JPWO2016088462A1 - Vehicle control device - Google Patents

Abstract

Provided is a vehicle control device capable of requesting a follow-up vehicle to release the follow-up in a situation where it is determined appropriate to release the follow-up of the follow-up vehicle. The vehicle control device 10 includes a following vehicle information acquisition unit 11 that acquires behavior information and / or vehicle information of the following vehicle, and based on the behavior information and / or vehicle information acquired by the following vehicle information acquisition unit 11 And a follow-up signal output unit 14 for outputting a follow-up release signal or a follow-up release request signal. The vehicle further includes a host vehicle information acquisition unit 12 that acquires host vehicle information and an outside world information acquisition unit 13 that acquires outside world information around the host vehicle, and the tracking of the following vehicle based on all or any of the acquired information. When it is determined that it is appropriate to cancel the vehicle, a tracking cancellation signal or a tracking cancellation request signal is output to the tracking vehicle.

Description

  The present invention relates to a control device for a vehicle that travels in a state in which follow-up control is performed on a follow-up vehicle, and more particularly to a vehicle control device that outputs a follow-up release signal to the follow-up vehicle.

  As a vehicle control device that travels following a leading vehicle, for example, in a vehicle travel control device in a platooning, as a technique for notifying the following vehicle that the host vehicle is leaving the platoon, JP-A-9-81899 ( There is a technique described in Patent Document 1). In this technology, in a travel control device for a vehicle traveling in a platoon, when the vehicle leaves the platoon, departure information is transmitted to the following vehicle.

Japanese Patent Laid-Open No. 9-81899

  Conventionally, in ACC (Adaptive Cruise Control), for example, when the host vehicle deviates from the course of the following vehicle by changing the course accompanying lane change, the following vehicle is the same as the conventional CC (Cruise Control). In general, the control is performed. However, in the leading vehicle follow-up control, for example, when the own vehicle changes the course due to a lane change or the like, and the follower vehicle tries to deviate from the course of the follower vehicle, the follower vehicle changes the course in the same way as the own vehicle and follows Continue.

  In Patent Document 1, the departure information is transmitted to the following vehicle when leaving, but it is not assumed to be transmitted in the case of a lane change or other emergency. Therefore, in the leading vehicle following control, for example, when it is determined that the behavior of the following vehicle is unstable or dangerous, there is a problem that the following vehicle cannot be released to ensure the safety of the own vehicle. is there.

  Therefore, the present invention has been made in view of such a problem, and the object of the present invention is to cancel the follow-up vehicle in a situation where it is judged appropriate to cancel the follow-up vehicle. It is to provide a vehicle control device that can be requested. That is, for example, when it is determined that the behavior of the following vehicle is dangerous, the following cancellation signal or the tracking cancellation request signal is output to the following vehicle to avoid the danger.

  In order to solve the above-described problems, a vehicle control device according to the present invention includes a following vehicle information acquisition unit that acquires behavior information and / or vehicle information of a following vehicle, and the behavior information acquired by the following vehicle information acquisition unit and / or Or the tracking signal output part which outputs a tracking cancellation signal or a tracking cancellation request signal to a tracking vehicle based on vehicle information is provided. The vehicle further includes a host vehicle information acquisition unit that acquires host vehicle information and an outside world information acquisition unit that acquires outside world information around the host vehicle, and cancels the tracking of the following vehicle based on all or any of the acquired information. When it is determined to be appropriate, a follow-up cancellation signal or a follow-up release request signal is output to the following vehicle.

  In the vehicle control device of the present invention configured as described above, for example, it is determined whether the behavior of the following vehicle is dangerous based on the behavior information or vehicle information of the following vehicle acquired by the following vehicle information acquisition unit. When it is determined that there is a follow-up cancel signal or follow-up cancel request signal to the following vehicle for communication, the follow-up of the following vehicle can be requested to be released or released, and safe traveling of the host vehicle can be ensured. Further, by further acquiring the own vehicle information and the outside world information, it is possible to cancel or request the following vehicle to follow or cancel the tracking in accordance with the outside world information such as the state of the own vehicle or the lane reduction, thereby realizing a smooth traffic flow.

ADVANTAGE OF THE INVENTION According to this invention, in the condition where it is judged appropriate to cancel the tracking of a tracking vehicle, it is possible to request the tracking vehicle to cancel the tracking.
Problems, configurations, and effects other than those described above will be clarified by the following description of embodiments.

The system block diagram of one Embodiment of the vehicle control apparatus which concerns on this invention. The processing flowchart of Example 1 of the vehicle control device of the present invention. The process flowchart of Example 2 of the vehicle control apparatus of this invention. FIG. 4 is a process flowchart showing details of an additional part of the process flowchart of FIG. 3. Explanatory drawing which shows the driving | running | working scene of Example 2 of the vehicle control apparatus of this invention. The process flowchart of Example 3 of the vehicle control apparatus of this invention. 7 is a process flowchart showing details of an additional part of the process flowchart of FIG. The process flowchart of Example 4 of the vehicle control apparatus of this invention.

[Example 1]
Embodiments 1 to 4 of the vehicle control device according to the present invention will be described below in detail with reference to the drawings. FIG. 1 is a system configuration diagram of the vehicle control device according to the present invention, and FIG. 2 is a flowchart showing a processing procedure of the vehicle control device according to the first embodiment of the present invention.

  The vehicle control device 10 in FIG. 1 includes a following vehicle information acquisition unit 11 that acquires behavior information and / or vehicle information of a following vehicle, a host vehicle information acquisition unit 12 that acquires host vehicle information, and an external environment around the host vehicle. It has the external information acquisition part 13 which acquires information, and the tracking signal output part 14 which outputs a signal with respect to a tracking vehicle. Then, the vehicle control device 10 outputs a follow-up release signal or a follow-up release request signal from the follow-up signal output unit 14 to the follow-up vehicle based on the behavior information and / or the vehicle information acquired by the follow-up vehicle information acquisition unit 11.

  The following vehicle information acquisition unit 11 acquires information such as the behavior of the following vehicle, the relative speed, and the relative position based on the image of the following vehicle following the vehicle that is acquired behind, for example, using a rear camera. Is. The own vehicle information acquisition part 12 acquires the information of the own vehicle based on the positional information of the own vehicle, the state of a direction indicator, etc. using a front camera, a satellite, etc., for example. The own vehicle information acquisition unit 12 also acquires information such as engine abnormality of the own vehicle.

  The outside world information acquisition unit 13 acquires the state around the host vehicle based on outputs from various cameras, radars, and the like. The outside world information acquisition unit 13 also acquires that there is a lane decrease factor on the current traveling route and that there is a branch route. The follow-up signal output unit 14 includes the following follow-up vehicle information output from the follow-up vehicle information acquisition unit 11, the own vehicle information output from the own vehicle information acquisition unit 12, and the outside world information output from the outside information acquisition unit 13. And a follow-up release request signal or a follow-up release request signal, and a follow-up permission signal. The follow-up signal output unit 14 may output the signal based on at least one of the follow-up vehicle behavior information or the vehicle information.

  The storage device 15 is used for storing vehicle information of the following vehicle, and supplies the stored vehicle information to the vehicle control device 10. The storage device 15 may also store behavior information of the following vehicle, host vehicle information, and outside world information. The map information 16 and the locator 17 are used for acquiring the position of the host vehicle and road information. For example, the map information for navigation and the position of the host vehicle by satellite are used. The information acquired by the map information 16 and the locator 17 is supplied to the host vehicle information acquisition unit 12, but may be configured to be supplied to the external information acquisition unit 13. The direction indicator 18 indicates the traveling direction of the host vehicle, and the intention of changing the lane of the host vehicle or the intention of turning left or right can be confirmed in the state of the direction indicator 18.

  The driver monitoring device 19 is used to acquire the driver state of the host vehicle. For example, the driver monitoring device 19 checks a driver's health state, a dozing state, or the like using a device such as a camera that captures the interior of the vehicle. The self-diagnosis device 20 is used for acquiring the vehicle state of the host vehicle, and confirms the abnormal state of the host vehicle based on the state of the vehicle control device 10, the state of the accelerator, the brake, and the like. The communication device 22 is a device that performs communication between the host vehicle and the following vehicle and functions as a following vehicle information acquisition unit. That is, the communication device 22 acquires the following vehicle information of the following vehicle and also obtains the following request from the following vehicle.

  The outside world recognition device 21 is used to acquire outside world information around the host vehicle. For example, distance information between the following vehicle and the following vehicle using a camera or radar arranged around the host vehicle. Information on relative speed with the vehicle may be acquired. In addition, the external environment recognition device 21 acquires information such as the state of the travel route, information on the lane reduction factor, the branch lane, and the adjacent lane. The outside world information acquired by the outside world recognition device 21 is supplied to the outside world information acquisition unit 13, but may be configured to be supplied to the following vehicle information acquisition unit 11.

The operation of the vehicle control apparatus 10 of the first embodiment will be described based on the flowchart of FIG.
In step 101, it is determined whether the following vehicle is following the host vehicle. Specifically, it is determined whether or not the following vehicle is following the host vehicle using the communication device 22 installed in the host vehicle. Note that it may be determined whether or not following is performed using a device such as a rear camera. As a determination during tracking, it may be determined that tracking is in progress when the distance between the host vehicle and the tracking vehicle is smaller than a predetermined value. If NO, the process moves to step 106.

  If Yes in step 101, the following vehicle information acquisition unit 11 acquires behavior information (vehicle speed, lateral position) and vehicle information (vehicle ID) of the following vehicle from the communication device 22 in step 102. A procedure for acquiring at least one of the behavior information of the following vehicle and the vehicle information may be used. Next, in step 103, the risk for the behavior of the following vehicle (fluctuation, acceleration, jerk) is evaluated. If the evaluation value Tr is a certain value or more, the behavior of the following vehicle is determined to be dangerous. If NO, the process ends. The evaluation value Tr is evaluated by the following evaluation formula, for example. P (t) is a lateral position, V (t) is a speed, Wi (i = 1, 2, 3) is a weighting factor, and gi (i = 1, 2, 3) is an evaluation function for an input value.

なお、上式で右辺第１項はふらつき、第２項は加速度、第３項は加加速度の評価項である。

In the above equation, the first term on the right-hand side fluctuates, the second term is an acceleration, and the third term is an evaluation term for jerk.

  If it is determined in step 103 that the behavior of the following vehicle is dangerous, the vehicle control device 10 records the vehicle information (vehicle ID) of the following vehicle in the storage device 15 in step 104. The vehicle information of the following vehicle is also stored in the storage device 15 when it is determined that the behavior of the following vehicle is unstable. The vehicle ID is held during the same IGN ON or for a certain time.

  After the vehicle ID is stored in step 104, a follow-up cancellation request signal is output to the communication device 22 in step 105, and the follow-up release request signal is transmitted to the subsequent following vehicle by the communication device 22, and the process is terminated.

  If it is determined in step 101 that the following vehicle is not following, it is determined in step 106 whether there is a follow request from the following vehicle. The follow-up request is acquired via the communication device 22. If the follow request is NO, the process ends. Thus, the communication device 22 functions as a following vehicle information acquisition unit that acquires a signal from the following vehicle.

  If it is determined in step 106 that there is a follow-up request (Yes), vehicle information (vehicle ID) of the follow-up vehicle is acquired via the communication device 22 in step 107. In step 108, the vehicle ID recorded in the storage device 15 is read, and it is determined whether there is a vehicle ID that matches the vehicle ID read in step 109. The vehicle ID stored in step 104 is used as the vehicle ID for determining whether or not they match in step 109.

  When it is not coincident with the following vehicle in step 109 (NO), the process proceeds to step 111, a follow permission signal is output to the communication device 22, the follow permission signal is transmitted to the following follow vehicle, and the process is terminated. As a result, smooth follow-up traveling between the host vehicle and the following vehicle becomes possible. If the result of step 109 coincides with the following vehicle (Yes), the tracking release signal is output to the communication device 22 at step 110, the tracking release signal is transmitted to the subsequent following vehicle, and the process is terminated.

  The follow-up cancel request signal output at step 105 and the follow-up cancel signal output at step 110 output a follow-up cancel signal when the following vehicle has a high degree of danger such as ignoring the signal, and when the danger level is low. In addition, when the course is changed by changing the lane or the like, it is possible to change appropriately such as outputting a follow-up cancellation request signal.

  As described above, the vehicle control device 10 outputs a follow-up release signal or a follow-up release request signal to the following follower vehicle using the communication device 22 based on information such as behavior information and / or vehicle information of the follower vehicle. For this reason, when the behavior of the following vehicle is unstable or dangerous, it is possible to realize the safety and smooth traffic volume of the host vehicle by outputting a follow-up cancellation or release request signal to the following vehicle. The vehicle speed and lateral position of the following vehicle acquired as behavior information in step 102 may be acquired by the external environment recognition device 21. Moreover, the communication apparatus which outputs a following cancellation | release signal and a following cancellation | release request signal with respect to a following vehicle is provided in the own vehicle, and simplification of an apparatus can be achieved by acquiring following vehicle information.

[Example 2]
In the second embodiment, the follow-up signal output unit 14 in Step 103 of FIG. 2 in the first embodiment obtains the behavior of the following vehicle acquired by the following vehicle information acquisition unit 11, the own vehicle information acquisition unit 12, and the outside world information acquisition unit 13. The follow-up cancellation request signal is output based on the information that there is no danger, and FIG. 4 shows the processing procedure after A in the case of NO in step 103 of FIG.

  3 is a flowchart showing a processing procedure of the vehicle control apparatus according to the second embodiment, FIG. 4 is a flowchart showing a processing procedure added to the flowchart of FIG. 3, and FIG. 5 is an example of a traveling scene in the second embodiment. Show. The own vehicle and the following vehicle are traveling on the lane 4 of the traveling route 1, the own vehicle moves from the traveling route 1 to the traveling route 2, and the following vehicle continues traveling on the traveling route 1.

With reference to FIGS. 3 to 5, only the steps changed from the first embodiment are shown below.
After it is determined in step 103 that the behavior of the following vehicle is not dangerous, in step 201, the host vehicle information and the following vehicle information are acquired. Specifically, the host vehicle information acquisition unit 12 acquires the turn signal information of the host vehicle from the direction indicator 18. Further, the position and travel route of the host vehicle are acquired from the map information 16 and the locator 17. The following vehicle information acquisition unit 11 acquires the traveling route of the following vehicle from the communication device 22.

  In step 202, it is determined whether the host vehicle is changing lanes. If NO in step 202 when the lane is not being changed, the process is terminated. If the lane is being changed in step 202 and the answer is Yes, it is determined in step 203 whether the traveling route of the host vehicle and the traveling route of the following vehicle are different.

  If NO in step 203, the process ends. In the example of FIG. 4, since the own vehicle changes the course and exits from lane 4 and the travel route is different, the process proceeds to step 204. In step 204, the outside world information acquisition unit 13 acquires outside world information from the map information 16 and the outside world recognition device 21. Specifically, the lane reduction factor on the travel route 1 is acquired.

  Thereafter, in step 205, it is determined whether the host vehicle is in the adjacent lane of the branch lane on the travel route 1. If YES, the process proceeds to step 105 shown in FIG. For this reason, when the traveling route of the own vehicle and the following vehicle is different and the own vehicle is in the adjacent lane of the branch lane, a follow-up cancellation request signal is output and notified to the following vehicle, so that smooth traffic can be realized. If NO in step 205, the process moves to step 206.

  In step 206, it is determined whether there is a lane decrease factor on the currently traveling lane. If NO, the process proceeds to step 105 shown in FIG. 3B, and a follow-up cancellation request signal is output. If YES in step 206, the process ends as shown in FIG. In the example of FIG. 5, since there is a lane reduction factor on the lane 4, the process is terminated. Since there is no lane reduction factor when the host vehicle moves to lane 3, the process proceeds to step 105 shown in FIG. 3B and a follow-up cancellation request signal is output.

  By changing in this way, it is possible to output a follow-up release request in a travel lane that is appropriate to release follow-up. As a result, the following vehicle can travel while canceling the following according to the situation of the leading vehicle and the road condition, and the leading vehicle can continue safe driving without worrying about the following vehicle. In the case of Yes in step 205 or No in step 206, a follow-up release signal may be output instead of the follow-up release request signal.

Example 3
In the third embodiment, the follow-up signal output unit 14 in step 101 of FIG. 2 in the first embodiment outputs a follow-up cancellation request signal based on the information acquired by the own vehicle information acquisition unit 12. Shows the processing procedure after D in FIG. 6 in the case of Yes in step 101 of FIG. FIG. 6 is a flowchart showing a processing procedure of the vehicle control apparatus according to the third embodiment, and FIG. 7 is a flowchart showing a processing procedure added to the flowchart of FIG.

With reference to FIGS. 6 and 7, only the steps that are changed from the first embodiment are shown below.
In step 101 in FIG. 2, it is determined whether the following vehicle is following the host vehicle. If yes, the host vehicle information acquisition unit 12 determines that the driver monitoring state of the host vehicle from the driver monitoring device 19 in step 301. (For example, doze etc.) is acquired. Further, an abnormal state (for example, engine abnormality or the like) of the own vehicle is acquired from the self-diagnosis device 20.

  In step 302, it is determined whether the driver state of the host vehicle is abnormal, that is, whether it is appropriate for driving. In the case of YES, that is, when it is acquired that the driver state is abnormal, the process proceeds to step 105 shown in FIG. 6B, and a follow-up cancellation request signal is output. If NO, the process moves to step 303, where it is determined whether the host vehicle is in an abnormal state. If YES, the process moves to step 105 shown in FIG. 6B, and a follow-up release request signal is output. If NO in step 303, the process ends as shown in C of FIG.

  If there is a possibility that the following vehicle may be in danger by changing in this way, for example, if the driver is dozing or if trouble occurs in the own vehicle and there is a possibility that the following vehicle may be in danger, a follow-up cancellation request is issued. Can be output. Thereby, the following vehicle can avoid following the leading vehicle assumed to be dangerous. In the case of Yes in step 302 or in the case of Yes in step 303, a follow-up release signal may be output instead of the follow-up release request signal.

Example 4
Still another embodiment 4 of the present invention will be described with reference to FIG. The fourth embodiment includes both the processing procedure of the second embodiment shown in FIGS. 3 and 4 and the processing procedure of the third embodiment shown in FIGS. In the case of the fourth embodiment, in the case of (Yes) in step 101, the process is performed according to the procedure D shown in FIG. On the other hand, in step 102, the behavior information and vehicle information of the following vehicle are acquired, and then steps 103 to 105 are executed. As described above, in the case of (Yes) at step 101, the processing procedure shown in D shown in FIG. 7 and the processing procedure after step 102 are executed.

  In step 103, it is determined whether the behavior of the following vehicle is dangerous. If it is dangerous (Yes), the vehicle information of the following vehicle is stored in step 104, and step 105 is executed. If the behavior of the following vehicle is not dangerous at step 103 (No), the processing is performed according to the processing procedure of FIG. 4A, the own vehicle information and the following vehicle information are acquired at step 201, and the following steps 202 to 206 are performed. Process according to the procedure. As described above, in the case of (Yes) in Step 103, the processing after Step 104 is executed, and in the case of (No), the processing procedure A shown in FIG. 4 is executed. In the case of the fourth embodiment shown in FIG. 8 as well, the same operational effects as those of the above-described embodiments can be obtained.

  According to the vehicle control device of the present invention, when you want to cancel the follow-up driving while traveling as a leading vehicle, for example, when leaving the main road due to the service area or parking area, when leaving the main road to exit the highway, When moving to a main line different from the destination of the following vehicle at the junction, it is possible to indicate the intention to the following vehicle when stopping on the shoulder or roadside belt due to failure, so smooth traffic without unnecessary lane change of the following vehicle The flow can be realized.

  In addition, the vehicle control method of the present invention acquires behavior information of the following vehicle and / or vehicle information of the following vehicle, acquires the own vehicle information, acquires external environment information around the own vehicle, and sends a signal to the following vehicle. Control for outputting a follow-up release signal or a follow-up release request signal to the following vehicle based on the acquired behavior information of the following vehicle and / or vehicle information, own vehicle information, and outside world information in the vehicle control method to output Is the method. In this vehicle control method, since a follow-up cancel signal or a follow-up cancel request signal is output to the following vehicle based on at least one of the acquired pieces of information, smooth traffic flow without unnecessary lane changes or the like is eliminated. Can be realized.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. Even in such a case, they are included in the present invention. For example, in the above-described embodiment, the following vehicle information acquisition unit 11 is configured to acquire information from the communication device 22, but is not limited thereto, and the information is acquired by an imaging device such as a rear camera. It may be configured.

  Further, a part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Furthermore, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.

DESCRIPTION OF SYMBOLS 10 ... Vehicle control apparatus, 11 ... Following vehicle information acquisition part, 12 ... Own vehicle information acquisition part, 13 ... Outside world information acquisition part, 14 ... Follow-up signal output part, 15 ... Memory | storage device, 16 ... Map information, 17 ... Locator, DESCRIPTION OF SYMBOLS 18 ... Direction indicator, 19 ... Driver monitoring apparatus, 20 ... Self-diagnosis apparatus, 21 ... External field recognition apparatus, 22 ... Communication apparatus.

Claims (10)

A vehicle control device including a following vehicle information acquisition unit that acquires behavior information of a following vehicle and / or vehicle information of the following vehicle,
The vehicle control device includes a tracking signal output unit that outputs a tracking cancellation signal or a tracking cancellation request signal to the tracking vehicle based on the behavior information and / or the vehicle information acquired by the tracking vehicle information acquisition unit. A vehicle control device. The vehicle control device further includes a host vehicle information acquisition unit that acquires host vehicle information, and an outside world information acquisition unit that acquires outside world information around the host vehicle,
The follow-up signal output unit is configured to send the follow-up release signal or follow-up release request to the follow-up vehicle based on the host vehicle information, the outside world information, and the behavior information and / or the vehicle information acquired by the follow-up vehicle information acquisition unit. The vehicle control device according to claim 1, wherein the vehicle control device outputs a signal.   The tracking signal output unit outputs the tracking cancellation signal or the tracking cancellation request signal when the tracking vehicle information acquisition unit acquires behavior information that determines that the behavior of the tracking vehicle is unstable or dangerous. The vehicle control device according to claim 1 or 2, characterized in that   The said vehicle control apparatus equips a self-vehicle with the communication apparatus which outputs the said tracking cancellation signal or a tracking cancellation request signal to the said tracking vehicle from the said tracking signal output part. Vehicle control device.   The vehicle control device according to claim 4, wherein the communication device functions as the following vehicle information acquisition unit.   The vehicle control device according to claim 1, wherein the tracking signal output unit outputs a tracking permission signal in addition to the tracking cancellation signal or the tracking cancellation request signal.   The follow-up signal output unit outputs a follow-up release request signal by determining whether the vehicle is in a lane, and when the travel route of the vehicle is different from that of the vehicle, the vehicle determines whether the vehicle is adjacent to a branch lane. The vehicle control device according to claim 1 or 2.   The own vehicle information acquisition unit includes means for acquiring road map information around the own vehicle, means for acquiring the own position of the own vehicle, means for acquiring a lane change direction of the own vehicle, and a driver state of the own vehicle. The vehicle control device according to claim 2, comprising at least one of an acquisition unit and a unit of acquiring a vehicle state of the host vehicle.   The vehicle control apparatus according to claim 8, wherein the follow-up signal output unit outputs the follow-up release request signal when the driver state acquired by the own vehicle information acquisition unit is abnormal. A vehicle control method that acquires behavior information of a following vehicle and / or vehicle information of the following vehicle, acquires own vehicle information, acquires external information around the own vehicle, and outputs a signal to the following vehicle. ,
A tracking cancellation signal or a tracking cancellation request signal is output to the tracking vehicle based on at least one of the acquired behavior information and / or vehicle information of the tracking vehicle, the host vehicle information, and the outside world information. A vehicle control method.

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