WO2016017636A1 - 車両用走行支援装置 - Google Patents

車両用走行支援装置 Download PDF

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Publication number
WO2016017636A1
WO2016017636A1 PCT/JP2015/071369 JP2015071369W WO2016017636A1 WO 2016017636 A1 WO2016017636 A1 WO 2016017636A1 JP 2015071369 W JP2015071369 W JP 2015071369W WO 2016017636 A1 WO2016017636 A1 WO 2016017636A1
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WIPO (PCT)
Prior art keywords
vehicle
travel
avoidance
host vehicle
support device
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PCT/JP2015/071369
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English (en)
French (fr)
Japanese (ja)
Inventor
児島　隆生
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日立オートモティブシステムズ株式会社
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Publication of WO2016017636A1 publication Critical patent/WO2016017636A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle travel support device.
  • Patent Document 1 A travel support device that controls a vehicle so that the vehicle travels along a set target trajectory (target course) is known (see Patent Document 1).
  • Patent Document 1 describes a vehicle travel support device that corrects a target track of a host vehicle based on the lateral speed of a parallel vehicle traveling in an adjacent lane.
  • the method of correcting the target trajectory after the lateral speed of the parallel vehicle traveling in the adjacent lane is detected may not completely eliminate the driver's anxiety.
  • the parallel vehicle moves in the lateral direction to avoid the obstacle, and then the host vehicle The target trajectory is corrected.
  • the target trajectory of the host vehicle is not corrected at the stage before the parallel running of the parallel vehicle to avoid the obstacle, so that the driver's anxiety that occurred during that time is eliminated. There is nothing.
  • the vehicular travel support apparatus including the travel control unit that performs control for causing the host vehicle to travel along the target track has one object existing in front of the host vehicle.
  • An object-to-object approach determination unit that determines whether or not the object is moving so as to approach another object that is an obstacle is based on the relative speed of the one object with respect to the other object, and travel control is provided.
  • the unit corrects the target trajectory by a predetermined correction amount so that the target trajectory is separated from the one object when the inter-object approach determination unit determines that the one object is moving so as to approach another object.
  • First traveling control for causing the host vehicle to travel along the first avoidance track is executed.
  • the correction amount is preferably a lateral distance of the host vehicle.
  • the relative position of one object relative to the own vehicle, the relative position of another object relative to the own vehicle, and the one object relative to the own vehicle is preferably a lateral distance of the host vehicle.
  • An avoidance travel estimation unit for estimating an avoidance travel period and an avoidance travel section required for one object to avoid another object based on the relative speed of the vehicle and the relative speed of the other object with respect to the host vehicle, and avoidance travel
  • a vehicle position estimation unit that estimates the position of the vehicle in the period, and the travel control unit is determined by the inter-object approach determination unit to move so that one object approaches another object Even in this case, if the position of the host vehicle estimated by the host vehicle position estimation unit is not within the avoidance travel section estimated by the avoidance travel estimation unit, the first travel control is not executed, By approach judgment part And the vehicle position estimated by the vehicle position estimation unit was estimated by the avoidance travel estimation unit. When the vehicle is in the avoidance travel section, it is preferable to execute the first travel control.
  • the moving direction of the one object and the other object is opposite to the own vehicle, and the moving direction of the one object and the other object is In the case of the same direction, it is preferable that the avoidance travel estimation unit estimates a travel period and a travel section required for one object to pass another object as the avoidance travel period and the avoidance travel section.
  • the moving direction of the one object and the other object is opposite to that of the host vehicle, and the moving direction of the one object and the other object is In the case of the reverse direction, it is preferable that the avoidance travel estimation unit estimates a travel period and a travel section necessary for one object to pass another object as the avoidance travel period and the avoidance travel section.
  • the moving direction of the one vehicle and the one object is the same direction, and the moving direction of the one object and the other object is the same.
  • the avoidance travel estimation unit estimates a travel period and a travel section required for one object to pass another object as the avoidance travel period and the avoidance travel section.
  • the moving direction of the one object is the same as that of the own vehicle, and the moving direction of the one object and the other object is the same.
  • the avoidance travel estimation unit estimates a travel period and a travel section necessary for one object to pass another object as the avoidance travel period and the avoidance travel section.
  • the host vehicle position estimation unit estimates the position of the host vehicle within a predetermined time
  • the travel control unit determines the approach between objects. Even if it is determined that one object is moving so as to approach another object, the position of the host vehicle within a predetermined time is within the avoidance travel section estimated by the avoidance travel estimation unit.
  • the inter-object approach determining unit determines that one object is moving so as to approach another object, and the predetermined traveling control is performed. It is preferable to execute the first travel control when the position of the host vehicle within the time is within the avoidance travel section estimated by the avoidance travel estimation unit.
  • the travel control unit is a case where the first travel control is being executed, and one object and another object
  • the vehicle moves along the second avoidance track corrected by a predetermined correction amount from the first avoidance track so as to be separated from the approaching object. It is preferable to execute the second traveling control for causing the vehicle to travel.
  • the vehicle speed support unit for outputting the vehicle speed command value of the host vehicle
  • the vehicle speed detection unit for detecting the vehicle speed of the host vehicle
  • the travel control unit avoids the vehicle speed adjustment unit that adjusts the vehicle speed of the host vehicle and the position of the host vehicle estimated by the host vehicle position estimation unit so that the vehicle speed detected by the vehicle speed detection unit becomes the vehicle speed command value.
  • a vehicle speed determination unit for determining a vehicle speed command value for deceleration to be located outside the avoidance travel zone estimated by the travel estimation unit, and the vehicle speed adjustment unit is used for the vehicle speed and deceleration detected by the vehicle speed detection unit.
  • the vehicle speed of the host vehicle is set so that the vehicle speed detected by the vehicle speed detection unit becomes the deceleration vehicle speed command value regardless of the vehicle speed command value output from the vehicle speed command unit.
  • the vehicle that has been adjusted and output from the vehicle speed command unit again after a predetermined time It is preferable to adjust the speed of the vehicle based on the command value.
  • the inter-object approach determination unit includes the one object existing in the adjacent lane adjacent to the lane in which the host vehicle travels and the other.
  • the relative speed between objects with the other object is acquired, and based on the relative speed between objects, it is determined whether one object is moving so as to approach another object, and the size of the one object is detected.
  • An object size detection unit a width detection unit for detecting the width of an adjacent lane, a remaining width narrowed by another object among the widths of the adjacent lane, and the correction of the first avoidance trajectory based on the size of one object It is preferable to include a correction amount adjusting unit that adjusts the amount.
  • the correction amount of the first avoidance path relative to the target path is insufficient. It is preferable to decelerate the host vehicle according to the minutes.
  • the driver's anxiety can be reduced.
  • the functional block diagram which shows the structure of the driving assistance device for vehicles which concerns on 1st Embodiment.
  • the schematic diagram which shows a standard track, a 1st avoidance track, and a 2nd avoidance track.
  • the flowchart which showed the operation
  • the functional block diagram of the controller of the driving assistance device which concerns on 2nd Embodiment.
  • the functional block diagram of the controller of the driving assistance device which concerns on 3rd Embodiment.
  • the flowchart which showed the operation
  • the figure explaining the example which carries out track correction from the standard track to the 1st avoidance track when the traveling direction of the host vehicle M0 and the objects M1, M2 is the same.
  • FIG. 1 is a functional block diagram showing the configuration of the vehicle travel support apparatus according to the first embodiment of the present invention.
  • FIG. 2 is a schematic diagram showing the standard trajectory NT, the first avoidance trajectory AT1, and the second avoidance trajectory AT2.
  • a vehicle travel support device (hereinafter simply referred to as a travel support device) includes a controller 6, a radar 1, a camera device 2, a vehicle speed detection device 3, a car navigation system 4, and settings.
  • a switch 5 and a steering torque detector 15 are provided.
  • the travel support device includes a steering control unit 7, a steering actuator 8, a brake control unit 9, a brake actuator 10, an engine control unit 11, an electronic control throttle 12, an audio output device 13, and a display device 14. And.
  • the radar 1 detects the relative positions of the objects M1, M2 existing in front of the host vehicle M0 with respect to the host vehicle M0 and the relative speeds of the objects M1, M2 with respect to the host vehicle.
  • the radar 1 can employ a millimeter wave radar, a laser radar, or the like.
  • the millimeter wave radar detects the relative position and relative speed of the objects M1 and M2 with respect to the host vehicle M0 using the Doppler effect.
  • the laser radar detects the relative position and relative speed of the objects M1 and M2 with respect to the host vehicle M0 by measuring the time when the laser light hitting the objects M1 and M2 is reflected and returned after the laser light is emitted.
  • the radar 1 may be composed of a plurality of radars as necessary.
  • the camera device 2 includes a stereo camera (not shown) and an image processing unit (not shown).
  • the stereo camera includes a pair of left and right CCD (Charge Coupled Device) cameras.
  • the camera device 2 is capable of space recognition using the parallax of a pair of cameras.
  • the pair of CCD cameras are arranged so as to sandwich a room mirror (not shown), for example.
  • the pair of cameras individually capture an object existing in front of the host vehicle, and output a signal of the captured image to the image processing unit.
  • a CMOS (Complementary Metal Oxide Semiconductor) camera may be employed instead of the CCD camera.
  • the image processing unit of the camera device 2 performs image processing on the captured image, recognizes white lines, guardrails, curbs, and the like that form lane boundaries, and the own lane L0 that is the lane in which the own vehicle M0 travels (see FIG. 2). ) And the adjacent lane L1 (see FIG. 2) adjacent to the own lane L0.
  • the image processing unit calculates the road width (width) of the own lane L0 and the road width (width) of the adjacent lane L1. Further, the image processing unit recognizes an object such as an oncoming vehicle or a parallel running vehicle that exists in front of the host vehicle M0, and calculates the number of objects and the width of each object. Signals representing various types of information acquired by the image processing unit are output to the controller 6.
  • the vehicle speed detection device 3 detects the traveling speed of the host vehicle M0 (hereinafter referred to as the actual vehicle speed Va), and outputs a signal representing the actual vehicle speed Va to the controller 6.
  • the vehicle speed detection device 3 detects the vehicle speed by measuring the rotational speeds of the four wheels, for example.
  • the car navigation system 4 has map information including road environment and route information.
  • the setting switch 5 is for setting the operation of the driving support device by the driver's operation. For example, the setting switch 5 sets on / off of the automatic driving mode and the target vehicle speed of the host vehicle M0 in the automatic driving mode.
  • Steering torque detection device 15 detects torque (hereinafter referred to as steering torque T) when the steering operation is performed by the driver, and outputs a signal representing steering torque T to controller 6.
  • Steering control unit 7 receives an instruction from controller 6, controls the operation of steering actuator 8 so that host vehicle M0 travels along a target track, which will be described later, and applies torque to the wheels.
  • the brake control unit 9 receives a command from the controller 6, controls the operation of the brake actuator 10, and applies a braking force to the host vehicle M0.
  • the engine control unit 11 receives a command from the controller 6, controls the operation of the electronic control throttle 12, and applies a driving force to the host vehicle M0.
  • the brake control unit 9 and the engine control unit 11 receive a command (vehicle speed command value) representing the target vehicle speed from the controller 6 and the brake actuator 10 and the engine control unit 11 so that the vehicle speed detected by the vehicle speed detection device 3 becomes the target vehicle speed.
  • the operation of the electronic control throttle 12 is controlled to adjust the vehicle speed of the host vehicle M0.
  • the controller 6 sets the vehicle speed set by the setting switch 5 (hereinafter referred to as the set vehicle speed Vs) as the target vehicle speed.
  • the voice output device 13 receives a voice command from the controller 6 and presents information by outputting a voice.
  • the display device 14 receives a display command from the controller 6 and displays information by displaying an image on the display screen.
  • the controller 6 includes an arithmetic processing unit having a CPU and a storage device such as ROM and RAM, and other peripheral circuits.
  • the controller 6 controls each part of the driving support device based on information detected by various detection devices such as the radar 1 and the vehicle speed detection device 3 and map information stored in the storage device of the car navigation system 4.
  • the controller 6 controls the steering control unit 7 to control the steering of the host vehicle M0.
  • the controller 6 controls the brake control unit 9 and the engine control unit 11 to control the vehicle speed of the host vehicle M0 so that the vehicle speed of the host vehicle M0 becomes the target vehicle speed.
  • the controller 6 functionally includes a trajectory setting unit 60, a condition determination unit 61, a relative speed calculation unit 62, and a lateral speed calculation unit 63.
  • the trajectory setting unit 60 sets one of the standard trajectory NT, the first avoidance trajectory AT1, and the second avoidance trajectory AT2 shown in FIG. 2 as a target trajectory based on the determination result of the condition determination unit 61 described later.
  • the standard track NT, the first avoidance track AT1, and the second avoidance track AT2 are set in parallel with the road center line C, that is, along the own lane L0.
  • the standard track NT is set, for example, at a position separated by a distance x1 in the direction orthogonal to the own lane L0 from the roadway center line C constituting the right edge of the own lane L0.
  • the first avoidance track AT1 is set at a position separated from the roadway center line C by a distance x2 in a direction orthogonal to the own lane L0.
  • the second avoidance track AT2 is set at a position separated from the road center line C by a distance x3 in a direction orthogonal to the own lane L0.
  • the magnitude relationship between the distances x1, x2, and x3 is x1 ⁇ x2 ⁇ x3. That is, the first avoidance track AT1 is farther from the roadway center line C than the standard track NT, and the second avoidance track AT2 is farther from the roadway centerline C than the first avoidance track AT1.
  • the condition determining unit 61 determines whether one object existing in the adjacent lane L1 in front of the host vehicle M0 is moving so as to approach another object that is an obstacle with respect to the one object. . That is, the condition determination unit 61 determines whether or not there is a speed difference between the objects so that the distance between the two objects is reduced. Specifically, the condition determination unit 61 determines whether or not the value of the relative speed Vr between the objects calculated by the relative speed calculation unit 62 is equal to or greater than the threshold value Vrt stored in the storage device in advance.
  • the relative speed calculation unit 62 determines whether there are two or more objects existing in the adjacent lane L1. When it is determined that there are two or more objects in the adjacent lane L1, the relative speed calculation unit 62 calculates the relative speed Vr between the objects based on the relative position and relative speed of each object with respect to the host vehicle M0. To do.
  • the relative speed Vr between the objects is a relative speed of one object with respect to another object serving as an obstacle, and is a direction along the own lane L0, in other words, a direction along the target track (hereinafter referred to as a lane direction). Relative speed.
  • the lateral speed calculation unit 63 is a lateral speed of each object existing in the adjacent lane L1 (hereinafter, lateral speed Vy), that is, a speed in a direction orthogonal to the traveling direction of the host vehicle M0, in other words, orthogonal to the lane direction. Calculate the speed in the direction.
  • the lateral speed Vy of each object is calculated based on the relative position and relative speed of the object with respect to the host vehicle M0.
  • the condition determination unit 61 determines whether or not the object existing in the adjacent lane L1 has moved in the lateral direction, that is, the direction orthogonal to the traveling direction of the host vehicle M0, that is, the direction orthogonal to the lane direction. Specifically, the condition determination unit 61 determines whether or not the value of the lateral velocity Vy of each object M calculated by the lateral velocity calculation unit 63 is equal to or greater than a threshold value Vyt.
  • the condition determination unit 61 sets the flag F to 0 in the initial setting.
  • the flag F is used for setting a target trajectory.
  • the trajectory setting unit 60 sets the target trajectory to the standard trajectory NT when the flag F is set to 0, sets the target trajectory to the first avoidance trajectory AT1 when the flag F is set to 1, and sets the flag F to 2 Is set to the second avoidance trajectory AT2.
  • FIG. 3 is a flowchart showing the operation of the track determination control process by the controller 6 constituting the travel support apparatus according to the first embodiment of the present invention.
  • step S100 the controller 6 performs initial setting and proceeds to step S110.
  • step S110 the controller 6 acquires information from the radar 1, the camera device 2, the vehicle speed detection device 3, the car navigation system 4, the setting switch 5, and the steering torque detection device 15, and proceeds to step S120.
  • the acquired information includes the current actual vehicle speed Va of the host vehicle M0, the number of objects existing in front of the host vehicle M0, the width of each object, the relative speed of each object with respect to the host vehicle M0, Information such as the relative position of the object, the width of the own lane L0 and the adjacent lane L1 is included.
  • step S120 the controller 6 determines whether the flag F is 0 or not. If an affirmative determination is made in step S120, the process proceeds to step S130, and if a negative determination is made in step S120, the process proceeds to step S125.
  • step S125 the controller 6 determines whether or not the flag F is 1. If an affirmative determination is made in step S125, the process proceeds to step S155, and if a negative determination is made in step S125, the process proceeds to step S175.
  • step S130 the controller 6 sets the standard trajectory NT as the target trajectory, and proceeds to step S135.
  • step S135 the controller 6 determines whether or not there are a plurality of objects in the adjacent lane L1 based on the information acquired in step S110. If a positive determination is made in step S135, the process proceeds to step S140, and if a negative determination is made in step S135, the process returns to step S110.
  • step S140 the controller 6 calculates the relative speed Vr between the objects based on the information on the relative speed and the relative position of each of the objects M1 and M2 with respect to the host vehicle M0 acquired in step S110, and the process proceeds to step S145.
  • the relative speed of the object M2 far from the host vehicle M0 with respect to the object M1 closer to the host vehicle M0 is calculated as the relative speed Vr between the objects.
  • step S145 the controller 6 determines whether or not the relative speed Vr between the objects is equal to or higher than the threshold value Vrt. If a positive determination is made in step S145, the process proceeds to step S150, and if a negative determination is made in step S145, the process returns to step S110.
  • step S150 the controller 6 sets the flag F to 1 and proceeds to step S155.
  • step S155 the controller 6 sets the first avoidance trajectory AT1 as the target trajectory, and proceeds to step S160.
  • step S160 the controller 6 determines each object M1, M2 based on the relative speed of each object M1, M2 with respect to the host vehicle M0 acquired in step S110 and the relative position of each object M1, M2 with respect to the host vehicle M0.
  • the lateral speed Vy is calculated and the process proceeds to step S165.
  • step S165 the controller 6 determines whether or not the lateral velocity Vy of each object is equal to or higher than the threshold value Vyt. That is, the controller 6 determines whether or not the lateral velocity Vy of the object M1 is equal to or greater than the threshold value Vyt, and determines whether or not the lateral velocity Vy of the object M2 is equal to or greater than the threshold value Vyt. If an affirmative determination is made in step S165, that is, if it is determined that one or both of the lateral velocity Vy of the object M1 and the lateral velocity Vy of the object M2 is greater than or equal to the threshold value Vyt, the process proceeds to step S170. If a negative determination is made in step S165, that is, if it is determined that both the lateral velocity Vy of the object M1 and the lateral velocity Vy of the object M2 are less than the threshold value Vyt, the process returns to step S110.
  • step S170 the controller 6 sets the flag F to 2 and proceeds to step S175.
  • step S175 the controller 6 sets the second avoidance trajectory AT2 as the target trajectory, and returns to step S110.
  • the standard trajectory NT when a predetermined time elapses after the presence of an object on the adjacent lane ahead of the host vehicle M0 is not detected. Is set as the target trajectory. That is, it returns to the normal automatic operation mode in which the trajectory correction for avoidance is not performed.
  • the driver turns off the automatic driving mode with the setting switch 5 or the steering torque T detected by the steering torque detecting device 15 is detected by the steering operation by the driver.
  • the process ends when a predetermined threshold is exceeded.
  • the automatic driving mode ends, the manual driving mode in which the steering actuator 8 operates based on the driver's steering operation is entered.
  • the object M1 for example, a two-wheeled vehicle
  • the object M2 for example, a passenger car that is an oncoming vehicle
  • the first driving control is executed by the driving support device (steps S135, S140, S145, S150, S155),
  • the vehicle M0 travels along the first avoidance track AT1.
  • the second travel control is executed by the support device (steps S160, S165, S170, S175), and the host vehicle M0 travels along the second avoidance track AT2.
  • the following operational effects are obtained.
  • (1) When it is determined that one object M2 existing in front of the host vehicle M0 is moving so as to approach another object M1, a predetermined trajectory is set so as to be separated from the one object M2.
  • the first avoidance track AT1 corrected by the correction amount (x2-x1) is set, and the first traveling control for causing the host vehicle M0 to travel along the first avoidance track AT1 is executed.
  • the correction amount (x2-x1) is the distance in the horizontal direction of the host vehicle M0 (in this embodiment, the distance in the direction orthogonal to the lane direction).
  • the target trajectory of the host vehicle M0 is corrected before the lateral movement for avoiding the object M1 where the object M2 is an obstacle occurs, thereby reducing the driver's anxiety. be able to.
  • the second traveling control for causing the host vehicle M0 to travel along the second avoidance track AT2 corrected by a predetermined correction amount (x3-x2) from the first avoidance track AT1 so as to be separated from the approaching object.
  • the correction amount (x3-x2) is the distance in the lateral direction of the host vehicle M0 (in this embodiment, the distance in the direction orthogonal to the lane direction). Since it is possible to detect the avoidance of the object M2 on the adjacent lane L1 toward the own lane L0 and cause the own vehicle M0 to perform the avoidance operation, it is possible to reduce the driver's anxiety.
  • the driving support device according to the second embodiment has the same configuration as the driving support device according to the first embodiment (see FIG. 1).
  • a controller 6B is provided instead of the controller 6 described in the first embodiment.
  • the condition for setting the target trajectory to the first avoidance trajectory AT1 is limited, and a configuration for suppressing unnecessary avoidance operation is provided.
  • the trajectory NT is not changed and the trajectory is not corrected.
  • FIG. 4 is a functional block diagram of the controller 6B of the travel support apparatus according to the second embodiment of the present invention.
  • the controller 6B includes an avoidance travel period estimation unit 64B, an avoidance travel section estimation unit 65B, and a host vehicle position estimation unit 66B. Is functionally equipped.
  • the avoidance travel period estimation unit 64B performs the avoidance travel period Ta required for the object M2 to avoid the object M1, that is, the avoidance travel period Ta from when the object M2 starts the avoidance operation to the object M1 until it ends. Is estimated.
  • FIG. 5 is a diagram illustrating the avoidance travel period and the avoidance travel section.
  • the avoidance travel period Ta refers to an overtaking period.
  • the avoidance operation start time Ts indicates the time of overtaking, and the time when the object M2 starts moving in the lateral direction so as to approach the own lane L0 in order to pass the object M1.
  • the avoidance operation end time Te indicates the overtaking end time, and after the object M2 has overtaken the object M1, the object M2 moves in the lateral direction so as to move away from the own lane L0 and ends the movement. Point to.
  • the overtaking period is purely the sum of the overtaking time TB necessary for the object M2 to overtake the object M1, the previous safety margin TA, and the safety margin TC after the overtaking time TB has elapsed. .
  • TB (Lm2 + Lm1) / (V2-V1) (1)
  • Lm2 is the length of the object M2 (length in the lane direction)
  • Lm1 is the length of the object M1 (length in the lane direction)
  • V2 is the vehicle speed of the object M2 (speed component in the lane direction)
  • V1 Is the vehicle speed (speed component in the lane direction) of the object M1.
  • Safety margin times TA and TC are expressed by equations (2) and (3), respectively.
  • TA ka ⁇ TB ⁇ Vr
  • TC kc ⁇ TB ⁇ Vr (3)
  • ka and kc are coefficients obtained from the results of experiments and simulations.
  • the avoidance travel section estimation unit 65B avoids the avoidance travel section that is required for the object M2 to avoid the object M1, that is, the position from the position where the object M2 starts the avoidance operation to the object M1 to the position where the avoidance operation ends.
  • the travel section Xa is estimated.
  • the avoidance travel section estimation unit 65B estimates the avoidance travel section Xa from the position of the object M2 at the avoidance operation start time Ts to the position of the object M2 at the avoidance operation end time Te.
  • the avoidance travel section Xa is a section where the object M2 travels during the avoidance travel period Ta, and between the distance LA in the lane direction in which the object M2 travels during the safety margin time TA and the overtaking time TB. This corresponds to the sum of the distance LB in the lane direction in which the object M2 travels and the distance LC in the lane direction in which the object M2 travels during the safety margin time TC.
  • the host vehicle position estimation unit 66B estimates the position of the host vehicle M0 during the avoidance travel period Ta. Specifically, the host vehicle position estimation unit 66B performs the avoidance predicted travel zone Xb from the position of the host vehicle M0 at the avoidance operation start time Ts of the object M2 to the position of the host vehicle M0 at the avoidance operation end time Te of the object M2. As a result, the position of the host vehicle M0 is estimated.
  • the host vehicle position estimation unit 66B estimates the position of the host vehicle M0 during the prediction period. Specifically, the position of the host vehicle M0 is estimated with the predicted section Xp from the current position of the host vehicle M0 to the position of the host vehicle M0 at the time after the prediction time Tst has elapsed.
  • the predicted time Tst is a time determined for the purpose of starting a track correction from the standard track NT to the first avoidance track AT1 at an appropriate distance with respect to the avoidance travel section Xa. This corresponds to the time from the start of the trajectory correction from the trajectory NT to the first avoidance trajectory AT1 until the time of entering the avoidance travel zone Xa. If the predicted time Tst is too short, the trajectory correction timing is delayed, so the driver feels anxiety due to the approach of the object M1, and if the predicted time Tst is too long, the trajectory correction timing is performed at an early stage. You may feel uneasy because you cannot understand the cause of the correction.
  • the prediction time Tst was determined from this verification result.
  • the predicted time Tst is stored in advance in the storage device of the controller 6B.
  • the condition determination unit 61 determines whether or not the host vehicle M0 exists in the avoidance travel zone Xa within the prediction period. Specifically, the condition determination unit 61 determines whether or not there is an overlapping section between the prediction section Xp and the avoidance travel section Xa. It is determined that the host vehicle M0 exists in the avoidance travel zone Xa. The condition determination unit 61 determines that the host vehicle M0 does not exist in the avoidance travel section Xa within the prediction period when there is no overlapping section between the prediction section Xp and the avoidance travel section Xa.
  • (I) There is a speed difference between one object M2 and another object M1 existing in the adjacent lane L1, and the one object M2 is moving so as to approach the other object M1
  • the own vehicle M0 exists in the avoidance travel section Xa within the avoidance travel period Ta (iii)
  • the own vehicle M0 exists in the avoidance travel section Xa within the prediction period
  • the condition determination unit 61 determines that the first avoidance condition is not satisfied and does not change the flag F when any of the above three conditions (i) to (iii) is not satisfied.
  • FIG. 6 and 7 are diagrams showing the relationship between the relative position (distance) of the object M1 relative to the host vehicle M0 and the relative position (distance) of the object M2 relative to the host vehicle M0 over time.
  • the horizontal axis indicates the passage of time
  • the vertical axis indicates the relative positions of the objects M1 and M2 with respect to the host vehicle M0.
  • the upward direction (positive) in the vertical axis represents the front of the host vehicle M0
  • the downward direction (negative) in the vertical axis represents the rear of the host vehicle M0.
  • FIG. 6 shows an example in which the trajectory correction to the first avoidance trajectory AT1 is performed
  • FIG. 7 shows an example in which the trajectory correction to the first avoidance trajectory AT1 is not performed.
  • the prediction period and the avoidance travel period Ta overlap, and the position of the host vehicle M0 is within the avoidance travel section Xa within the prediction period. For this reason, in the state of FIG. 6B, the target trajectory is set to the first avoidance trajectory AT1. That is, the avoidance operation by the trajectory correction is performed.
  • the position of the host vehicle M0 is within the avoidance travel section within the prediction period. For this reason, in the state of FIG. 6C, the target trajectory remains set to the first avoidance trajectory AT1. That is, the host vehicle M0 continues to travel along the first avoidance track AT1.
  • FIG. 8 is a flowchart showing the operation of the trajectory determination control process by the controller 6B constituting the travel support apparatus according to the second embodiment of the present invention
  • FIG. 9 shows the operation of the advance avoidance determination process shown in FIG. It is the shown flowchart.
  • the flowchart in FIG. 8 is obtained by adding the advance avoidance determination process in step S200 between step S145 and step S150 in the flowchart in FIG. If it is determined in step S145 that the relative speed Vr is equal to or higher than Vrt, the process proceeds to step S200, and a preliminary avoidance determination process is executed.
  • step S210 the controller 6B is based on information on the relative speed and relative position of each object M1, M2 with respect to the host vehicle M0 acquired in step S110.
  • the avoidance travel period Ta of the object M2 traveling in the adjacent lane L1 is estimated, and the process proceeds to step S220.
  • step S220 the controller 6B estimates the avoidance travel zone Xa and proceeds to step S230.
  • step S230 the controller 6B estimates the position of the host vehicle in the avoidance travel period Ta, that is, the avoidance predicted travel section Xb, and proceeds to step S240.
  • step S240 the controller 6B determines whether or not the host vehicle M0 exists in the avoidance travel section Xa within the avoidance travel period Ta. If a positive determination is made in step S240, the process proceeds to step S250, and if a negative determination is made in step S240, the process returns to step S110.
  • step S250 the controller 6B estimates the position of the host vehicle M0 within the prediction period, that is, the prediction section Xp, and proceeds to step S260.
  • step S260 the controller 6B determines whether or not the host vehicle M0 exists in the avoidance travel zone Xa within the prediction period. If a positive determination is made in step S260, the process proceeds to step S150, and if a negative determination is made in step S260, the process returns to step S110.
  • FIGS. 10 and 11 are diagrams illustrating an example in which the host vehicle M0 corrects the track from the standard track NT to the first avoidance track AT1.
  • FIGS. 10 (a), 10 (b), 11 (a), and 11 (b) the predicted positions of the host vehicle M0 and the object M2 every 2 seconds from the present time are schematically shown.
  • FIGS. 10 and 11 hatched host vehicle M0 and object M2 indicate the positions of host vehicle M0 and object M2 at the present time.
  • the own vehicle M0 and the object M2 whose outlines are indicated by thick solid lines indicate predicted positions in a state where the own vehicle M0 and the object M2 are closest to each other.
  • the own vehicle M0 and the object M2 whose outlines are represented by thin solid lines are shown at predetermined intervals (for example, every 2 seconds) within the prediction period (the period from the current time to the predicted time (for example, 10 seconds)). The predicted position is shown.
  • FIG. 10B, FIG. 11A, and FIG. 11B show the vehicle M0 and the object in the state in which 2 seconds have elapsed from the state in FIG. It is a figure which shows the position of M1 and the object M2.
  • the host vehicle M0 enters the avoidance travel zone Xa after about 12 seconds and approaches the object M1 most after about 16 seconds. That is, since the avoidance travel section Xa and the avoidance predicted travel section Xb overlap, it is determined that the host vehicle M0 exists in the avoidance travel section Xa within the avoidance travel period Ta (Yes in step S240). However, in the state shown in FIG. 10A, the predicted section Xp, which is the travel section of the host vehicle M0 within the prediction period, does not overlap with the avoidance travel section Xa, and therefore the host vehicle M0 is avoided during the prediction period. It is determined that the vehicle does not exist in the travel section Xa (No in step S260). For this reason, the trajectory correction to the first avoidance trajectory is not performed, and the host vehicle M0 travels along the standard trajectory NT.
  • the host vehicle M0 enters the avoidance travel zone Xa after about 10 seconds. That is, there is an overlapping section Xd in which the predicted section Xp and the avoidance traveling section Xa overlap. For this reason, it is determined that the host vehicle M0 exists in the avoidance travel section Xa within the prediction period (Yes in step S260), and the target trajectory is set to the first avoidance trajectory AT1 (steps S150 and S155).
  • the steering controller 8 is controlled by the steering control unit 7, and as shown in FIG. 11A, the host vehicle M0 changes to the first avoidance trajectory AT1. Then, as shown in FIG. 11B, the host vehicle M0 travels along the first avoidance track AT1.
  • FIG. 12 is a diagram for explaining an example in which the host vehicle M0 does not correct the track from the standard track NT to the first avoidance track AT1.
  • the predicted position of self-vehicle M0 and object M2 for every 2 second passage from the present time is shown typically.
  • FIG. 12B is a diagram illustrating the positions of the host vehicle M0, the object M1, and the object M2 after 6 seconds have elapsed from the state of FIG.
  • the own vehicle M0 and the object M2 that are hatched indicate the positions of the own vehicle M0 and the object M2 at the present time.
  • the host vehicle M0 enters the avoidance travel section Xa after 16 seconds, but the object M2 has already finished the avoidance travel operation after 16 seconds.
  • the predicted avoidance travel section Xb indicating the position of the host vehicle M0 after 2 seconds to 12 seconds after the avoidance travel period does not overlap with the avoidance travel section Xa, and the own vehicle M0 avoids the avoidance travel period Ta. It is determined that the vehicle does not exist in the travel section Xa (No in step S240).
  • the avoidance operation of the object M2 ends at a position away from the front of the host vehicle M0, as shown in FIG. 12B, even if the prediction section Xp and the avoidance travel section Xa overlap, The trajectory correction to the first avoidance trajectory AT1 is not performed.
  • the first travel control is executed when the position of the host vehicle M0 within the prediction period is within the avoidance travel section Xa.
  • the travel support apparatus according to the third embodiment has the same configuration as the travel support apparatus according to the second embodiment (see FIGS. 1 and 4).
  • a controller 6C is provided instead of the controller 6B (see FIG. 4) described in the second embodiment.
  • FIG. 13 is a functional block diagram of the controller 6C of the travel support apparatus according to the third embodiment of the present invention.
  • the controller 6C includes a trajectory setting unit 60, a condition determination unit 61, a relative speed calculation unit 62, a lateral speed calculation unit 63, an avoidance travel period estimation unit 64B, an avoidance travel section estimation unit 65B, and a host vehicle position estimation unit 66B.
  • a deceleration avoidance control unit 67C is functionally provided.
  • the graph on the upper side of FIG. 14 is the same graph as FIG. 6, and the relationship between the relative position (distance) of the object M1 with respect to the host vehicle M0 and the relative position (distance) of the object M2 with respect to the host vehicle M0 over time.
  • FIG. In the figure, the characteristic when the vehicle is decelerated is indicated by a solid line, and the characteristic when the vehicle is not decelerated is indicated by a broken line.
  • a graph of the relative speeds of the objects M1 and M2 with respect to the host vehicle M0 is shown. When the moving direction of the object is opposite to the host vehicle M0, the relative speed is negative when approaching the host vehicle M0 and is positive when the object moves away from the host vehicle M0.
  • the deceleration avoidance control unit 67C determines the deceleration vehicle speed Vd for the position of the host vehicle M0 estimated by the host vehicle position estimation unit 66B to be located outside the avoidance travel zone Xa estimated by the avoidance travel zone estimation unit 65B. To do. That is, the deceleration avoidance control unit 67C calculates the vehicle speed such that the position of the host vehicle M0 is positioned before the avoidance travel zone Xa when the avoidance operation of the object M2 ends.
  • the time for traveling at the deceleration vehicle speed Vd (hereinafter referred to as the low speed traveling period TL) can be set to an arbitrary value and an arbitrary timing (trs to tre).
  • the deceleration avoidance control unit 67C determines whether or not a deviation ⁇ V between the deceleration vehicle speed Vd and the current actual vehicle speed Va detected by the vehicle speed detection device 3 is equal to or less than a threshold value ⁇ Vt.
  • the threshold value ⁇ Vt is stored in advance in the storage device of the controller 6C.
  • the deceleration avoidance control unit 67C sets the deceleration vehicle speed Vd as the target vehicle speed instead of the set vehicle speed Vs.
  • the controller 6C When the target vehicle speed is set to the deceleration vehicle speed Vd, the controller 6C outputs a vehicle speed command value representing the deceleration vehicle speed Vd to the brake control unit 9 and the engine control unit 11, and the brake control unit 9 and the engine control unit 11 automatically
  • the actual vehicle speed Va of the vehicle M0 is adjusted to be the deceleration vehicle speed Vd.
  • the deceleration avoidance control unit 67C does not correct the target vehicle speed. For this reason, a vehicle speed command value indicating the target vehicle speed set by the setting switch 5 is output from the controller 6C to the brake control unit 9 and the engine control unit 11, and the vehicle speed of the host vehicle M0 is determined by the brake control unit 9 and the engine control unit 11. The vehicle speed is adjusted to the set vehicle speed Vs.
  • FIG. 15 is a flowchart showing the operation of the advance avoidance determination process by the controller 6C constituting the travel support apparatus according to the third embodiment.
  • the flowchart of FIG. 15 is obtained by adding the processes of steps S370, S380, and S390 after step S260 of the flowchart of FIG.
  • step S370 the controller 6C determines a deceleration vehicle speed Vd for positioning outside the avoidance travel zone Xa, and proceeds to step S380.
  • step S380 the controller 6C determines whether or not a value ⁇ V obtained by subtracting the deceleration vehicle speed Vd from the actual vehicle speed Va is equal to or less than a threshold value ⁇ Vt. If an affirmative determination is made in step S380, the process proceeds to step S390, and if a negative determination is made in step S380, the process proceeds to step S150.
  • Step S390 the controller 6C sets the deceleration vehicle speed Vd as the target vehicle speed, and returns to Step S110.
  • the target vehicle speed is set by the setting switch 5 when the low-speed traveling period TL elapses from when the deceleration vehicle speed Vd is set to the target vehicle speed.
  • the set vehicle speed Vs is set.
  • the deceleration vehicle speed Vd is determined so that the position of the host vehicle M0 in the avoidance travel period Ta is located outside the avoidance travel section Xa.
  • the host vehicle M0 is set so that the vehicle speed of the host vehicle M0 becomes the deceleration vehicle speed Vd regardless of the set vehicle speed Vs set by the setting switch 5.
  • the vehicle speed of the host vehicle M0 is adjusted again based on the set vehicle speed Vs after a predetermined time has elapsed. For this reason, according to 3rd Embodiment, in addition to the effect of 2nd Embodiment, there exists the following effect.
  • the driving support apparatus according to the fourth embodiment has the same configuration as the driving support apparatus according to the second embodiment (see FIGS. 1 and 4).
  • a controller 6D is provided instead of the controller 6B (see FIG. 4) described in the second embodiment.
  • FIG. 16 is a functional block diagram of the controller 6D of the travel support apparatus according to the fourth embodiment of the present invention.
  • the controller 6D is in addition to the track setting unit 60, the condition determination unit 61, the relative speed calculation unit 62, the lateral speed calculation unit 63, the avoidance travel period estimation unit 64B, the avoidance travel period estimation unit 65B, and the host vehicle position estimation unit 66B.
  • the avoidance amount adjusting unit 68D and the deceleration amount adjusting unit 69D are functionally provided.
  • the avoidance amount adjustment unit 68D adjusts the avoidance amount of the host vehicle M0, that is, the correction amount from the standard track NT to the first avoidance track AT1.
  • FIG. 17 is a diagram for explaining the avoidable width (maximum value of the avoidance amount) of the host vehicle
  • FIG. 18 is a diagram for explaining a method for determining the avoidance amount. For convenience of explanation, an example in which there are two objects in the adjacent lane L1 will be described.
  • the target track is set at the center of the own lane L0.
  • region width which the own vehicle M0 can pass becomes the width
  • the amount of avoidance increases when the object M2 performs an avoidance operation such as overtaking in the adjacent lane L1, and the avoidance amount increases as the vehicle approaches the center line C of the road, and further avoids when the object M2 protrudes from the adjacent lane L1. It is preferable to increase the amount.
  • the avoidance amount characteristic NA is stored in advance in the storage device of the controller 6D.
  • the horizontal axis of FIG. 18 represents the road non-occupancy rate a of the object M1 for the object M2, and is represented by Expression (6).
  • a (Wrb ⁇ W1) / W2 (6)
  • W1 is the width of the object M1
  • W2 is the width of the object M2.
  • Wrb is the width of the adjacent lane L1.
  • the object M2 can avoid the overtaking in the adjacent lane L1 without overhanging from the road center line C to the own lane L0 when overtaking. It means that.
  • the object M2 will pass if it does not protrude from the road center line C to the own lane L0 during an avoidance operation such as passing. Means you can't.
  • the vertical axis in FIG. 18 represents the correction amount of the first avoidance track AT1 relative to the standard track NT, that is, the avoidance amount Da in the lateral direction of the host vehicle M0 (in this embodiment, avoidance in the direction orthogonal to the traveling direction of the host vehicle M0). Represents the quantity Da).
  • the avoidance amount Da for the road non-occupancy rate a is determined in advance from experiments, simulations, and the like.
  • the avoidance amount Da increases as the road non-occupancy rate a decreases from k1.
  • k1 is arbitrarily set in consideration of a safety margin. Note that k1 is a value larger than 1 (k1> 1).
  • the coefficient k2 can be arbitrarily set to a numerical value greater than 0 and less than or equal to 1 (0 ⁇ k2 ⁇ 1).
  • the hatched portion represents a shortage with respect to the necessary avoidance amount.
  • the necessary avoidance amount Da is Da (e).
  • Da (e) is larger than the avoidance limit Dx
  • the shortage Db (e) of the avoidance amount is a value obtained by subtracting the avoidance limit Dx from the necessary avoidance amount Da (e).
  • the deceleration amount adjustment unit 69D determines the vehicle speed correction value dV based on the shortage Db of the avoidance amount.
  • the vehicle speed correction value dV is expressed by Expression (7).
  • dV Da * k3 + Db * k4 (7)
  • k3 and k4 are arbitrary coefficients, respectively.
  • a value obtained by subtracting the vehicle speed correction value dV from the set vehicle speed Vs is the target vehicle speed.
  • the vehicle speed correction value dV increases as the avoidance amount Da increases. Further, as shown in the second term on the right side of Equation (7), the vehicle speed correction value dV increases as the avoidance amount deficiency Db increases.
  • the coefficient k3 of the first term on the right side is set to a value larger than 0.
  • the host vehicle M0 can be decelerated along with the correction of the track to the first avoidance track AT1 according to the avoidance amount Da.
  • the amount of deceleration can be adjusted by the coefficient k3.
  • the avoidance amount is set to the avoidance limit Dx, and the vehicle speed correction value dV is determined by Expression (7). Is done.
  • the host vehicle M0 can be decelerated while correcting the track to the first avoidance track AT1 according to the avoidance limit Dx.
  • the vehicle speed correction value dV is determined so that the position of the host vehicle M0 in the avoidance travel period Ta is located outside the avoidance travel section Xa.
  • the correction amount of the first avoidance track AT1 is adjusted based on the remaining width (Wrb-W1) narrowed by the object M1 in the width Wrb of the adjacent lane L1 and the vehicle width W2 of the object M2.
  • the host vehicle M0 When traveling along the first avoidance track AT1 is not possible, the host vehicle M0 is decelerated according to the shortage of the correction amount of the first avoidance track AT1. Thereby, while the operation given by the driver to the own vehicle M0 can be simulated, even when the avoidance amount of the own vehicle M0 cannot be sufficiently secured, the distance from the object M2 can be sufficiently increased by decelerating the own vehicle M0. In the secured state, it can pass the object M2.
  • Modification 1 In the above-described embodiment, when the object M1 that is an oncoming vehicle traveling on the oncoming lane toward the own vehicle M0 passes the object M2 that is oncoming vehicle on the oncoming lane toward the own vehicle M0, although the example in which the target track of M0 is set to the first avoidance track AT1 or the second avoidance track AT2 has been described, the present invention is not limited to this.
  • FIG. 19 is a diagram for explaining the traveling direction of the host vehicle M0 and the objects M1 and M2.
  • FIG. 19A is an example similar to the above-described embodiment, in which the moving direction of the host vehicle M0 and the one object M2 is opposite, and the moving direction of the one object M2 and the other object M1. Are in the same direction.
  • FIG. 19B shows a case where the moving direction of the host vehicle M0 and the one object M2 is the reverse direction, and the moving direction of the one object M2 and the other object M1 is the reverse direction.
  • FIG. 19C shows a case where the moving direction of the own vehicle M0 and the one object M1 is the same direction, and the moving directions of the one object M1 and the other object M2 are the same direction.
  • FIG. 19D shows a case where the moving direction of the host vehicle M0 and the one object M1 is the same direction, and the moving directions of the one object M1 and the other object M2 are opposite directions.
  • the own lane L0 and the adjacent lane L1 are partitioned by a roadway center line C
  • the adjacent lane L1 is an oncoming lane
  • the object M2 is an oncoming vehicle.
  • the object M1 is an obstacle for the object M2.
  • the own lane L0 and the adjacent lane L1 are divided by the lane boundary line B
  • the adjacent lane L1 is a parallel lane
  • the object M1 is running in parallel.
  • the vehicle, the object M2 is an obstacle for the object M1.
  • FIG. 19B and FIG. 19D show a case where an object serving as an obstacle travels backward.
  • the present invention is configured such that the trajectory can be corrected to the first avoidance trajectory AT1 and the second avoidance trajectory AT2 in each situation shown in FIGS. 19 (a) to 19 (d).
  • the avoidance travel period estimation unit 64B sets the travel period required for one object M2 to pass the other object M1 as the avoidance travel period Ta.
  • the avoidance travel section estimation unit 65B estimates the travel section required for one object M2 to overtake the other object M1 as the avoidance travel section Xa.
  • the avoidance travel period estimation unit 64B sets the travel period required for one object M1 to pass the other object M2 as the avoidance travel period.
  • the avoidance travel zone estimation unit 65B estimates the travel zone required for one object M1 to pass the other object M2 as the avoidance travel zone Xa.
  • the avoidance travel period estimation unit 64B estimates the travel period required for one object M2 to pass another object M1 as the avoidance travel period Ta, A travel section required for one object M2 to pass another object M1 is estimated as an avoidance travel section Xa.
  • the avoidance travel period estimation unit 64B estimates the travel period required for one object M1 to pass another object M2 as the avoidance travel period Ta.
  • a travel section required to pass another object M2 is estimated as an avoidance travel section Xa.
  • the trajectory correction can be performed on the first avoidance trajectory AT1 corrected by a predetermined correction amount so that the host vehicle M0 is separated from the object M1.
  • FIGS. 19A to 19D the example in which the obstacle object is traveling has been described. Similarly, when the obstacle object is stopped, the avoidance traveling period and the avoidance traveling are the same. A section can be set.
  • the relative speed Vr of the object M i + 1 having the larger number with respect to the object M i having the smaller number is calculated between the objects having consecutive numbers.
  • the relative velocity Vr of the object may be calculated to determine whether or not the trajectory correction to the first avoidance trajectory is to be performed.
  • the means for detecting the relative speed and relative position of the object ahead of the host vehicle M0 with respect to the host vehicle M0 is not limited to the radar 1 described above. You may utilize the camera apparatus 2 comprised with a stereo camera.
  • the image processing unit of the camera device 2 identifies an object existing in front of the host vehicle M0, such as a person, a bicycle, a motorcycle, or an automobile, and acquires a relative speed from the size, the relative position with respect to the host vehicle M0, and the time change thereof. be able to.
  • the example in which the camera device 2 is configured by a stereo camera has been described, but the present invention is not limited to this. It may be composed of a single camera (monocular), or a combination of a single camera and a stereo camera or radar detects the relative position or relative speed of an object ahead of the host vehicle M0 with respect to the host vehicle M0. May be.
  • the prediction time Tst is a constant value, but the present invention is not limited to this.
  • the predicted time Tst may be changed according to the relative speed of the object M2 with respect to the host vehicle M0.
  • the present invention is not limited to the above-described embodiments, and other forms conceivable within the scope of the technical idea of the present invention are also included in the scope of the present invention. .

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