. The driver rides on the preceding vehicle 1, and the following vehicle 2 automatically follows behind the preceding vehicle 1.

Here, by setting the closest distance between the preceding vehicle 1 and the following vehicle 2 to be, for example, 1 m, the following vehicle 2 follows the vehicle so that another vehicle does not interrupt the vehicle. At this time, if the inter-vehicle distance between vehicles is shortened, when the preceding vehicle needs to turn back due to road shapes such as narrow roads, obstacles, or when making a U-turn, the preceding vehicle and the following vehicle will retreat. May collide. Alternatively, the turning of the following vehicle may increase the distance between the preceding vehicle and the following vehicle, making it difficult for the following vehicle to follow the vehicle.

Therefore, in this embodiment, it is detected that it is necessary to make a turning turn in the preceding vehicle and the following vehicle, and the information is communicated between the preceding vehicle and the following vehicle by vehicle-to-vehicle communication, so that one vehicle makes a turning turn. When the vehicle is in operation, the other vehicle is controlled to decelerate, stop, or retreat to maintain the required inter-vehicle distance, thereby preventing collisions between vehicles during turning and turning, and maintaining follow-up driving.

FIG. 2 is a block diagram of the vehicle following traveling system in this embodiment. In FIG. 2, the vehicle control device 10 of the preceding vehicle 1 has operation information which is the operation amount of the accelerator 11, the brake 12, and the steering 13 operated by the driver 9, the position of an obstacle, the relative speed with respect to the following vehicle, and the relative angle. , The outside world recognition unit 14 that acquires the relative distance, and the preceding vehicle information processing unit 15 that processes the preceding vehicle information consisting of the traveling state amount such as vehicle speed and acceleration and the vehicle specifications, and transmits the preceding vehicle information and receives the following vehicle information. It has a transmission / reception unit 16 for performing the above.

The vehicle control device 20 of the following vehicle 2 receives the preceding vehicle information transmitted from the vehicle control device 10 of the preceding vehicle 1 and transmits the following vehicle information to the vehicle control device 10 of the preceding vehicle 1 and an obstacle. The traveling locus of the following vehicle is predicted based on the outside world recognition unit 22 that acquires the position, the relative speed, the relative angle, and the relative distance to the preceding vehicle 1, the received preceding vehicle information, and the information of the outside world recognition unit 22. , The following vehicle information processing unit 23 that determines whether or not the following vehicle is turning back, and the target track generation unit 24 that generates a target track that follows the preceding vehicle based on the received preceding vehicle information and the information of the outside world recognition unit 22. The engine, which is an actuator related to steering, braking, and driving by the vehicle motion control unit 25 that calculates the control command of the vehicle motion of the own vehicle so as to follow the target track and the control command of the vehicle motion control unit 25. Alternatively, it includes an actuator control unit 26 that calculates and outputs a control amount of a drive system 27 such as a drive motor, a brake 28, and a steering 29.

The outside world recognition unit 14 may acquire the following vehicle recognition information by vehicle-to-vehicle communication, or may acquire the following vehicle recognition information by an outside world recognition sensor such as a stereo camera or a laser radar.

Similarly, the outside world recognition unit 22 may acquire the preceding vehicle recognition information by vehicle-to-vehicle communication, or may acquire the preceding vehicle recognition information by an outside world recognition sensor such as a stereo camera or a laser radar.

Further, although not shown, the preceding vehicle information processing unit 15 predicts the traveling locus of the preceding vehicle 1 based on the obstacle position acquired by the outside world recognition unit 14, and determines whether or not there is a turn. Further, the transmission / reception unit 16 transmits the determination result, which is a signal relating to the turning back, to the following vehicle. Further, the transmission / reception unit 16 receives the presence / absence of a turning turn of the following vehicle 2, and controls the accelerator 11 and the brake 12 when the following vehicle makes a turning turn, so that the following vehicle 2 makes a turning turn to the preceding vehicle 1. It prevents the relative distance, which is the relative position information of the following vehicle 2, from increasing and making it impossible to follow the preceding vehicle.

Further, although not shown, the following vehicle information processing unit 23 predicts the traveling locus of the following vehicle 2 based on the obstacle position acquired by the outside world recognition unit 22, and determines whether or not there is a turn. In addition, the transmission / reception unit 21 transmits the determination result, which is a signal related to turning back, to the preceding vehicle. Further, the transmission / reception unit 21 receives the presence / absence of the turning turn of the preceding vehicle 1, and controls the drive system 27 and the brake 28 when the turning turn of the preceding vehicle is performed. And the relative distance, which is the relative position information of the following vehicle 2, is reduced to prevent a collision.

FIG. 3 is a schematic diagram showing a method of determining that a turning turn is necessary by an outside world recognition sensor mounted on a preceding vehicle or a following vehicle on an L-shaped traveling path. FIG. 3A shows a state in which the vehicle is just before turning. At this time, the vehicle recognizes the outer end S of the turning circuit and the inner end I of the turning circuit by the outside world recognition sensor. Next, the state shifts to the state shown in FIG. 3 (B). At the same time as the vehicle approaches the turning circuit, it approaches the position of the preset safety distance LS with respect to the outer end _S of the turning circuit. Further, the outside world recognition sensor recognizes the outer end W of the turning circuit approaching after the vehicle enters the turning circuit. Then, using these information, as shown in FIG. 3C, the traveling locus of the own vehicle at the time of turning is calculated, and it is determined that the turning is necessary when the traveling locus overlaps with a wall or an obstacle. First, the turning center O of the own vehicle is calculated. The distance connecting the turning center O and the turning inner end I is defined as _ROI . Further, the distance connecting the turning center O and the point R on the vehicle body inside the turning on the rear wheel axle of the vehicle is set as R _OR , and the vehicle makes a maximum steering turn from a position _LS away from the outer end S of the turning circuit. The locus of R is drawn with a radius R _OR . The position of the turning center O is calculated so that R _{OR −ROI} = _LS . When the vehicle starts turning from the turning center O, it is possible to draw a trajectory in which the vehicle turns at the position farthest from the outer end W of the turning circuit while maintaining a safe distance _LS from a wall or an obstacle. .. Using the turning center O calculated in this way, the locus of the radius R _OF drawn by the turning outer end F on the front side of the vehicle is calculated. When the locus of the radius R _OF and the outer end W of the turning circuit overlap, it is determined that turning is necessary. Alternatively, the case where the locus drawn at a position where the safety distance _LS is drawn at a position away from the locus of the radius R _OF in the turning outer direction and the outer end W of the turning circuit overlap may be determined as the case where the turning turn is necessary.

FIG. 4 is a schematic diagram showing a method of determining that it is necessary to make a turn during a turn by an outside world recognition sensor mounted on a preceding vehicle or a following vehicle when making a U-turn. The same definitions as those in FIG. 3 are designated by the same reference numerals, and the description thereof will be omitted. It is basically the same as the method of FIG. 3, but in FIG. 4, with respect to the distance R _Ow between the turning center O and the turning circuit outer end W, the turning outer end F on the front side of the vehicle centering on the turning center O. It is determined that the turning radius is necessary when the radius R _OF to be drawn is long, that is, when the locus of the radius R _OF overlaps with the outer end W of the turning circuit.

FIG. 5 is a time chart showing a motion state, a turning turn detection state, and a control state when both the preceding vehicle and the following vehicle in this embodiment make a turning turn. In FIG. 5, first, the preceding vehicle detects a turning circuit in front of the own vehicle by an outside world recognition sensor. GPS or the like may be used to detect the turning circuit. Next, as shown in FIG. 3, it is detected whether or not a turning turn is necessary due to a wall or an obstacle. Based on these detection results, the preceding vehicle transmits a driving permission command to the following vehicle by vehicle-to-vehicle communication.

The driving permission command to the following vehicle is as follows. In FIG. 5, when the preceding vehicle is not turning (corresponding to (1) in the figure) and when turning back is not detected (2), normal driving permission (3) is given, and the preceding vehicle is traveling by the following vehicle. Does not limit. When the preceding vehicle is turning (4) or when a turning turn is detected (5), low-speed driving permission (6) is given, and the preceding vehicle limits the speed of the following vehicle to a low speed. While the preceding vehicle is turning back (7), it is not possible to drive (8), and the preceding vehicle stops the following vehicle. At this time, if the distance between the preceding vehicle and the following vehicle is short and a collision between the preceding vehicle and the following vehicle is expected, the following vehicle may move backward after stopping. This prevents the inter-vehicle distance from becoming excessively small due to the turning of the preceding vehicle, and prevents the following vehicle from colliding with the preceding vehicle.

Next, like the preceding vehicle, the following vehicle also detects the turning circuit in front of the own vehicle by the outside world recognition sensor. GPS or the like may be used to detect the turning circuit. Similarly, it detects whether a turning turn is necessary due to a wall or an obstacle. Based on these detection results, the following vehicle sends a travel permission command to the preceding vehicle.

The driving permission command to the preceding vehicle is as follows. When the following vehicle is not turning (10) and when the turning turn is not detected (11), normal driving permission (12) is given, and the following vehicle does not restrict the traveling of the preceding vehicle. When the following vehicle is turning (13) or when a turning turn is detected (14), low-speed driving permission (15) is given, and the following vehicle limits the speed of the preceding vehicle to a low speed. While the following vehicle is turning back (16), the vehicle cannot run (17), and the following vehicle stops the preceding vehicle. As a result, it is possible to prevent the inter-vehicle distance from becoming excessively large due to the turning of the following vehicle, and to prevent the following vehicle from becoming difficult to follow the preceding vehicle. Further, when it is expected that the following vehicle will be far away and it will be difficult to follow the vehicle, the preceding vehicle may move backward after stopping to shorten the distance between the vehicle and the following vehicle. Further, the speed limit of the preceding vehicle to a low speed and the stopping of the preceding vehicle may be forcibly carried out by the preceding vehicle information processing unit regardless of the driver's operation. The driver may also be signaled to encourage the driver to limit or stop speed.

FIG. 6 is a time chart showing a motion state, a turning turn detection state, and a control state when the preceding vehicle makes a turning turn and the following vehicle does not make a turning turn in this embodiment. In FIG. 6, as in FIG. 5, the preceding vehicle sends a travel permission command (2) to the following vehicle while the preceding vehicle is turning back (1), and the preceding vehicle is following. Stop the car. Further, since the following vehicle does not make a turn (3), the following vehicle transmits a normal driving permit or a low-speed driving permit as a driving permission command to the preceding vehicle, and does not transmit a non-travelable vehicle, as in FIG. This makes it possible to prevent a collision between the preceding vehicle and the following vehicle and making it difficult for the following vehicle to follow the preceding vehicle.

FIG. 7 is a time chart showing a motion state, a turning turn detection state, and a control state when the following vehicle makes a turning turn and the preceding vehicle does not make a turning turning in this embodiment. In FIG. 7, as in FIG. 5, the following vehicle sends a travel permission command (3) to the preceding vehicle while the following vehicle is turning back (2), and the following vehicle is ahead. Stop the car. Further, since the preceding vehicle does not make a turn (1), the preceding vehicle transmits a normal driving permit or a low-speed driving permit as a traveling permission command to the following vehicle, and does not transmit a non-traveling permission as in FIG. This makes it possible to prevent a collision between the preceding vehicle and the following vehicle and the difficulty of the following vehicle following the preceding vehicle.

FIG. 8 is a time chart showing a motion state, a turning turn detection state, and a control state when both the preceding vehicle and the following vehicle in this embodiment do not make a turning turn. In FIG. 8, as in FIG. 5, neither the preceding vehicle nor the following vehicle makes a turning turn (1) and (2), so that the preceding vehicle and the following vehicle are permitted to travel to the following vehicle and the preceding vehicle. As a command, a normal driving permit or a low-speed driving permit is transmitted, and a non-travelable vehicle is not transmitted. This makes it possible to prevent a collision between the preceding vehicle and the following vehicle and making it difficult for the following vehicle to follow the preceding vehicle.

As described above, in the present embodiment, it is possible to suppress a collision caused by a reverse movement due to a turning turn between the preceding vehicle and the following vehicle. In addition, it is possible to suppress the increase in the inter-vehicle distance due to turning and turning, and it is possible to maintain the following running.

Although the examples have been described above, the present invention is not limited to the above-mentioned examples, and includes various modifications. Further, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to the one including all the described configurations.

1: Leading vehicle, 2: Following vehicle, 3, 4, 5, 6: External recognition sensor, 7, 8: Vehicle-to-vehicle communication device,
9: Driver, 10, 20: Vehicle control device, 11: Accelerator, 12: Brake, 13: Steering, 14, 22: External recognition unit, 15: Leading vehicle information processing unit, 16, 21: Transmission / reception unit, 23: Subsequent Vehicle information processing unit, 24: target track generation unit, 25: vehicle motion control unit, 26: actuator control unit, 27: drive system, 28: brake, 29: steering

Claims (7)

It is a vehicle control device mounted on the following vehicle in a vehicle following vehicle consisting of a preceding vehicle and a following vehicle that is non-mechanically connected to the preceding vehicle and follows the vehicle.
An actuator related to braking drive of the following vehicle is given a command to decelerate, stop, or reverse the following vehicle based on a signal related to the turning of the preceding vehicle transmitted from the preceding vehicle and the signal related to the turning of the preceding vehicle. A vehicle control device characterized by outputting to. In the vehicle control device according to claim 1,
A vehicle control device characterized in that a command for decelerating, stopping, or reversing the following vehicle is selectively output to the actuator based on the input relative position information between the preceding vehicle and the following vehicle. The vehicle control device mounted on the following vehicle in the vehicle following vehicle consisting of the preceding vehicle and the following vehicle that is non-mechanically connected to the preceding vehicle and follows the vehicle is
An actuator related to braking drive of the following vehicle, which acquires a signal related to the turning of the preceding vehicle transmitted from the preceding vehicle and issues a command to decelerate, stop, or reverse the following vehicle based on the signal related to the turning of the preceding vehicle. A vehicle control method characterized by outputting to. It is a vehicle follow-up driving system consisting of a preceding vehicle and a following vehicle that is non-mechanically connected to the preceding vehicle and follows the vehicle.
The preceding vehicle includes a transmission unit that transmits a signal relating to the turning back of the preceding vehicle to the following vehicle.
The following vehicle
An input unit into which a signal relating to the turning back of the preceding vehicle is input, and
A vehicle motion control unit that requests a control command for decelerating, stopping, or reversing the following vehicle based on the signal related to the turning back input by the input unit.
An output unit that outputs the control command obtained by the vehicle motion control unit to an actuator related to the control drive of the following vehicle, and an output unit.
A vehicle-following driving system characterized by being equipped with. In the vehicle control device according to claim 1,
A vehicle control device characterized by outputting a command for decelerating, stopping, or reversing the preceding vehicle to the preceding vehicle when information regarding turning back of the following vehicle is acquired after the following vehicle has decelerated, stopped, or retreated. .. In the vehicle control method according to claim 3,
The vehicle control device mounted on the following vehicle
A vehicle control method comprising outputting a command for decelerating, stopping, or reversing the preceding vehicle to the preceding vehicle when information regarding turning back of the following vehicle is acquired after the following vehicle has decelerated, stopped, or retreated. .. In the vehicle follow-up traveling system according to claim 4,
The following vehicle
It is equipped with a following vehicle information processing unit that determines whether or not the following vehicle has turned back.
When the following vehicle information processing unit detects the turning back of the following vehicle after the following vehicle decelerates, stops, or reverses, an output unit that outputs a command to decelerate, stop, or reverse the preceding vehicle to the preceding vehicle is output. A vehicle-following driving system characterized by being equipped.

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