JP7063043B2 - Vehicle control device and determination method - Google Patents

Description

The present disclosure relates to the art of vehicle control devices.

Conventionally, a plan that emphasizes safety-oriented tracks and a plan that emphasizes follow-up to a preset plan based on the position of the detected peripheral objects by detecting peripheral objects existing around the own vehicle. A technique for generating two orbitals with a sex-oriented orbital is known (Patent Document 1). In the conventional technique, when the own vehicle travels without changing the driving lane, when the own vehicle changes lanes, or when the own vehicle overtakes the preceding vehicle, the traveling direction is the same as the traveling direction of the own vehicle. Detects surrounding objects. Further, in the conventional technique, an evaluation value is calculated for each of the two orbits, and one of the two orbits is selected based on the calculated evaluation value. Then, the traveling of the own vehicle is automatically controlled based on the selected track.

JP-A-2017-165158

In the conventional technique, when the traveling directions of the own vehicle and the peripheral objects are different, there is a possibility that the traveling control of the own vehicle cannot be performed accurately. For example, when the own vehicle makes a right or left turn at an intersection, it may excessively approach an oncoming vehicle while waiting for a peripheral object to pass. In this case, there is a risk of giving anxiety to the occupants. Therefore, there is a demand for a technique capable of generating a more appropriate target trajectory of the own vehicle and automatically traveling on the generated target trajectory, even when the traveling directions of the own vehicle and surrounding objects are different.

The present disclosure has been made to solve at least a part of the above-mentioned problems, and can be realized as the following forms.

According to one embodiment of the present disclosure, the peripheral object detection device (16) for detecting the presence of a peripheral object (50) moving in the peripheral region of the intersection including the intersection (CP) into which the own vehicle (10) enters. A communicable vehicle control device (20) is provided. Based on the information acquired from the peripheral object detection device, this vehicle control device identifies an object trajectory prediction unit (24) that predicts the future trajectory of the peripheral object and a plurality of trajectory patterns that the peripheral object can take. , The candidate target trajectory of the own vehicle (10) corresponding to each of the specified plurality of track patterns is specified , and the peripheral object predicted by the object trajectory prediction unit among the plurality of candidate target tracks. The travel track specifying unit (26) that specifies the candidate target track corresponding to the future track of the vehicle as a target track for the vehicle to travel in the future, and the vehicle so that the vehicle travels according to the specified target track. A track-following control unit (28) for controlling at least one of a steering actuator and a control drive actuator included in the own vehicle is provided, and a predetermined target route of the own vehicle is a route for turning right at the intersection. When a peripheral object moves in a direction opposite to the traveling direction of the own vehicle and enters the intersection, the traveling track specifying portion has a trajectory pattern in which the peripheral object travels straight through the intersection as the candidate target trajectory. The corresponding first candidate target trajectory, the second candidate target trajectory according to the trajectory pattern in which the peripheral object turns left at the intersection, and the third candidate target trajectory according to the trajectory pattern in which the peripheral object turns right at the intersection. , The first candidate target track is a candidate target track at which the own vehicle stops at the intersection, and the third candidate target track is the own vehicle on the front side of the first candidate target track. Is a candidate target trajectory to stop, and the second candidate target trajectory is a candidate target trajectory to turn right without stopping at the intersection .

According to the vehicle control device of the above-described embodiment, a plurality of candidate target trajectories corresponding to a plurality of assumed orbital patterns in the peripheral object are specified, and a future trajectory of the peripheral object moving in the peripheral region of the intersection is predicted. The candidate target trajectory specified by using the trajectory pattern corresponding to the predicted trajectory is specified as the target trajectory. As a result, it is possible to specify a more appropriate target trajectory of the own vehicle even when the traveling directions of the own vehicle and surrounding objects are different. Further, according to this form, a plurality of candidate target orbits corresponding to a plurality of orbital patterns are generated, and the candidate target orbits specified by using the orbital patterns corresponding to the predicted orbits are specified as the target orbits. As a result, even if the predicted trajectory of the peripheral object changes, the target trajectory can be quickly generated.

The present disclosure can be realized in various forms other than the vehicle control device. For example, the present disclosure can be realized in the form of a control method of a vehicle control device, a program for executing the control method, a vehicle equipped with the vehicle control device, and the like.

The figure for demonstrating the own vehicle provided with the vehicle control device as an embodiment. A diagram conceptually showing map data. The first figure for demonstrating the method of predicting an orbit. The second figure for demonstrating the method of predicting an orbit. The figure for explaining the target trajectory. The figure for demonstrating the method of generating a target trajectory. The figure for explaining the target trajectory. The figure for demonstrating another generation method of a target trajectory. The figure for demonstrating the 1st candidate target trajectory. The figure for explaining the target trajectory. The figure for demonstrating the control method of the operation of a steering actuator.

A. Embodiment:
In this embodiment, the vehicle control device 20 applied in an area having a traffic rule for left-hand traffic will be described. As shown in FIG. 1, the own vehicle 10 includes a map data 12, a positioning device 14, a distance measuring device 16 as a peripheral object detection device, a vehicle control device 20, a control drive actuator 32, and a steering actuator 34. To prepare for. The positioning device 14 and the distance measuring device 16 are configured to be communicable with the vehicle control device 20.

The map data 12 (FIG. 2) has a plurality of nodes Nn arranged along the lane of the road 40. Each node Nn has a unique node ID attached to each node Nn, absolute position coordinates of the node Nn, shape information such as the lane width and curvature of the lane in which the node Nn is located, and a point at which the node Nn is paused. It stores legal information such as the right turn lane and legal speed. For example, the node N20 and the node N30 store information indicating that the suspension is performed as legal information. Further, for example, the nodes N4 to N7 store information indicating that the lane is dedicated to turning right as legal information. The map data 12 does not need to be mounted on the own vehicle 10, and may be acquired from an external server device as needed. Here, although not shown, the node Nn is also attached to the intersection CP on the map data 12.

The positioning device 14 (FIG. 1) detects the current position (latitude and longitude) and the azimuth angle (traveling direction of the own vehicle 10) of the own vehicle 10. The positioning device 14 is, for example, a receiver that receives a navigation signal from an artificial satellite constituting a GNSS (Global Navigation Satellite System) via an antenna.

The distance measuring device 16 detects and measures the distance of the peripheral object 50 existing around the own vehicle 10. The ranging device 16 includes, for example, LIDAR (Light Detection and Ranging), RADAR, a stereo camera, and the like.

The control drive actuator 32 generates a control drive force according to an input from the occupant or the vehicle control device 20. The control drive actuator 32 is, for example, an electronically controlled engine, a friction brake, a motor, a regenerative brake, or the like. The steering actuator 34 generates steering torque according to inputs from the occupant and the vehicle control device 20. The steering actuator 34 is, for example, a steering device such as an electric power steering device.

The vehicle control device 20 determines a target track Tt on which the own vehicle 10 will travel in the future by using various information acquired from the map data 12, the positioning device 14, and the distance measuring device 16, and sets the determined target track Tt as the own vehicle 10. Command the control drive actuator 32 and the steering actuator 34 so that the vehicle travels. The vehicle control device 20 includes a travel path generation unit 22, an object trajectory prediction unit 24, a travel trajectory identification unit 26, a track tracking control unit 28, and a storage unit 29.

The travel route generation unit 22 generates route information to be traveled by the own vehicle 10 and outputs it to the travel track identification unit 26. The travel route generation unit 22 has a navigation function and a target route generation function. The navigation function is a function for performing a route search from a departure point to a destination input via a monitor or the like and guiding the searched route (search route). Since the navigation function is a known technique, detailed description thereof will be omitted. The target route generation function is a function of generating a target route in a certain section from the current position of the own vehicle 10 in the traveling direction on the search route.

The target route generation function of the travel route generation unit 22 is, for example, a node Nn located in a certain section on the search route starting from the current position of the own vehicle 10 on the map data 12 using the information acquired from the positioning device 14. The absolute position coordinates of may be output as a target path. For example, in FIG. 2, consider a case where a part of the search route includes a route in which nodes N17 to N24 are arranged in order. In this case, when the current position of the own vehicle 10 is the node N19, the traveling route generation unit 22 targets the absolute position coordinates of the nodes Nn (for example, the nodes N19 to N23) located in a certain section starting from the node N19. Generate as a route. Further, as shown in FIG. 2, for example, the target route generation function of the travel route generation unit 22 searches for a route starting from the current position of the own vehicle 10 on the map data 12 using the information acquired from the positioning device 14. The target path TW may be generated by smoothing the absolute position coordinates of the node Nn located in the above fixed section by using a known method such as spline interpolation. The path drawn by the thick line in FIG. 2 represents the smoothed target path TW.

The object trajectory prediction unit 24 (FIG. 1) detects the peripheral object 50 moving in the peripheral region of the intersection CP including the intersection CP, and predicts the future trajectory of the detected peripheral object 50. Specifically, the object trajectory prediction unit 24 detects a peripheral object 50 such as another vehicle by using the information acquired from the distance measuring device 16. The peripheral object 50 may be a moving body traveling in a lane, and may be an automobile such as a two-wheeled vehicle or a four-wheeled vehicle.

Further, the object trajectory prediction unit 24 calculates the relative speed of the peripheral object 50 based on the relative position information of the peripheral object 50 with respect to the own vehicle 10 acquired from the distance measuring device 16. For example, the object trajectory prediction unit 24 calculates the relative velocity of the peripheral object 50 by differentiating the numerical value of the relative position information with respect to time. Next, the object trajectory prediction unit 24 calculates the speed (absolute speed) of the own vehicle 10 based on the absolute position information of the own vehicle 10 acquired from the positioning device 14. For example, the object trajectory prediction unit 24 calculates the absolute velocity of the own vehicle 10 by differentiating the numerical value of the absolute position information with respect to time. The object trajectory prediction unit 24 may acquire vehicle speed information from a vehicle speed sensor (not shown) and use the vehicle speed represented by the acquired vehicle speed information as the absolute speed. Further, the object trajectory prediction unit 24 calculates the absolute speed of the peripheral object 50 by using the absolute position information of the own vehicle 10 and the relative position information of the peripheral object 50. Further, the object trajectory prediction unit 24 calculates the absolute position of the peripheral object 50 by using the absolute position information of the own vehicle 10 and the peripheral position information of the peripheral object 50.

The object trajectory prediction unit 24 further performs a matching process of associating the absolute position of the peripheral object 50 with the node Nn on the map data 12. For example, the object trajectory prediction unit 24 sets the node Nn at the position closest to the absolute position of the peripheral object 50 as the node Nn where the peripheral object 50 is located. The node Nn in which the peripheral object 50 is located is also referred to as a peripheral object node Ntn.

Further, the object trajectory prediction unit 24 of the peripheral object 50 is based on the legal information stored in the peripheral object node Ntn, which is the point where the peripheral object 50 is located on the road 40, and the absolute velocity of the peripheral object 50. The future track is predicted, and the predicted future track is output to the traveling track specifying unit 26.

The method of predicting the trajectory of the peripheral object 50 performed by the object trajectory prediction unit 24 will be described below with reference to FIGS. 3 and 4. 3 and 4 show each node Nn of the map data 12 for easy understanding. Further, FIGS. 3 and 4 show a stop line SL which is a road marking and a right turn arrow RS which allows only a right turn. In FIG. 3, the own vehicle 10 travels on the lane Ln1 toward the intersection CP, and the other vehicle 50, which is a peripheral object on the right front of the own vehicle 10, travels on the lane Ln2 that intersects the lane Ln1 toward the intersection CP. Shows the situation. In FIG. 4, the own vehicle 10 travels on the lane Ln1 toward the intersection CP, and the other vehicle 50, which is a peripheral object on the left front of the own vehicle 10, travels on the lane Ln3 that intersects the lane Ln1 toward the intersection CP. Shows the situation.

As shown in FIG. 3, when the legal information stored in the peripheral object node NTn is information representing a normal lane, the object trajectory prediction unit 24 follows the future trajectory (for example, a few seconds ahead) of the other vehicle 50 as follows. To predict. That is, when the object trajectory prediction unit 24 determines that the calculated speed (absolute speed) of the other vehicle 50 is a speed equal to or higher than a predetermined threshold value, the other vehicle 50 goes straight on the intersection CP and lane Ln2. Predict the orbit M1 moving along the. The predetermined threshold value is stored in the storage unit 29 configured by the flash memory of the vehicle control device 20 or the like, and is stored at a speed close to the legal speed of the lane Ln2 (for example, a speed obtained by subtracting 10 km / h from the legal speed). be. Further, when the object trajectory prediction unit 24 determines that the calculated speed (absolute speed) of the other vehicle 50 is less than a predetermined threshold value, the other vehicle 50 turns left at the intersection CP and moves. Predict the orbit M2. The object orbit prediction unit 24 generates the predicted orbits M1 and M2 by representing them by, for example, a plurality of nodes Nn, and outputs the predicted orbits to the traveling orbit specifying unit 26.

As shown in FIG. 4, when the legal information stored in the peripheral object node NTn is the information representing the right turn dedicated lane, the object trajectory prediction unit 24 sets the track M3 on which the other vehicle 50 turns right at the intersection CP and moves. Predict. The object trajectory prediction unit 24 generates the predicted trajectory M3 by representing it by, for example, a plurality of nodes Nn, and outputs the predicted trajectory M3 to the traveling track specifying unit 26.

As described above, the object trajectory prediction unit 24 acquires the legal information about the road 40 stored in the map data 12 outside the vehicle control device 20, and obtains the legal information and the speed (absolute speed) of the other vehicle 50. Use to predict the orbit. In addition, in FIGS. 3 and 4, the explanation was made using the other vehicle 50 traveling in the lanes Ln2 and Ln3 intersecting the lane Ln1 in which the own vehicle 10 travels. However, the object trajectory prediction unit 24 predicts the trajectory of the peripheral object 50 traveling in the lane Ln4 or the like facing the lane Ln1 by the same method described above.

The traveling track specifying unit 26 (FIG. 1) identifies a target trajectory Tt on which the own vehicle 10 will travel in the future based on the peripheral object 50, and outputs the target trajectory Tt to the track tracking control unit 28. As shown in FIG. 5, the target trajectory Tt is, for example, the target speed Vn of the own vehicle 10, the coordinates of the target transit point to which the own vehicle 10 is scheduled to pass (for example, the coordinates consisting of latitude and longitude), and each target transit point. Includes information having a target time Tn and passing through coordinates (Xn, Yn).

A method of specifying the target track Tt by the traveling track specifying unit 26 will be described with reference to FIG. In the example shown in FIG. 6, the target route generated by the travel route generation unit 22 is a route in which the own vehicle 10 turns left at the intersection CP and enters another travel lane Ln2 that intersects the travel lane Ln1. In this case, when the own vehicle 10 turns left at the intersection CP, it temporarily stops before the intersection CP. In the example shown in FIG. 6, another vehicle 50 as a peripheral object is moving in another traveling lane Ln2.

The traveling track specifying unit 26 identifies a plurality of candidate target tracks Ma and Mb that the own vehicle 10 can take when temporarily stopping before the intersection CP. The candidate target orbit Mb is also referred to as a first candidate orbit Mb, and the candidate target orbit Ma is also referred to as a second candidate orbit Ma. The first candidate track Mb and the second candidate track Ma are specified according to a plurality of assumed track patterns Mc1 and Mc2 of the other vehicle 50. The first candidate track Mb is specified according to the track pattern Mc1 in which the other vehicle 50 travels straight. The second candidate track Ma is specified according to the track pattern Mc2 in which the other vehicle 50 turns left at the intersection CP. The traveling track specifying unit 26 refers to information such as an intersection cp stored in the map data 12 and legal information (for example, a normal lane) of the traveling lane Ln2 in which the other vehicle 50 moves, so that the traveling track pattern Mc1 , Mc2 is specified.

Since the second candidate track Ma takes the track pattern Mc2 in which the other vehicle 50 turns left at the intersection CP, the candidate target for which the own vehicle 10 stops at the point P2 on the front side of the stop line SL in consideration of safety. It is an orbit. That is, the second candidate track Ma is a candidate target track according to the track pattern Mc2 in which the other vehicle 50 turns left at the intersection CP and approaches the own vehicle 10. The first candidate track M b is a candidate target track in which the own vehicle 10 stops at the point P1 of the stop line SL because the other vehicle 50 takes the track pattern Mc1 that goes straight on the intersection CP. That is, the first candidate track M b is a candidate target track corresponding to the track pattern Mc1 in which the other vehicle 50 goes straight and does not approach the own vehicle 10. The end point (target stop position) of the second candidate orbit M a is set closer to the end point (target stop position) of the first candidate orbit M b by a predetermined distance. In this way, the traveling track specifying unit 26 is a candidate target at which the own vehicle 10 stops on the front side when the other vehicle 50 approaches the own vehicle 10 than when the other vehicle 50 does not approach the own vehicle 10. Identify the orbital Ma. Thereby, it is possible to specify the target track Tt that further reduces the possibility that the own vehicle 10 collides with the other vehicle 50.

The traveling track specifying unit 26 uses the current position of the own vehicle 10 as the starting point of the track and the stop position coordinates as the ending point of the track, and uses a known method such as spline interpolation to make the second candidate track Ma and the first candidate track. Specify the coordinates of each target waypoint with Mb. The traveling track specifying unit 26 may be specified by representing the second candidate track Ma and the first candidate track Mb by a plurality of nodes Nn of the map data 12.

Next, the traveling track specifying unit 26 targets the candidate tracks Ma and Mb specified by using the track patterns Mc1 and Mc2 corresponding to the tracks M1 and M2 of the other vehicle 50 among the plurality of candidate tracks Ma and Mb. Specified as the orbit Tt. The orbits M1 and M2 are acquired from the object orbit prediction unit 24 at regular time intervals. When the track of the other vehicle 50 acquired from the object track prediction unit 24 is the track M2, the traveling track specifying unit 26 sets the target track Ma as the second candidate track Ma specified by using the track pattern Mc2 corresponding to the track M2. Specified as Tt. The track M2 and the track pattern Mc2 correspond to each other in that the other vehicle 50 shows a track in the same traveling direction. Further, for example, when the track of the other vehicle 50 acquired from the object track prediction unit 24 is the track M1, the traveling track specifying unit 26 is the first candidate track Mb specified by using the track pattern Mc1 corresponding to the track M1. Is specified as the target orbit Tt. The track M1 and the track pattern Mc1 correspond to each other in that the other vehicle 50 shows a track in the same traveling direction.

The track tracking control unit 28 (FIG. 1) acquires the target trajectory Tt specified by the traveling track specifying unit 26, and the control drive actuator 32 and the steering actuator 34 so that the own vehicle 10 travels according to the target trajectory Tt. Control at least one. Specifically, as shown in FIG. 7, the trajectory tracking control unit 28 includes a control drive actuator 32 and a steering actuator 34 so as to travel on the second candidate trajectory Ma and the first candidate trajectory Mb as the target trajectory Tt. Control at least one. Since the second candidate track Ma and the first candidate track Mb are tracks in which the own vehicle 10 goes straight and stops at the points P2 and P1, the track tracking control unit 28 generates a braking force by the control drive actuator 32. As a result, the own vehicle 10 is stopped at the point P2 and the point P1. In the second candidate orbit Ma, the timing of generation of the braking force by the control drive actuator 32 is earlier than that of the first candidate orbit Mb.

With reference to FIG. 8, another method of generating the target track Tt by the traveling track specifying unit 26 will be described. In the example shown in FIG. 8, the target route generated by the traveling route generation unit 22 is a route in which the own vehicle 10 turns right at the intersection CP. In FIG. 8, another vehicle 50 as a peripheral object is moving in another traveling lane Ln7 which is opposed to the traveling lane Ln5 of the own vehicle 10 across the intersection CP. The traveling lane Ln7, which is a normal lane, is in front of the intersection CP and branches into the right turn lane Ln8.

The traveling track specifying unit 26 generates a plurality of candidate target tracks Md, Me, and Mf that the own vehicle 10 can take when turning right at the intersection CP. The candidate target orbit Md is also referred to as a first candidate target orbit Md, a candidate target orbit Me is also referred to as a second candidate target orbit Me, and a candidate target orbit Mf is also referred to as a third candidate target orbit Mf. The first candidate target track Md to the third candidate target track Mf are generated according to a plurality of assumed track patterns Mc4 to Mc6 of the other vehicle 50. The first candidate target orbit Md is an orbit according to the orbit pattern Mc4, the second candidate target orbit Me is an orbit according to the orbit pattern Mc5, and the third candidate target orbit Mf is an orbit according to the orbit pattern Mc6. ..

The traveling track specifying unit 26 refers to information such as an intersection CP stored in the map data 12 and legal information (for example, a normal lane) of the traveling lane Ln7 to which the other vehicle 50 moves, thereby referencing a plurality of track patterns Mc4. , Mc5, Mc6 are generated. The track pattern Mc4 is a track in which the other vehicle 50 goes straight on the intersection CP, and the track pattern Mc5 is a track in which the other vehicle 50 turns left at the intersection CP. The track pattern Mc6 is a track in which another vehicle 50 enters the right turn lane Ln8 from the traveling lane Ln7 and turns right at the intersection CP.

The first candidate target track Md is a track in which the own vehicle 10 stops near the center of the intersection CP. The point P4, which is the end point (stop position) of the first candidate target track Md, is set to a point on the target route TW where the own vehicle 10 can be avoided from colliding with another vehicle 50 traveling straight. For example, as shown in FIG. 9, the point P4 is a range from the center in the width direction of the own vehicle 10 to the point where a predetermined value (safety margin) Wc is added to the width Wa of half of the own vehicle 10 on the right side in the width direction. Ra is set so as not to cross the lane marking CL on the right side of the traveling lane Ln5. In this embodiment, the point P4 is set so that the range Ra is located slightly spaced from the lane marking CL.

The third candidate target track Mf (FIG. 8) is a track in which the own vehicle 10 stops at a point P6 on the front side of the point P4 of the first candidate target track Md. That is, the third candidate target track Mf is a track in which the other vehicle 50 stops closer to the front side in consideration of safety because the other vehicle 50 approaches the own vehicle 10. The second candidate target track Me is a track in which the own vehicle 10 turns right at the intersection CP without stopping at the intersection CP, and the point P5 in the lane Ln6 after the right turn is set as the end point of the track. Further, the second candidate target track Me is specified as a track on which the own vehicle 10 travels at a speed at which the lateral acceleration of the own vehicle 10 does not exceed a predetermined allowable value according to the curvature of the target path TW. The predetermined allowable value is set to a value that does not cause excessive anxiety to the occupants of the own vehicle 10. As described above, the first to third candidate target trajectories Md to Mf are trajectories that further reduce the possibility that the own vehicle 10 collides with the peripheral object 50.

The traveling track specifying unit 26 is generated by using the track patterns Mc4, Mc5, and Mc6 corresponding to the tracks M4 to M6 predicted by the object trajectory predicting unit 24 among the plurality of candidate target tracks Md, Me, and Mf. The candidate target tracks Md, Me, and Mf are specified as the target track Tt on which the own vehicle 10 will travel in the future. The track M4 is a track where the other vehicle 50 goes straight on the intersection CP, the track M5 is a track where the other vehicle 50 turns left at the intersection CP, and the track M6 is a track where the other vehicle 50 turns right at the intersection CP.

The track tracking control unit 28 acquires the target track Tt specified by the travel track specifying unit 26, and controls at least one of the control drive actuator 32 and the steering actuator 34 so that the own vehicle 10 travels according to the target track Tt. do. Specifically, as shown in FIG. 10, the trajectory tracking control unit 28 is driven so as to travel on the first candidate target trajectory Md, the second candidate target trajectory Me, and the third candidate target trajectory Mf as the target trajectory Tt. It controls at least one of the actuator 32 and the steering actuator 34.

An example of control of the control drive actuator 32 and the steering actuator 34 executed by the trajectory tracking control unit 28 will be described below. For example, in the target trajectory Tt, the target velocity V at the current time (target time at a certain point) is the velocity Vt, and the absolute velocity of the own vehicle 10 calculated by the object trajectory prediction unit 24 is Vc. The orbit tracking control unit 28 calculates the acceleration (normative acceleration) at by differentiating the velocity Vt with respect to time. That is, the acceleration at is the slope of the line represented by the target speed and the target time shown in FIGS. 7 and 10. Further, when the predetermined control gain is k1, the track tracking control unit 28 calculates the target acceleration a of the own vehicle 10 by using the following equation (1). The control gain k1 may be set according to the type of the control drive actuator 32, or may be set to a constant value regardless of the type.
ad = at-k1 (Vc-Vt) ... Equation (1)

The track tracking control unit 28 generates a value obtained by multiplying the target acceleration ad by the total weight of the own vehicle 10 as a target driving force, and controls the control drive actuator 32 according to the target driving force. For example, the operation of the motor of the control drive actuator 32 is controlled according to the target driving force.

The trajectory tracking control unit 28 may control the operation of the steering actuator 34 as follows. For example, as shown in FIG. 11, the trajectory tracking control unit 28 selects coordinates (xt, yt) corresponding to a preset predicted time from the coordinates of the target waypoints of the target trajectory Tt. The preset predicted time is set to, for example, one second after the current time. The coordinates (xt, yt) are the coordinates expressed in the vehicle fixed coordinate system. Therefore, when the target transit point coordinates (x, y) are represented by absolute coordinates, the absolute coordinates of the own vehicle 10 and the azimuth angle acquired from the positioning device 14 are used from the absolute coordinates (x, y). Coordinates are converted to the coordinates (xt, yt) of the vehicle fixed coordinate system by a known method. Next, the trajectory tracking control unit 28 calculates the curvature ct of the arc CR passing through the coordinates (xt, yt) using the following equation (2).
ct = (2 × yt) / (xt ² + yt ² ) ・ ・ ・ Equation (2)

Next, the track tracking control unit 28 calculates the target front wheel steering angle sd using the following equation (3) using the wheelbase L of the own vehicle 10 and the control gain k2, which are predetermined.
sd = ct × L + k2 × yt ... Equation (3)

The trajectory tracking control unit 28 calculates the target steering wheel angle by multiplying the calculated target front wheel steering angle sd by the steering gear ratio, and controls the steering actuator 34 according to the target steering angle.

As described above, according to the above embodiment, the vehicle control device 20 has a plurality of candidate target tracks Ma, Mb, Md to Mf corresponding to the plurality of track patterns Mc1, Mc2, Mc3 to Mc6 assumed in the peripheral object 50. Is specified (FIGS. 6 and 8). Further, the vehicle control device 20 predicts the future tracks M1 to M6 of the intersection CP and the peripheral object 50 moving in the peripheral region of the intersection CP, and the track patterns Mc1 and Mc2 corresponding to the predicted tracks M1, M2 and M4 to M6. , Mc3 to Mc6 are used to identify candidate target orbitals Ma, Mb, and Md to Mf as target orbitals Tt (FIGS. 6 and 8). Thereby, even when the traveling directions of the own vehicle 10 and the peripheral object 50 are different, it is possible to specify a more appropriate target trajectory Tt of the own vehicle 10 in consideration of safety.

Further, according to the present embodiment, the vehicle control device 20 specifies a plurality of candidate target tracks Ma, Mb, Md to Mf corresponding to the plurality of track patterns Mc1, Mc2, Mc3 to Mc6, and predicts the tracks M1 to M1. Candidate target orbitals Ma, Mb, and Md to Mf specified by using the orbital patterns Mc1, Mc2, Mc3 to Mc6 corresponding to M6 are specified as target orbitals Tt. As a result, even if the predicted orbits M1, M2, M4 to M6 of the peripheral object 50 change in the middle, the target orbit Tt can be quickly specified by predicting the changed orbits M1, M2, M4 to M6. For example, at the time shown in FIG. 6, if the other vehicle 50 is moving at a speed close to the legal speed, the object trajectory prediction unit 24 predicts the track M1. However, when a certain time elapses from the time shown in FIG. 6, when the other vehicle 50 decelerates in front of the intersection CP and the speed becomes less than a predetermined threshold value, the object trajectory prediction unit 24 predicts the track M2. Even if the predictions of the tracks M1 and M2 change, at the time shown in FIG. 6, the traveling track specifying unit 26 can specify a plurality of candidate target tracks Ma and Mb corresponding to the plurality of track patterns Mc1 and Mc2. , Has the following effects. That is, even if the predicted orbitals M1 and M2 change in the middle, the target orbital Tt corresponding to the changed orbitals M1 and M2 can be quickly specified.

B. Other embodiments:
B-1. Other Embodiment 1:
In the above embodiment, the object trajectory prediction unit 24 predicts the orbits M1, M2, M4 to M6 using the legal information of the point where the peripheral object 50 is located on the road 40 and the velocity of the peripheral object 50. rice field. However, instead of this, when the peripheral object 50 has a direction indicator, the blinking state of the direction indicator is acquired from the stereo camera of the distance measuring device 16 or the like, and the acquired blinking state is used for the trajectories M1 and M2. , M4 to M6 may be predicted. For example, when the blinking state of the turn signal indicates that a right turn is performed, the object trajectory prediction unit 24 predicts the trajectory of the peripheral object 50 to turn right as the trajectory. According to this, the trajectory can be easily predicted by using the blinking state of the turn signal.

B-2. Other Embodiment 2:
In the above embodiment, the control content executed by the vehicle control device 20 in the area having the traffic rule of left-hand traffic has been described, but in the area having the traffic rule of right-hand traffic, the left and right described in the above-described embodiment are opposite. .. For example, it is possible to explain the control content executed by the vehicle control device 20 in an area having a traffic rule for left-hand traffic by inverting FIG. 8 left and right. For example, when the target route TW turns left at the intersection CP and the peripheral object 50 moves in the direction opposite to the traveling direction of the own vehicle 10 and enters the intersection CP, the traveling track specifying unit 26 is a plurality of candidates. Specify the target trajectory as follows. That is, the traveling track specifying unit 26 has a first candidate target trajectory according to the trajectory pattern in which the peripheral object 50 goes straight through the intersection CP and a second candidate target trajectory according to the trajectory pattern in which the peripheral object 50 turns right at the intersection CP. , The third candidate target trajectory according to the trajectory pattern in which the peripheral object 50 turns left at the intersection CP is specified. The first candidate target track is a candidate target track where the own vehicle 10 stops at the intersection CP, and the third candidate target track is a candidate target track where the own vehicle 10 stops on the front side of the first candidate target track. .. The second candidate target trajectory is a candidate target trajectory that turns left without stopping at the intersection CP.

B-3. Other Embodiment 3:
In the above embodiment, the vehicle control device 20 may display information about the target track Tt generated by the traveling track specifying unit 26 on a monitor included in the own vehicle 10. By doing so, it is possible to notify the occupants of the own vehicle 10 of the target trajectory Tt.

B-4. Other Embodiment 4:
In the above embodiment, the traveling track specifying unit 26 has various track patterns in the peripheral object 50 stored in the storage unit 29 and various candidate target tracks of the own vehicle 10 in the peripheral region of the intersection CP. The track pattern or the candidate target track may be specified by using information (for example, legal information) or the current position information of the own vehicle 10. Further, in the above embodiment, the traveling track specifying unit 26 specifies by generating a track pattern at predetermined time intervals using the current position information of the own vehicle 10, or generates a candidate target track. It may be specified by doing.

The present disclosure is not limited to the above-described embodiments, examples, and modifications, and can be realized with various configurations within a range not deviating from the gist thereof. For example, the technical features in the embodiments, examples, and modifications corresponding to the technical features in each of the embodiments described in the column of the outline of the invention may be used to solve some or all of the above-mentioned problems. , Can be replaced or combined as appropriate to achieve some or all of the above effects. Further, if the technical feature is not described as essential in the present specification, it can be appropriately deleted.

10 Own vehicle, 20 Vehicle control device, 24 Object trajectory prediction unit, 26 Traveling trajectory identification unit, 28 Track tracking control unit, 32 Control drive actuator, 34 Steering actuator

Claims (9)

A vehicle control device (20) capable of communicating with a peripheral object detection device (16) that detects the presence of a peripheral object (50) moving in the peripheral area of the intersection including an intersection (CP) into which the own vehicle (10) enters. ) And
An object trajectory prediction unit (24) that predicts the future trajectory of the peripheral object based on the information acquired from the peripheral object detection device, and
A plurality of track patterns that the peripheral object can take are specified, a candidate target track of the corresponding own vehicle (10) is specified for each of the specified plurality of track patterns, and the candidate target tracks among the plurality of candidate target tracks are specified. The traveling track specifying unit (26) that specifies the candidate target trajectory corresponding to the future trajectory of the peripheral object predicted by the object trajectory predicting unit as the target trajectory that the own vehicle will travel in the future.
A track follow-up control unit (28) for controlling at least one of a steering actuator and a control drive actuator included in the own vehicle is provided so that the own vehicle travels according to the specified target trajectory.
When the predetermined target route of the own vehicle is a route for turning right at the intersection, and the peripheral object moves in the direction opposite to the traveling direction of the own vehicle and enters the intersection.
The traveling track specifying part is
As the candidate target orbits, a first candidate target orbit according to an orbital pattern in which the peripheral object goes straight through the intersection, a second candidate target orbit according to an orbital pattern in which the peripheral object turns left at the intersection, and the periphery thereof. Identify the third candidate target trajectory according to the trajectory pattern in which the object turns right at the intersection.
The first candidate target track is a candidate target track at which the own vehicle stops at the intersection.
The third candidate target track is a candidate target track on which the own vehicle stops on the front side of the first candidate target track.
The second candidate target track is a vehicle control device that is a candidate target track that turns right without stopping at the intersection. A vehicle control device (20) capable of communicating with a peripheral object detection device (16) that detects the presence of a peripheral object (50) moving in the peripheral area of the intersection including an intersection (CP) into which the own vehicle (10) enters. ) And
An object trajectory prediction unit (24) that predicts the future trajectory of the peripheral object based on the information acquired from the peripheral object detection device, and
A plurality of track patterns that the peripheral object can take are specified, a candidate target track of the corresponding own vehicle (10) is specified for each of the specified plurality of track patterns, and the candidate target tracks among the plurality of candidate target tracks are specified. The traveling track specifying unit (26) that specifies the candidate target trajectory corresponding to the future trajectory of the peripheral object predicted by the object trajectory predicting unit as the target trajectory that the own vehicle will travel in the future.
A track follow-up control unit (28) for controlling at least one of a steering actuator and a control drive actuator included in the own vehicle is provided so that the own vehicle travels according to the specified target trajectory.
When the predetermined target route of the own vehicle is a route for turning left at the intersection, and the peripheral object moves in the direction opposite to the traveling direction of the own vehicle and enters the intersection.
The traveling track specifying part is
As the candidate target orbits, a first candidate target orbit according to an orbital pattern in which the peripheral object goes straight through the intersection, a second candidate target orbit according to an orbital pattern in which the peripheral object makes a right turn at the intersection, and the periphery thereof. The third candidate target trajectory according to the trajectory pattern in which the object turns left at the intersection is specified.
The first candidate target track is a candidate target track at which the own vehicle stops at the intersection.
The third candidate target track is a candidate target track on which the own vehicle stops on the front side of the first candidate target track.
The second candidate target track is a vehicle control device that is a candidate target track that turns left without stopping at the intersection. The vehicle control device according to claim 1 or 2.
When the predetermined target route of the own vehicle is a route that enters another traveling lane that intersects the traveling lane of the own vehicle via the intersection, and the peripheral object moves in the other traveling lane. In
The traveling track specifying part is
As the candidate target tracks, a first candidate track according to a track pattern in which the peripheral object approaches the own vehicle, and a second candidate track according to a track pattern in which the peripheral object does not approach the own vehicle. Identify and
The first candidate track is a vehicle control device which is a candidate target track at which the own vehicle stops on the front side in the traveling lane from the second candidate track. The vehicle control device according to any one of claims 1 to 3.
The object trajectory prediction unit is a vehicle control device that predicts the trajectory using the legal information of the point where the peripheral object is located. The vehicle control device according to claim 4.
The object trajectory prediction unit is a vehicle control device that predicts the trajectory using the speed of the peripheral object. The vehicle control device according to any one of claims 1 to 3.
The object trajectory prediction unit is a vehicle control device that predicts the trajectory by using the blinking state of the direction indicator of the peripheral object. The vehicle control device according to any one of claims 1 to 6.
The object trajectory prediction unit predicts the future trajectory of the same peripheral object at regular time intervals.
The traveling track specifying unit is a vehicle control device that changes a target trajectory on which the own vehicle will travel in the future according to a change in prediction by the object trajectory predicting unit. It is a determination method in which the computer determines the target track on which the own vehicle (10) will travel in the future.
A step in which the computer identifies a plurality of trajectory patterns that can be taken by a peripheral object moving in a peripheral area of the intersection including an intersection (CP) into which the own vehicle enters.
A step in which the computer specifies a candidate target track of the own vehicle (10) corresponding to each of the plurality of track patterns.
A step in which the computer predicts which of the plurality of orbital patterns the future orbits of the peripheral object will be.
The computer has a step of determining the candidate target trajectory corresponding to the predicted future trajectory of the peripheral object among the specified plurality of candidate target orbits as the target trajectory.
When the predetermined target route of the own vehicle is a route for turning right at the intersection, and the peripheral object moves in the direction opposite to the traveling direction of the own vehicle and enters the intersection.
The step of specifying the candidate target trajectory is
As the candidate target orbits, a first candidate target orbit according to an orbital pattern in which the peripheral object goes straight through the intersection, a second candidate target orbit according to an orbital pattern in which the peripheral object turns left at the intersection, and the periphery thereof. Includes a step of identifying a third candidate target trajectory according to the trajectory pattern in which the object makes a right turn at the intersection.
The first candidate target track is a candidate target track at which the own vehicle stops at the intersection.
The third candidate target track is a candidate target track on which the own vehicle stops on the front side of the first candidate target track.
The second candidate target trajectory is a candidate target trajectory that makes a right turn without stopping at the intersection, a determination method. It is a determination method in which the computer determines the target track on which the own vehicle (10) will travel in the future.
A step in which the computer identifies a plurality of trajectory patterns that can be taken by a peripheral object moving in a peripheral area of the intersection including an intersection (CP) into which the own vehicle enters.
A step in which the computer specifies a candidate target track of the own vehicle (10) corresponding to each of the plurality of track patterns.
A step in which the computer predicts which of the plurality of orbital patterns the future orbits of the peripheral object will be.
The computer has a step of determining the candidate target trajectory corresponding to the predicted future trajectory of the peripheral object among the specified plurality of candidate target orbits as the target trajectory.
When the predetermined target route of the own vehicle is a route for turning left at the intersection, and the peripheral object moves in the direction opposite to the traveling direction of the own vehicle and enters the intersection.
The step of specifying the candidate target trajectory is
As the candidate target orbits, a first candidate target orbit according to an orbital pattern in which the peripheral object goes straight through the intersection, a second candidate target orbit according to an orbital pattern in which the peripheral object makes a right turn at the intersection, and the periphery thereof. The third candidate target trajectory according to the trajectory pattern in which the object turns left at the intersection is specified.
The first candidate target track is a candidate target track at which the own vehicle stops at the intersection.
The third candidate target track is a candidate target track on which the own vehicle stops on the front side of the first candidate target track.
The second candidate target trajectory is a candidate target trajectory that turns left without stopping at the intersection, a determination method .

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