WO2016110731A1 - Dispositif de réglage de distance de point de fixation vers l'avant et dispositif de commande de déplacement - Google Patents

Dispositif de réglage de distance de point de fixation vers l'avant et dispositif de commande de déplacement Download PDF

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Publication number
WO2016110731A1
WO2016110731A1 PCT/IB2015/001079 IB2015001079W WO2016110731A1 WO 2016110731 A1 WO2016110731 A1 WO 2016110731A1 IB 2015001079 W IB2015001079 W IB 2015001079W WO 2016110731 A1 WO2016110731 A1 WO 2016110731A1
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Prior art keywords
distance
vehicle
target
gazing point
forward gazing
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PCT/IB2015/001079
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English (en)
Japanese (ja)
Inventor
正康 島影
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日産自動車株式会社
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Application filed by 日産自動車株式会社 filed Critical 日産自動車株式会社
Priority to JP2016568152A priority Critical patent/JP6365688B2/ja
Publication of WO2016110731A1 publication Critical patent/WO2016110731A1/fr

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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
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles

Definitions

  • the present invention relates to a forward gaze distance setting device and a travel control device. More specifically, the present invention relates to a forward gazing point distance setting device that sets a forward gazing point distance that determines a target traveling position for traveling control, and a traveling control device that includes the forward gazing point distance setting device.
  • Patent Document 1 discloses a technique for setting a longer forward gazing distance that determines a target travel position for steering control as the amount of offset from the vehicle travel center position increases.
  • Patent Document 2 discloses a technique for setting a shorter forward gazing distance as the radius of curvature of the traveling path is smaller.
  • An object of the present invention is to provide a vehicular travel control device capable of achieving both avoidance of approach to a travel path boundary and reduction of uncomfortable feeling given to a driver.
  • a forward gazing distance setting device as one aspect of the present invention is a device that sets a forward gazing distance for setting a target traveling position on a traveling road ahead of the host vehicle, and a target forward gazing distance calculation unit. And a forward gaze distance determining unit.
  • the target forward gazing distance calculation unit sets a target forward gazing distance according to the vehicle speed.
  • the forward gazing distance determination unit is configured to determine a first distance from a vehicle position to a contact point of a tangent line to the travel route boundary line, and a first distance from the vehicle position to the intersection of the vehicle travel direction and the travel route boundary line. When at least one of the two distances is shorter than the target forward gazing point distance, the front gazing point distance is set to be shorter than the target forward gazing point distance.
  • the first distance from the own vehicle position to the contact point of the tangent line to the travel path boundary line, or the second distance from the own vehicle position to the intersection of the own vehicle traveling direction and the travel path boundary line is a target corresponding to the vehicle speed. If it is shorter than the forward gazing distance, setting the forward gazing distance to a distance shorter than the target forward gazing distance according to the vehicle speed can avoid the approach to the road boundary line, and in other cases Then, the uncomfortable feeling given to the driver can be reduced without unnecessarily shortening the forward gaze distance. As a result, it is possible to achieve both the avoidance of approach to the road boundary and the reduction of the uncomfortable feeling given to the driver.
  • FIG. 3 is a control block diagram of a control unit of the vehicle travel control apparatus according to the first embodiment.
  • the flowchart which shows the flow of the traveling control process performed with the control unit of the traveling control apparatus for vehicles which concerns on 1st Embodiment.
  • the schematic diagram which shows the calculation method of the contact on the left road boundary line which concerns on 1st Embodiment.
  • the schematic diagram which shows each parameter and control method of the traveling control performed with the control unit of the traveling control apparatus for vehicles which concerns on 1st Embodiment.
  • the flowchart which shows the flow of the traveling control process performed with the control unit of the traveling control apparatus for vehicles which concerns on 2nd Embodiment.
  • the schematic diagram which shows each parameter and control method of the traveling control performed with the control unit of the traveling control apparatus for vehicles which concerns on 2nd Embodiment.
  • the flowchart which shows the flow of the traveling control process performed with the control unit of the traveling control apparatus for vehicles which concerns on 3rd Embodiment.
  • the schematic diagram which shows each parameter and control method of the traveling control performed with the control unit of the traveling control apparatus for vehicles which concerns on 3rd Embodiment.
  • the travel control device 10 includes a radar 20, a camera 30, a vehicle speed sensor 40, a navigation system 50, a control unit 60, and a travel control actuator 70.
  • a running state sensor that detects the running state of the host vehicle (for example, acceleration, yaw angle, etc.) and the operating state of the host vehicle (accelerator operation, brake operation, steering wheel operation (steering), etc.)
  • the operation state detection sensor which detects this is provided.
  • the radar 20 detects the presence, position (distance and angle from the host vehicle), speed, and relative speed with respect to the host vehicle.
  • the radar 20 As the radar 20, a laser radar, a millimeter wave radar, or the like can be used. Further, the radar 20 outputs the detected data to the control unit 60. As the radar 20, a well-known radar may be used as appropriate, and therefore a detailed description of the configuration is omitted.
  • the camera 30 is attached to the front or side of the host vehicle and captures an image around the host vehicle. For example, the camera 30 images a road segment line or an obstacle on the route.
  • the camera 18 includes, for example, an image sensor such as a charge coupled device (CCD) or a complementary metal-oxide semiconductor (CMOS). The camera 30 outputs the captured image to the control unit 60.
  • CCD charge coupled device
  • CMOS complementary metal-oxide semiconductor
  • the vehicle speed sensor 40 is a sensor that detects the vehicle speed of the host vehicle. Examples of the vehicle speed sensor 40 include a wheel speed sensor that detects the traveling speed of the vehicle by detecting the rotational speed of each wheel of the host vehicle. Further, the vehicle speed sensor 40 outputs the detected speed to the control unit 60. As the vehicle speed sensor 40, a well-known vehicle speed sensor, acceleration sensor, and yaw angle sensor may be used.
  • the navigation system 50 receives a GPS signal from a GPS (Global Positioning System) satellite.
  • GPS Global Positioning System
  • the navigation system 50 also includes a gyroscope that detects the magnitude of the rotational motion applied to the vehicle, an acceleration sensor that detects the travel distance of the vehicle from three-axis acceleration, and a geomagnetic sensor that detects the traveling direction of the vehicle from the geomagnetism. Etc. may be provided.
  • the navigation system 50 stores map information in a recording medium such as a hard disk. This map information includes information on the location and shape of roads and intersections, traffic rules including traffic signs and signals, and the like. Further, the map information may define a travelable area of the vehicle in the lane on the road.
  • the navigation system 50 detects the position of the host vehicle, the direction with respect to the road, and the like based on the GPS signal from the GPS satellite and the map information.
  • the navigation system 50 searches for a route from the departure point to the destination according to the input of the departure point (or current location) and the destination, and uses the searched route and the position information of the own vehicle to reach the destination. The guidance of the route is performed. Further, the navigation system 50 outputs the searched route to the control unit 60 together with the map information. Since a known navigation system may be used as the navigation system 50, a detailed description of the configuration is omitted.
  • the travel control actuator 70 includes an acceleration / deceleration actuator for accelerating / decelerating the host vehicle and a steering actuator for adjusting a steering angle. The travel control actuator 70 operates the acceleration / deceleration actuator and the steering actuator based on the travel control amount transmitted from the control unit 60 to control the travel of the host vehicle.
  • the travel control actuator 70 a known travel control actuator may be used, and thus a detailed description of the configuration is omitted.
  • the control unit 60 performs various calculations based on various information detected by the radar 20, the camera 30, the vehicle speed sensor 40, and the navigation system 50, and sends a control signal corresponding to the calculation result to the travel control actuator 70. By outputting, vehicle steering control (an example of travel control) is performed.
  • vehicle steering control an example of travel control
  • the control unit 60 is formed as an integrated computer including storage means such as a CPU, RAM, ROM, and hard disk.
  • the control unit 60 sets a target travel position (front gaze point) separated by a front gaze distance in front of the host vehicle on the travel path so as to travel on the target travel line of the host vehicle.
  • FIG. 2 is a control block diagram of the control unit 60 according to the first embodiment.
  • the control unit 60 includes a target travel line setting unit 61, a vehicle speed detection unit 62, a target travel position setting unit 63, a forward gaze distance setting unit 64, and a steering control unit 65, and performs the following travel control. To do.
  • the target travel line setting unit 61 sets a target route based on the map information obtained from the navigation system 50 and the vehicle position information.
  • the “target route” is different from the concept of a traveling route (direction) from the departure point to the destination set by the navigation system 50.
  • the target route defines how the host vehicle travels on the travel route on the set travel route, that is, the behavior of the vehicle.
  • Information included in the target route includes a target vehicle speed, a target acceleration, a target steering angle, and the like in addition to the target travel line on the travel route.
  • the vehicle speed detector 62 detects the vehicle speed (vehicle speed) V of the host vehicle based on the signal from the vehicle speed sensor 40.
  • the method for detecting the vehicle speed V is arbitrary. For example, the average value of the wheel speeds of the four wheels and the average value of the wheel speeds of the left and right rear wheels that are driven wheels may be used as the vehicle speed V.
  • the target travel position setting unit 63 calculates a position on the target travel line that is a distance from the forward gazing point distance X from the host vehicle as the target travel position TP.
  • the forward gazing point distance setting unit 64 constitutes the forward gazing point distance setting device according to this embodiment, and sets the forward gazing point distance X based on the map information obtained from the navigation system 50 and the vehicle speed V. . That is, the forward gazing point distance setting unit 64 includes a target forward gazing point distance calculation unit and a forward gazing point distance determination unit.
  • the steering control unit 65 calculates a target curve connecting the host vehicle position and the target travel position TP, calculates a steering control amount for the left and right front wheels based on the target curve, and calculates a travel control actuator based on the calculated steering control amount. 70 is driven.
  • FIG. 3 is a flowchart showing a flow of a traveling control process executed by the control unit 60 of the traveling control apparatus according to the first embodiment. Apart from the control flow shown in FIG. 3, the target travel line setting unit 61 sets a target travel line (target route) based on map information and the like. Further, the target travel line may be configured such that the start point to the end point of the route are divided into a plurality of sections and updated for each section as the host vehicle travels along each section. The control flow shown in FIG.
  • step S11 the forward gazing point distance setting unit 64 reads the left road boundary coordinates and the right road boundary coordinates of the traveling road on which the host vehicle is traveling from the map information acquired from the navigation system 50.
  • the left and right road boundary line coordinates correspond to the coordinates of the left and right boundary lines of the lane that is the travel path on which the host vehicle is traveling.
  • the left and right road boundary coordinates are detected.
  • the vehicle speed detection unit 62 reads the vehicle speed V of the host vehicle.
  • the forward gazing point distance setting unit 64 calculates a forward gazing point distance candidate x1 (target forward gazing point distance) based on the vehicle speed V detected in step S12.
  • the process of step S13 in the forward gazing point distance setting unit 64 corresponds to the target forward gazing point distance calculation unit.
  • the forward gazing point distance candidate x1 corresponding to the vehicle speed V is obtained by multiplying the vehicle speed V by a predetermined time constant. Accordingly, the forward gazing point distance candidate x1 corresponding to the vehicle speed is set to a larger value as the vehicle speed is higher, that is, a distance farther from the vehicle.
  • the forward gazing point distance setting unit 64 calculates a forward gazing point distance candidate x2 corresponding to the contact point on the left road boundary line.
  • the contact point on the left road boundary is the tangent drawn from the reference point (for example, the center point) of the own vehicle to the left road boundary within the predetermined distance and the predetermined angle range in front of the own vehicle and the left road boundary. It is a line contact.
  • step S14 first, it is determined whether a tangent line from the reference point of the host vehicle to the left road boundary line exists within a predetermined distance and a predetermined angle range in front of the host vehicle. For example, a method of calculating the forward gazing point distance candidate x2 corresponding to the contact point on the left road boundary line in the present embodiment will be described with reference to FIG.
  • the forward traveling direction is the positive x-axis direction
  • the left side direction of the vehicle is the positive y-axis direction
  • a predetermined distance and a predetermined angular range in front of the host vehicle Select n arbitrary points on the left road boundary in the 1 (X 1 , Y 1 ), P 2 (X 2 , Y 2 ) ... P n (X n , Y n ).
  • the predetermined distance range and the predetermined angle range in front of the host vehicle for extracting an arbitrary point are not particularly limited.
  • the predetermined distance range in front of the host vehicle is preferably a distance corresponding to the forward gaze distance candidate x1 corresponding to at least the vehicle speed V set in step S13. That is, the forward gazing point distance setting unit 64 does not have a tangent contact point from the own vehicle position to the traveling road boundary line within a range corresponding to the forward forward gazing point distance candidate x1 from the own vehicle position on the traveling road. In this case, it is determined that the distance (first distance) from the vehicle position to the contact point of the tangent to the road boundary line is equal to or more than the forward gaze distance candidate x1 corresponding to the vehicle speed.
  • the predetermined angle range in front of the host vehicle can be, for example, an angle range of 180 ° on the vehicle front side from the left lateral direction to the right lateral direction of the vehicle centering on the reference point of the host vehicle. In the example of FIG.
  • this slope m n Decreases as the distance from the host vehicle decreases, reaches a minimum value at a contact point or a point P in the vicinity of the contact point, and then increases as the position of the point further moves away from the host vehicle. Therefore, a plurality of points P 1 ⁇ P n Of the points P corresponding to this change point (minimum value) min A straight line passing through the vehicle is regarded as a tangent line from the reference point (origin point) of the host vehicle to the left road boundary line. min Is regarded as a contact point P on the left road boundary line.
  • the “contact” used in this specification includes not only a true contact but also an approximate value of the contact and a value according to the contact.
  • the slope of the straight line becomes smaller toward 5 To minimize the slope.
  • point P 5 To point P 7 The slope of the straight line increases toward. Therefore, in the example of FIG. 5 Is the change point (minimum value), and this point P 5 Can be regarded as a contact point P on the left road boundary line.
  • point P 5 Is set as the forward gazing point distance candidate x2.
  • the number (n) of points P extracted to determine whether a tangent line exists is not particularly limited as long as it is a number that can identify the change point of the slope.
  • the forward gazing point distance candidate x2 has a null value. For example, when the traveling road within a predetermined distance and a predetermined angle range ahead of the host vehicle is a straight road, there is no tangent to the left / right road boundary line.
  • step S15 the forward gazing point distance setting unit 64 calculates a forward gazing point distance candidate x3 corresponding to the contact point on the right road boundary line.
  • the contact point calculation method shown in FIG. 4 since the sign of the y coordinate is negative for the point on the right road boundary line, the changing point at which the inclination is maximum is specified. Since other processes are the same as those in step S14, description thereof is omitted.
  • step S16 the forward gaze distance setting unit 64 sets the minimum value among the forward gaze distance candidates x1, x2, and x3 obtained in steps S13 to S15 as the front gaze distance X.
  • the process of step S16 in the forward gazing point distance setting unit 64 corresponds to the forward gazing point distance determination unit. That is, the forward gazing point distance setting unit 64 has a distance x2 from the own vehicle position to the contact point of the tangent line to the left traveling road boundary line and a distance x3 from the own vehicle position to the contact point of the tangent line to the right traveling road boundary line.
  • the front gazing point distance setting unit 64 sets the front gazing point distance to a distance corresponding to the first distance when the first distance is shorter than the target front gazing point distance.
  • the target travel position setting unit 63 calculates, as the target travel position TP, a position on the target travel line that is away from the front gaze distance X from the host vehicle based on the front gaze distance X set in step S16. To do.
  • the reference point of the host vehicle is the origin (0, 0)
  • the forward traveling direction is the x-axis positive direction
  • the left side of the vehicle is the y-axis positive direction.
  • the target travel position TP is calculated by substituting the value of the x coordinate into a function indicating the target travel line.
  • the target travel position TP can be obtained by substituting the value of the x coordinate into this function.
  • the method for calculating the target travel position TP corresponding to the forward gazing point distance X is not limited to this method.
  • a perpendicular line may be drawn from the contact point P to the target travel line, and the intersection of the target travel line and the perpendicular line may be determined as the target travel position TP, or forward from the reference point in the forward traveling direction of the vehicle (on the x axis).
  • a perpendicular line may be drawn to the target travel line from a point separated by the gazing point distance X (point of coordinates (X, 0)), and the intersection of the target travel line and the perpendicular may be determined as the target travel position TP.
  • step S18 the steering control unit 65 calculates a target curve that connects the host vehicle position and the target travel position TP with a constant curvature, and calculates a steering control amount for the left and right front wheels according to the target curve. Then, the travel control actuator 70 is driven based on the calculated steering control amount. At this time, the steering control amount that passes on the target curve may be calculated, but a torque sensor is provided on the steering shaft to detect the driver's steering intervention, and at the time of steering intervention, the steering control amount is set to zero, A steering torque that guides the driver's steering operation to the turning angle of the left and right front wheels that pass on the target curve may be applied.
  • FIG. 1 A steering torque that guides the driver's steering operation to the turning angle of the left and right front wheels that pass on the target curve may be applied.
  • FIG. 5 shows the vehicle position, the target travel line, the left / right road boundary line, the contact point P on the left road boundary line, the forward gazing point distance candidate x1 corresponding to the vehicle speed V, and the contact point P in the travel control of the first embodiment.
  • the corresponding forward gazing point distance candidate x2, the forward gazing point distance X, the target travel position TP, and the target curve are shown.
  • FIG. 5 since there is no tangent to the right road boundary within a predetermined range in front of the vehicle, there is no forward gazing distance candidate x3 corresponding to the contact point on the right road boundary.
  • the target travel position TP ′ is set with the forward gazing point distance candidate x1 corresponding to the vehicle speed V as the forward gazing point distance when the shape of the road is a compound curve, the vehicle is far away from the host vehicle as seen in FIG.
  • the target travel position TP ′ may be set as the position.
  • the target curve to the target travel position target travel position TP ′ becomes a curve that is a shortcut to the curve, and the host vehicle may be too close to the left road boundary line.
  • the contact point P on the left road boundary line is detected, and when the forward gazing point distance candidate x2 corresponding to the contact point P is shorter than the forward gazing point distance candidate x1 corresponding to the vehicle speed V, the contact point P is determined.
  • the corresponding forward gazing point distance candidate x2 is set as the forward gazing point distance X.
  • the target travel position TP is set at a position closer to the host vehicle as compared with the target travel position TP ′ based on the forward gazing distance candidate x1 corresponding to the vehicle speed V. Therefore, the target curve is a curve toward the target travel position TP set at a position close to the host vehicle, and the host vehicle can avoid being too close to the left road boundary line.
  • the forward gazing point distance candidate x2 in the example of FIG. 5 is the vehicle speed. It becomes shorter than the forward gazing point distance candidate x1 according to V. Therefore, the forward gazing point distance X is set to a value smaller than the forward gazing point distance candidate x1 corresponding to the vehicle speed V, and the traveling position of the vehicle can be controlled so as not to approach the nearest convex portion.
  • the front gaze distance can be shortened more than the front gaze distance according to the vehicle speed V, and the vehicle travel position can be controlled to perform the shortcut.
  • the trend can be improved. As a result, it is possible to more reliably achieve both avoidance of approach to the road boundary and reduction of the uncomfortable feeling given to the driver.
  • the device configuration of the travel control device 10 according to the second embodiment is the same as the configuration of the travel control device 10 according to the first embodiment shown in FIGS. In the second embodiment, a part of the traveling control process executed in the control unit 60 is different from the traveling control process of the first embodiment.
  • FIG. 1 The device configuration of the travel control device 10 according to the second embodiment is the same as the configuration of the travel control device 10 according to the first embodiment shown in FIGS. In the second embodiment, a part of the traveling control process executed in the control unit 60 is different from the traveling control process of the first embodiment.
  • FIG. 6 is a flowchart showing a flow of travel control processing executed by the control unit 60 of the vehicle travel control apparatus according to the second embodiment. Similar to the first embodiment, also in the second embodiment, a target travel line (target route) is set based on map information or the like in the target travel line setting unit 61 separately from the control flow shown in FIG. The control flow shown in FIG. 6 is repeatedly executed at a predetermined interval (for example, 10 to 50 milliseconds) from the start to the end of the travel control of the host vehicle.
  • the processing from step S21 to S23 is the same as the processing from step S11 to S13 in FIG.
  • the forward gazing point distance setting unit 64 calculates a forward gazing point distance candidate x4 corresponding to the intersection of the own vehicle traveling direction and the left road boundary line within a predetermined distance ahead of the own vehicle.
  • x4 is a null value.
  • the distance corresponding to the intersection closest to the host vehicle is set as the forward gaze distance candidate x4.
  • the predetermined distance range in front of the host vehicle for detecting the intersection is not particularly limited.
  • the predetermined distance range ahead of the host vehicle is preferably a distance range corresponding to the forward gaze distance candidate x1 corresponding to the vehicle speed V set in step S23. That is, the forward gazing point distance setting unit 64 determines that the intersection of the traveling direction and the traveling road boundary line from the own vehicle position within the range corresponding to the forward forward gazing point distance candidate x1 from the own vehicle position on the traveling road. If it does not exist, it is determined that the distance (second distance) from the own vehicle position to the intersection of the own vehicle traveling direction and the travel path boundary line is not less than the forward gazing distance candidate x1 corresponding to the vehicle speed.
  • the vehicle progresses from the vehicle position without performing unnecessary calculation processing. It is possible to determine whether the distance (second distance) to the intersection of the direction and the road boundary line is shorter than the forward gazing point distance candidate x1 according to the vehicle speed.
  • the forward traveling direction is the x-axis positive direction
  • the left side direction of the vehicle is the y-axis positive direction
  • the coordinates of the intersection C (x, y) of the left road boundary line and the x axis are detected within the range up to the forward gazing point distance candidate x1.
  • the distance from the host vehicle to this intersection C is set as a forward gazing point distance candidate x4.
  • step S25 as in step S24, the forward gazing point distance setting unit 64 calculates a forward gazing point distance candidate x5 corresponding to the intersection of the vehicle traveling direction and the left road boundary within a predetermined distance ahead of the host vehicle. To do.
  • step S26 the forward gazing point distance setting unit 64 sets the minimum value among the forward gazing point distance candidates x1, x4, and x5 obtained in steps S23 to S25 as the forward gazing point distance X.
  • the process of step S26 in the forward gaze distance setting unit 64 corresponds to the front gaze distance determination unit.
  • the forward gazing point distance setting unit 64 determines that the distance (second distance) from the own vehicle position to the intersection of the own vehicle traveling direction and the road boundary line is a forward gazing point distance candidate x1 (target forward gazing point) corresponding to the vehicle speed. If it is shorter than (viewpoint distance), the forward gazing point distance is set to a distance shorter than the forward gazing point distance candidate x1 according to the vehicle speed. In the present embodiment, the forward gazing point distance setting unit 64 sets the forward gazing point distance to a distance corresponding to the second distance when the second distance is shorter than the target forward gazing point distance. Since the processes of steps S27 and S28 are the same as the processes of steps S17 and S18 of FIG.
  • FIG. 6 shows the vehicle position, the target travel line, the left / right road boundary line, the intersection C between the vehicle traveling direction and the right road boundary, and the forward gazing distance according to the vehicle speed V in the travel control of the second embodiment.
  • the candidate x1, the forward gazing point distance candidate x5 corresponding to the intersection C, the forward gazing point distance X, the target travel position TP, and the target curve are shown.
  • the forward gaze point corresponding to the intersection of the traveling direction of the own vehicle and the left road boundary
  • the forward gazing point distance candidate x5 corresponding to the intersection C with the right road boundary line is set as the forward gazing point distance X.
  • the forward gaze distance is corrected to a smaller value as the vehicle is directed to the outside of the road, and the follow-up speed to the target travel line is increased.
  • the travel control according to the present embodiment when the road shape changes greatly, for example, when the curve changes from a curve with a small radius of curvature to a straight line or when the road shape changes from a straight line to a curve with a small radius of curvature. Since the front gaze distance becomes shorter than the front gaze distance, the response speed can be temporarily increased.
  • the control gain is unnecessarily increased by setting the forward gazing distance according to the vehicle speed V. This can prevent changes in vehicle behavior. As a result, it is possible to achieve both the avoidance of approach to the road boundary and the reduction of the uncomfortable feeling given to the driver. Further, in the travel control device of the present embodiment, as shown in FIG. 6, when traveling on a travel path having a shape that shifts from a curve with a small radius of curvature to a straight line, a forward note corresponding to the vehicle speed V is used.
  • the forward gazing distance can be shortened more than the forward gazing distance according to the vehicle speed V in the case where the target travel position becomes too large and the outer boundary line is approached too much.
  • the traveling position of the vehicle can be controlled to improve the tendency to turn around. As a result, it is possible to more reliably achieve both avoidance of approach to the road boundary and reduction of the uncomfortable feeling given to the driver.
  • the travel control device of the present embodiment there is no need to determine the shape of the travel path on which the host vehicle is traveling, the posture angle of the host vehicle, its orientation, lateral displacement, etc., and the left and right roads Only by detecting the intersection of the vehicle traveling direction and each road boundary line based on the information on the boundary line, it is possible to perform driving control compatible with avoidance of approaching the road boundary and reduction of uncomfortable feeling given to the driver. effective.
  • (3) Third embodiment The device configuration of the travel control device 10 according to the third embodiment is the same as the configuration of the travel control device 10 according to the first embodiment shown in FIGS. In the third embodiment, the traveling control process executed in the control unit 60 is different from the traveling control process of the first embodiment or the second embodiment.
  • the distance from the own vehicle position to the contact point of the tangent line to the travel path boundary line (first distance), the distance from the own vehicle position to the intersection of the own vehicle traveling direction and the travel path boundary line.
  • the forward gazing point distance is set to a distance corresponding to the minimum value among the (second distance) and the forward gazing point distance (target forward gazing point distance) according to the vehicle speed.
  • the forward gazing point distance candidate (x2, x3) corresponding to the contact point on the road boundary line of the first embodiment, the own vehicle traveling direction and the road boundary line of the second embodiment.
  • FIG. 8 is a flowchart showing a flow of a travel control process executed by the control unit 60 of the vehicle travel control apparatus according to the third embodiment. Similar to the first and second embodiments, in the third embodiment, the target travel line (route information) is set based on the map information and the like in the target travel line setting unit 61 separately from the control flow shown in FIG. Is done. The control flow shown in FIG.
  • step S8 is repeatedly executed at predetermined intervals (for example, 10 to 50 milliseconds) from the start to the end of the travel control of the host vehicle.
  • the processing from step S31 to S35 is the same as the processing from step S11 to S15 in FIG. Since the processes of steps S36 and S37 are the same as the processes of steps S24 and S25 of FIG. 6 of the second embodiment, description thereof will be omitted.
  • step S38 the forward gaze distance setting unit 64 sets the minimum value among the forward gaze distance candidates x1 to x5 obtained in steps S32 to S37 as the front gaze distance X. Since the processes of steps S39 and S40 are the same as the processes of steps S17 and S18 of FIG. 3 of the first embodiment, description thereof will be omitted.
  • FIG. 9 shows the own vehicle position, target travel line, left / right road boundary line, contact point P on the left road boundary line, intersection C between the traveling direction of the own vehicle and the right road boundary line, vehicle speed in the travel control of the third embodiment.
  • a forward gazing point distance candidate x1 corresponding to V, a forward gazing point distance candidate x2 corresponding to the contact point P, a forward gazing point distance candidate x5 corresponding to the intersection C, the forward gazing point distance X, and the target travel position TP are shown. In the example shown in FIG.
  • the forward gazing distance corresponding to the target traveling position TP ′ based on the forward gazing distance candidate x1 corresponding to the vehicle speed V and the intersection C between the own vehicle traveling direction and the right road boundary line.
  • the target travel position TP is set at a position closer to the own vehicle. Therefore, the target curve is a curve toward the target travel position TP set at a position close to the own vehicle. It is possible to avoid that the host vehicle is too close to the left road boundary line.
  • the forward gazing distance is corrected to a small value based on the intersection C between the host vehicle traveling direction and the outer road boundary line, and the target travel The speed of following the line is increased, and approach to the outer road boundary line can be avoided.
  • the traveling control device and the travel control of the present invention have been described in detail above, the present invention is not limited to the above embodiment.
  • the left / right road boundary line information is obtained from the map information of the navigation system 50.
  • the present invention is not limited to this configuration.
  • the left and right road boundary lines may be detected by actually detecting road / lane boundaries, curbs, road lane markings, and the like from the detection results of the radar 20 and the captured image obtained from the camera 30. good.
  • a virtual boundary line can be set and It is also possible to perform the travel control of the first to third embodiments.
  • the forward gazing point distance X is set to the minimum value among the forward gazing point distance candidates x1 to x5, but is not limited to this configuration. That is, at least one of the forward gazing point distance candidates x2 and x3 corresponding to the contact point P on the road boundary line and the forward gazing point distance candidates x4 and x5 corresponding to the intersection C between the own vehicle traveling direction and the road boundary line becomes the vehicle speed V.
  • the forward gazing point distance X may be set to a shorter distance than the forward gazing point distance candidate x1 corresponding to the vehicle speed V when it is smaller than the corresponding forward gazing point distance candidate x1.
  • the forward gazing point distance X may be set to a value obtained by shortening the forward gazing point distance candidate x1 corresponding to the vehicle speed V by a predetermined distance.
  • the forward gazing point distance setting unit 64 intersects the distance (first distance) from the own vehicle position to the contact point of the tangent to the travel path boundary line, the intersection of the own vehicle traveling direction and the travel path boundary line from the own vehicle position. If at least one of the distance to the distance (second distance) is shorter than the forward gazing distance according to the vehicle speed (target forward gazing distance), a predetermined distance is subtracted from the forward gazing distance according to the vehicle speed The distance obtained in this way can be set as the forward gaze distance. Thereby, arithmetic processing can be simplified more.
  • the predetermined distance can be made variable based on the magnitude of the vehicle speed V, or the front gaze distance candidate x1 corresponding to the vehicle speed V and the front gaze distance candidate x2, x3 corresponding to the contact point P or the intersection C can be handled.
  • the predetermined distance may be variable based on the deviation from the forward gazing point distance candidates x4 and x5.
  • a coordinate system is used in which the reference point of the host vehicle is the origin (0, 0), the forward traveling direction is the x-axis positive direction, and the left side of the vehicle is the y-axis positive direction.
  • the present invention is not limited to this configuration.
  • a coordinate system based on the target travel line can be used.
  • Travel control apparatus 20 Radar 30 Camera 40 Vehicle speed sensor 50 Navigation system 60 Control unit 70 Travel control actuator 61 Target travel line setting part 62 Vehicle speed detection part 63 Target travel position setting part 64 Front gaze distance setting part 65 Steering control part

Abstract

L'invention concerne un dispositif de réglage de distance de point de fixation vers l'avant (64) qui règle une distance de point de fixation vers l'avant (X) pour régler une position de déplacement cible (TP) à l'avant d'un véhicule sur un trajet de déplacement, qui comprend une unité de calcul de distance de point de fixation vers l'avant cible et une unité de détermination de distance de point de fixation vers l'avant. L'unité de calcul de distance de point de fixation vers l'avant cible règle une distance de point de fixation vers l'avant cible (X1) correspondant à une vitesse de véhicule. L'unité de détermination de distance de point de fixation vers l'avant règle la distance de point de fixation vers l'avant (X) à une distance plus courte que la distance de point de fixation vers l'avant cible (X1) si une première distance (X2, X3) de la position du véhicule au point de contact tangent à une limite de trajet de déplacement et/ou une seconde distance (X4, X5) de la position du véhicule au point d'intersection entre la direction de déplacement de véhicule et la limite de trajet de déplacement est plus courte que la distance de point de fixation vers l'avant cible (X1).
PCT/IB2015/001079 2015-01-05 2015-06-30 Dispositif de réglage de distance de point de fixation vers l'avant et dispositif de commande de déplacement WO2016110731A1 (fr)

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JP2019043395A (ja) * 2017-09-04 2019-03-22 日産自動車株式会社 運転支援車両の走行制御方法及び走行制御装置
JP7333764B2 (ja) 2020-02-12 2023-08-25 株式会社Subaru 制御装置、制御方法およびプログラム
JP7333763B2 (ja) 2020-02-12 2023-08-25 株式会社Subaru 制御装置、制御方法およびプログラム

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JP2005181114A (ja) * 2003-12-19 2005-07-07 Nissan Motor Co Ltd 先行車両検出装置及びその制御方法
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JP2013086781A (ja) * 2011-10-24 2013-05-13 Nissan Motor Co Ltd 車両用走行支援装置
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JPH10167100A (ja) * 1996-12-09 1998-06-23 Toyota Motor Corp 車両の操舵制御装置
JP2005182186A (ja) * 2003-12-16 2005-07-07 Toyota Motor Corp 車両用走行軌道設定装置
JP2005181114A (ja) * 2003-12-19 2005-07-07 Nissan Motor Co Ltd 先行車両検出装置及びその制御方法
JP2006092424A (ja) * 2004-09-27 2006-04-06 Ishikawajima Harima Heavy Ind Co Ltd 軌道追従制御方法および装置
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019043395A (ja) * 2017-09-04 2019-03-22 日産自動車株式会社 運転支援車両の走行制御方法及び走行制御装置
JP7333764B2 (ja) 2020-02-12 2023-08-25 株式会社Subaru 制御装置、制御方法およびプログラム
JP7333763B2 (ja) 2020-02-12 2023-08-25 株式会社Subaru 制御装置、制御方法およびプログラム

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