WO2016147622A1 - 運転制御装置、運転制御方法および車車間通信システム - Google Patents
運転制御装置、運転制御方法および車車間通信システム Download PDFInfo
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- WO2016147622A1 WO2016147622A1 PCT/JP2016/001330 JP2016001330W WO2016147622A1 WO 2016147622 A1 WO2016147622 A1 WO 2016147622A1 JP 2016001330 W JP2016001330 W JP 2016001330W WO 2016147622 A1 WO2016147622 A1 WO 2016147622A1
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- vehicle
- communication device
- lane change
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- lane
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- 238000004891 communication Methods 0.000 title claims abstract description 158
- 238000000034 method Methods 0.000 title claims abstract description 55
- 238000001514 detection method Methods 0.000 claims abstract description 15
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- 230000002093 peripheral effect Effects 0.000 description 12
- 238000012508 change request Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 6
- 230000004044 response Effects 0.000 description 5
- 230000010365 information processing Effects 0.000 description 4
- 230000006870 function Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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Classifications
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- 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
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
-
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
- G05D1/0027—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement involving a plurality of vehicles, e.g. fleet or convoy travelling
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
- G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
- G08G1/096791—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is another vehicle
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/161—Decentralised systems, e.g. inter-vehicle communication
- G08G1/162—Decentralised systems, e.g. inter-vehicle communication event-triggered
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/025—Services making use of location information using location based information parameters
- H04W4/027—Services making use of location information using location based information parameters using movement velocity, acceleration information
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/46—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for vehicle-to-vehicle communication [V2V]
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
- B60W2556/65—Data transmitted between vehicles
Definitions
- the present invention relates to a control device for an automatic driving system of an automobile, and more particularly to a driving control device, a driving control method, and a vehicle-to-vehicle communication system for exchanging information by inter-vehicle communication.
- Such automatic driving technology is a technology that uses an on-vehicle sensor to recognize obstacles and automatically brakes when there is a possibility of collision, or detects the position and speed of surrounding cars and There is a technology that autonomously adjusts the vehicle speed to keep the distance constant, which is realized in some vehicles.
- the lane change, merge / divide, and driving control at the time of turning left and right, the drivers performed mutual recognition using visual and direction indicators to measure the timing of lane change and merge / divide.
- the automatic driving technique a technique for automatically and smoothly performing the same control as the operation of these drivers is required.
- Patent Document 1 discloses a driving support method.
- Patent Document 1 describes driving control that improves the reliability of the detection function of automobiles and obstacles detected by road sensors and in-vehicle sensors by using inter-vehicle communication and road-to-vehicle communication. is there.
- the driving support method described in Patent Document 2 grasps the position and speed of a vehicle around the own vehicle by exchanging information on the position and speed by broadcast communication between vehicles, and uses the information for driving control. is doing.
- Patent Document 3 relates to a surrounding vehicle recognition device, and acquires vehicle state notification information transmitted from an in-vehicle communication device mounted on a surrounding vehicle existing around the host vehicle. It has been proposed to control running such as running in a row and releasing it.
- Patent Document 4 relates to a driving support device mounted on a vehicle, and associates another vehicle detected by a sensor mounted on the host vehicle with another vehicle that has acquired information by inter-vehicle communication or road-to-vehicle communication. It has been proposed to identify vehicles. Patent Document 4 proposes that such vehicle identification is used for driving support for avoiding a collision with another vehicle.
- the present invention has been made in view of the above-mentioned problems, and its purpose is to ensure that vehicles communicate with each other in advance through communication to ensure safety when changing lanes or joining lanes by automatic driving.
- An object of the present invention is to provide an operation control method and apparatus capable of smoothly and safely realizing lane change or merging by performing a traveling operation.
- a driving control device is a driving control device that controls driving of a vehicle.
- the operation control device transmits and receives information including an identification number and position information between a sensor unit that detects a vehicle around the vehicle and an in-vehicle communication device mounted on the vehicle around the vehicle. And a result of determination by the travel determination unit, a travel determination unit that determines travel control of the host vehicle based on a detection result of the sensor unit and a table held by the vehicle communication unit, and a determination result of the travel determination unit.
- a travel control unit for controlling the travel of the vehicle based on
- the travel determination unit identifies the subsequent straight vehicle of the change destination lane from the detection result of the sensor unit, and the identification number of the subsequent straight vehicle from the table held by the in-vehicle communication device. Then, the vehicle-mounted communication device transmits information requesting a lane change to the succeeding straight vehicle by a unicast method using the identification number.
- An operation control method is an operation control method for controlling the operation of a vehicle when changing lanes, Between the step of identifying the vehicle going straight ahead in the change destination lane by the sensor unit installed in the host vehicle, the in-vehicle communication device installed in the own vehicle, and the in-vehicle communication device installed in the vehicles around the own vehicle Transmitting and receiving information including an identification number and position information to each other and holding it as a table; selecting an identification number of the subsequent straight vehicle from a table held by the in-vehicle communication device; and using the identification number
- the step of transmitting information requesting lane change to the following straight ahead vehicle is transmitted in a unicast manner, and the lane change is performed after the in-vehicle communication device receives a reply indicating that the lane change has been received from the following straight ahead vehicle in a unicast manner. And a step.
- a vehicle-to-vehicle communication system is a vehicle-to-vehicle communication system that performs communication between moving vehicles, When changing lanes, the sensor unit mounted on the vehicle identifies the vehicle that follows the lane to be changed, and the vehicle-mounted communication device mounted on the vehicle and the vehicle-mounted communication devices mounted on the vehicles around the vehicle.
- the information including the identification number and the position information is transmitted to and received from each other, held as a table, the identification number of the subsequent straight vehicle is selected from the table held by the in-vehicle communication device, and the identification number is used.
- the lane change information is transmitted to the subsequent straight vehicle by unicast method, and the in-vehicle communication device receives the reply indicating the lane change from the subsequent straight vehicle by unicast method. It is characterized by performing.
- (A) is a block block diagram for demonstrating a part of structure of the operation control apparatus in other embodiment
- (b) is a flowchart which shows the process performed by other embodiment.
- FIG. 1 is a block diagram of an operation control apparatus according to an embodiment of the present invention.
- the operation control apparatus 1 in the embodiment of the present invention includes an in-vehicle communication device 2, a sensor unit 3, a travel determination unit 5, and a travel control unit 6. Further, the operation control device 1 of FIG. 1 includes a positioning unit 4, a handle control unit 7, an accelerator control unit 8, and a brake control unit 9.
- the in-vehicle communication device 2 transmits / receives information including the identification number and the position information to / from an in-vehicle communication device mounted on a car around the own vehicle and holds the information as a table. More specifically, the in-vehicle communication device 2 performs two-way wireless communication with a roadside communication device and other in-vehicle communication devices existing around the vehicle. Data received by the in-vehicle communication device 2 through vehicle-to-vehicle communication or road-to-vehicle communication is supplied to the travel determination unit 5. The traveling determination unit 5 recognizes the traveling environment around the vehicle based on the data received by the in-vehicle communication device 2.
- the Sensor unit 3 detects vehicles around the vehicle.
- the sensor unit 3 includes a radar 3a and a camera 3b mounted at predetermined positions on the vehicle body.
- FIG. 2 is an example of mounting a sensor on a vehicle main body of an operation control apparatus according to an embodiment of the present invention.
- the radar 3a is a millimeter wave radar installed in front of the front grille of the car or a laser radar installed on the ceiling, and the time required to receive the reflected wave of the signal emitted from the radar antenna, and the received angle Based on this, the relative distance, relative speed, and direction between the vehicle and the detected object are measured. Whether the detected object is a traveling vehicle or a stationary object is determined by calculating the relative speed between the camera image and the vehicle speed and the detected object.
- the camera 3b is an optical camera such as a CCD or CMOS, or an infrared camera, and is installed on the front and rear of the vehicle body to photograph the surroundings of the vehicle and recognize surrounding objects.
- the signal output from the sensor unit 3 is supplied to the travel determination unit 5. Based on the detection signal of the sensor unit 3, the travel determination unit 5 detects a traveling vehicle and an obstacle around the host vehicle.
- the positioning unit 4 acquires the current position of the vehicle based on the signal transmitted from the GPS satellite.
- the signal output from the positioning unit 4 is supplied to the travel determination unit 5.
- the traveling determination unit 5 determines the traveling control state and traveling state of the vehicle based on the detection result of the sensor unit 3 and the table held by the in-vehicle communication device 2.
- the traveling determination unit 5 is composed of a microcomputer or the like.
- the traveling determination unit 5 calculates the possibility of collision with the surrounding vehicle and the distance between the vehicles based on the traveling environment around the own vehicle obtained by the in-vehicle communication device 2, the sensor unit 3, the positioning unit 4, and the like. Control signals for traveling speed and steering direction are generated so that the vehicle can travel safely.
- the traveling control unit 6 controls the traveling of the automobile body. More specifically, the travel control unit 6 controls the travel of the host vehicle based on the result determined by the travel determination unit 5. In addition, the current position and vehicle speed of the host vehicle are always detected, and on the basis of the control signal generated by the travel determination unit 5, the steering wheel, the accelerator, the brake, and the like are operated, and the host vehicle travels autonomously.
- the travel determination unit 5 identifies the subsequent straight vehicle in the change destination lane from the detection result of the sensor unit 3. Further, the traveling determination unit 5 selects the identification number of the subsequent straight vehicle from the table held by the in-vehicle communication device 2. Further, the in-vehicle communication device 2 transmits information requesting a lane change to the succeeding straight vehicle using a unicast method using the identification number.
- the operation control apparatus performs automatic traveling control while detecting the traveling state of a surrounding vehicle using a sensor unit and an in-vehicle communication device.
- FIG. 3 is a detection image diagram of vehicles around the host vehicle of the operation control apparatus according to the embodiment of the present invention.
- the sensor unit of the car A in FIG. 3 detects a parallel running vehicle existing around the host vehicle as shown in FIG.
- the sensor unit of the car A measures the relative distance, relative speed, and direction between the surrounding parallel running car and the car A.
- the in-vehicle communication device of the car A performs vehicle-to-vehicle communication that is wireless two-way communication with the in-vehicle communication devices of the surrounding cars B, C, and D within the range of the radio wave represented by the dotted line in FIG. Do.
- Each in-vehicle communication device periodically transmits identification information (hereinafter referred to as “ID”) and its own terminal location information to surrounding terminals in a broadcast manner.
- ID is an IP address (Internet Protocol address) used for specifying a communication partner.
- the in-vehicle communication device of the car A holds the ID and position information received from the in-vehicle communication device mounted in the surrounding car as a peripheral communication device table in association with the time.
- FIG. 4 shows a peripheral communication device table of the car A.
- the peripheral communication device table updates information every time a new signal is received. Each data may be deleted if there is no update for a predetermined time.
- the peripheral communication device table is supplied to the travel determination unit, and is used by the travel determination unit to grasp information on surrounding vehicles.
- information such as the position of the surrounding vehicle and the traveling speed by the in-vehicle communication device may be received by the information relayed by the roadside communication device in addition to reception by direct communication.
- an in-vehicle communication device in a position where radio waves do not reach from the in-vehicle communication device as a transmission source may receive a signal relayed by another in-vehicle communication device within the radio wave range. By doing so, it is possible to recognize the presence of an outside vehicle directly from the reach of radio waves.
- the travel determination unit is based on the information on the surrounding vehicles B, C, and D acquired by the in-vehicle communication device and the sensor unit of the vehicle A, and the position and traveling speed of the vehicle A are the surrounding vehicles B, C, and V. An optimal travel schedule that can safely and efficiently travel with respect to D is calculated. Based on the result, the traveling control unit performs automatic traveling control by operating the steering wheel by the steering wheel control unit 7 of the car A, the accelerator by the accelerator control unit 8, the brake by the brake control unit 9, and the like.
- FIG. 5 is an image diagram of the lane change operation according to the embodiment of the present invention.
- FIG. 6 is an operation flowchart of the course change vehicle A when the lane is changed.
- the travel determination unit of the route change vehicle A confirms whether or not the lane can be safely changed in advance when the lane change is necessary from the travel route to the destination.
- the confirmation of whether or not the lane can be changed safely is, for example, when the lane change is executed, the inter-vehicle distance between the own vehicle A and the vehicles B and C of the change destination lane continues to maintain a predetermined threshold value or more. Determine whether or not. When it is predicted that the inter-vehicle distance will be equal to or less than a predetermined threshold value, the lane change is not allowed, and the lane change is enabled only when a predetermined threshold value is exceeded.
- the travel determination unit of the route change car A always receives the vehicle position obtained from the positioning unit, the vehicle speed obtained from the travel control unit, the peripheral communication device table obtained from the in-vehicle communication device, and the information obtained from the sensor unit during traveling. Based on this, it recognizes the position of the car and the surrounding cars, and the vehicle speed.
- the travel determination unit of the course change vehicle A parallels the change target lane among the parallel vehicles B and C parallel vehicles D detected by the sensor unit.
- a car B that travels and is behind the course change car A and has the closest relative distance is identified as a subsequent straight-ahead car. That is, the subsequent straight vehicle that is the communication partner is detected by the sensor unit (step S1).
- the traveling determination unit of the route change vehicle A selects the ID of the identified subsequent straight vehicle B from the peripheral communication device table.
- the ID of the following vehicle B is selected by the travel determination unit of the route change vehicle A by the position information of the vehicle B detected by the sensor unit and the surrounding vehicles B, C, and vehicles registered in the peripheral communication device table.
- the position information of D is compared, and the ID of the closest vehicle whose position information error is equal to or smaller than the threshold is specified as the ID of the subsequent straight vehicle B. That is, with reference to the position information registered in the peripheral communication device table, the relative position with respect to the following vehicle B is compared (step S2).
- the recognition of the subsequent straight vehicle may be determined in consideration of information such as the traveling direction, the traveling speed, and the acceleration in addition to the position information. By doing so, recognition accuracy can be improved.
- step S3 Judgment is made as to whether or not the ID of the subsequent straight vehicle has been identified. If the error in the position information in the peripheral communication device table is equal to or greater than the threshold value, the ID of the subsequent straight vehicle B could not be specified, so steps S1 to S3 are repeated.
- the traveling determination unit selects the subsequent straight vehicle B as the communication partner and sends a lane change request signal for requesting the lane change to the in-vehicle communication device.
- the in-vehicle communication device transmits a lane change request signal to the subsequent straight traveling vehicle B by the unicast method using the ID of the subsequent straight traveling vehicle B specified from the peripheral communication device table.
- the travel determination unit of the route change vehicle A confirms whether or not the lane change request permission response from the subsequent straight vehicle B is received in response to the lane change request signal transmitted by the in-vehicle communication device.
- the one-to-one communication with the subsequent straight vehicle B is executed (step S4). That is, when the in-vehicle communication device determines that the in-vehicle communication device has received the permission response for the lane change request from the following straight ahead vehicle B, the travel determination unit of the route change vehicle A issues an instruction to change the lane to the travel control unit. A actually changes lanes.
- the traveling determination unit of the route change vehicle A supplies a turn signal information signal for starting a lane change to the in-vehicle communication device to the in-vehicle communication device.
- the in-vehicle communication device transmits a direction indicator information signal to the surrounding cars B, C, and D by a broadcast method.
- the travel determination unit of the route change vehicle A supplies a lane change completion signal to the in-vehicle communication device, and the in-vehicle communication device of the route change vehicle A changes the lane to the subsequent straight vehicle B.
- a completion signal is transmitted by the unicast method. It is determined whether or not the transmission is continued (step S5). When the transmission is not continued, the lane change operation is terminated.
- the subsequent straight vehicle B is always supplied from the own vehicle position obtained from the positioning unit, the vehicle speed obtained from the traveling control unit, the peripheral communication device table obtained from the in-vehicle communication device, and the sensor unit. It recognizes the position of the car and the surrounding cars, and the vehicle speed based on the information.
- the traveling determination unit of the subsequent straight ahead vehicle B identifies the planned joining vehicle using the ID.
- the travel determination unit of the subsequent straight vehicle B predicts whether or not the subsequent straight vehicle B can maintain safe travel when the route change vehicle A joins, and transmits a response to the received lane change request from the prediction result.
- Prediction of whether or not safe driving can be maintained is based on a predetermined distance between the own vehicle B and the course changing vehicle A, and the distance between the own vehicle B and the subsequent straight vehicle following the own vehicle B, for example. It is determined whether or not the threshold value can be maintained. If the threshold value is equal to or lower than a predetermined threshold value, the lane change is not allowed, and the lane change is enabled only when the predetermined threshold value is exceeded.
- the traveling determination unit of the route change vehicle B supplies a signal “Yes” to the in-vehicle communication device when the vehicle A is allowed to join, or “No” when the joining is rejected.
- the in-vehicle communication device transmits a response result (Yes / No) signal to the lane change request to the vehicle A by the unicast method.
- Subsequent straight vehicle B returns a lane change acknowledgment to vehicle A as the transmission source, and decelerates etc. to secure the necessary inter-vehicle distance so that vehicle A specified by the sensor unit can safely join as necessary. Use speed control to avoid collisions.
- the succeeding straight vehicle B receives the notification signal after the lane change of the route change vehicle A is completed by the in-vehicle communication device, and returns to the normal autonomous traveling control.
- the operation control apparatus and operation control method described above can also be realized by an information processing apparatus that can execute a program that realizes the configuration and operation described above.
- This program can be distributed in the form of a computer-readable recording medium.
- the functions of the present embodiment may be realized by software by reading a program recorded in such a recording medium and executing the program by the information processing apparatus.
- FIG. 8A is a diagram illustrating a configuration of a computer applicable to the operation control method according to the embodiment of the present invention.
- the direction of the arrow in a drawing shows an example and does not limit the direction of the signal between blocks.
- the information processing apparatus includes a memory 12 including a CPU (Central Processing Unit) 11 and a RAM (Random Access Memory).
- a memory 12 including a CPU (Central Processing Unit) 11 and a RAM (Random Access Memory).
- the above-described travel determination unit 5 and travel control unit 6 according to the embodiment of the present invention can be realized. That is, part or all of the travel determination unit 5 and the travel control unit 6 in FIG. 1 can be realized by reading a program for executing each process as shown in FIG. . Specifically, as shown in FIG.
- the sensor unit 3 mounted on the host vehicle identifies the subsequent straight vehicle on the change destination lane, the vehicle-mounted communication device 2 mounted on the host vehicle, This is a holding process in which information including an identification number and position information is transmitted to and received from an in-vehicle communication device mounted on a car around the car and held as a table. Further, as shown in FIG. 8B, the identification number of the subsequent straight vehicle is selected from the table held by the in-vehicle communication device 2, and information for requesting the lane change to the subsequent straight vehicle is transmitted by the unicast method using the identification number. Transmission processing. Further, as shown in FIG. 8B, lane change processing for changing the lane after the in-vehicle communication device 2 receives a reply indicating that the lane change has been received from the following straight ahead vehicle by the unicast method.
- this program can be distributed in the form of a recording medium on which the program is recorded.
- This program is a general-purpose semiconductor recording device such as CF (Compact Flash (registered trademark)) and SD (Secure Digital), a magnetic recording medium such as a flexible disk, or a CD-ROM (Compact Disc Read Only Memory). ) And the like in the form of an optical recording medium.
- the present invention is not construed as being limited to the above embodiments, and can be applied to various embodiments and combinations without departing from the gist of the present invention. can do. That is, the present invention can apply various modes that can be understood by those skilled in the art within the scope of the present invention.
- a driving control device for controlling driving of a vehicle The operation control device transmits and receives information including an identification number and position information between a sensor unit that detects a vehicle around the vehicle and an in-vehicle communication device mounted on the vehicle around the vehicle. And a result of determination by the travel determination unit, a travel determination unit that determines travel control of the host vehicle based on a detection result of the sensor unit and a table held by the vehicle communication unit, and a determination result of the travel determination unit.
- a travel control unit for controlling the travel of the vehicle based on
- the travel determination unit identifies the subsequent straight vehicle of the change destination lane from the detection result of the sensor unit, and the identification number of the subsequent straight vehicle from the table held by the in-vehicle communication device.
- the on-vehicle communication device selects and transmits information requesting a lane change to the succeeding straight vehicle using a unicast method using the identification number.
- the said travel judgment part compares the relative distance of the surrounding vehicle and the own vehicle which the said sensor part detected, and the positional information on the table which the said vehicle-mounted communication apparatus hold
- the operation control device according to appendix 1, wherein a vehicle having a threshold value or less is determined as the following straight-ahead vehicle.
- (Supplementary Note 3) The supplementary note 1 or 2, wherein the traveling control unit performs a lane change after the in-vehicle communication device receives a reply indicating that the lane change has been received from the following straight ahead vehicle in a unicast manner.
- the operation control device described in 1. (Supplementary note 4)
- the operation control device according to any one of supplementary notes 1 to 3, wherein when the lane change is performed, the in-vehicle communication device transmits information on the content of the lane change to a surrounding vehicle by a broadcast method.
- the in-vehicle communication device transmits a content to notify the completion of the lane change to the following straight ahead vehicle by a unicast method.
- Operation control device (Appendix 6) A driving control method for controlling driving of a vehicle when changing lanes, Identify the vehicle going straight ahead in the change destination lane by the sensor unit installed in your vehicle, Between the in-vehicle communication device installed in the vehicle and the in-vehicle communication device installed in the vehicles around the own vehicle, information including the identification number and the position information is transmitted and received mutually, and held as a table.
- a driving control method comprising: changing a lane after the vehicle-mounted communication device has received a unicast-type reply from the subsequent straight-ahead vehicle to understand the lane change.
- Appendix 7 The relative distance between the surrounding vehicle detected by the sensor unit and the host vehicle is compared with the position information of the table held by the in-vehicle communication device, and a vehicle whose error is equal to or less than a predetermined threshold is determined.
- a vehicle-to-vehicle communication system for communicating between moving vehicles When changing lanes, the sensor unit mounted on the vehicle identifies the vehicle that follows the lane to be changed, and the vehicle-mounted communication device mounted on the vehicle and the vehicle-mounted communication devices mounted on the vehicles around the vehicle.
- the information including the identification number and the position information is transmitted to and received from each other, held as a table, the identification number of the subsequent straight vehicle is selected from the table held by the in-vehicle communication device, and the identification number is used.
- the lane change information is transmitted to the subsequent straight vehicle by unicast method, and the in-vehicle communication device receives the reply indicating the lane change from the subsequent straight vehicle by unicast method.
- a vehicle-to-vehicle communication system characterized in that: (Supplementary Note 9) The relative distance between the surrounding vehicle detected by the sensor unit and the own vehicle is compared with the position information of the table held by the in-vehicle communication device, and a vehicle whose error is equal to or less than a predetermined threshold is determined.
- the vehicle-to-vehicle communication system according to appendix 8, wherein the vehicle is determined to be a subsequent straight vehicle.
- Appendix 10 A recording medium in which an operation control program for controlling the operation of a vehicle when changing lanes is recorded, On the computer, A specific process for identifying a vehicle that is moving straight ahead in the change destination lane by means of a sensor unit mounted on the vehicle, A holding process in which information including an identification number and position information is transmitted and received between a vehicle-mounted communication device mounted on the vehicle and a vehicle-mounted communication device mounted on a vehicle around the vehicle, and held as a table.
- a driving control program is recorded in which the in-vehicle communication device executes a lane change process for changing a lane after receiving a reply of lane change from the subsequent straight-ahead vehicle by a unicast method. Recording medium. (Supplementary Note 11) The relative distance between the surrounding vehicle detected by the sensor unit and the host vehicle is compared with the position information of the table held by the in-vehicle communication device, and a vehicle whose error is equal to or less than a predetermined threshold is determined. 11.
- a recording medium on which the operation control program according to appendix 10 is recorded, wherein a determination process for determining that the vehicle is a straight ahead vehicle is executed.
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Abstract
Description
前記運転制御装置は、自車の周囲の車を検出するセンサ部と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持する車載通信機と、前記センサ部の検出結果および前記車載通信機が保持するテーブルを基に自車の走行制御を判断する走行判断部と、前記走行判断部で判断した結果に基づいて前記自車の走行を制御する走行制御部とを備え、
自車が車線変更を行う場合、前記走行判断部は、前記センサ部の検出結果から変更先車線の後続直進車を特定し、前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記車載通信機は、前記識別番号を用いて前記後続直進車にユニキャスト方式で車線変更を要求する情報を送信することを特徴とする。
自車に搭載されたセンサ部により変更先車線の後続直進車を特定するステップと、自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持するステップと、前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信するステップと前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うステップとを有することを特徴とする。
車線変更を行う場合、自車に搭載されたセンサ部により変更先車線の後続直進車を特定し、自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持し、前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信し、前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする。
上述した運転制御装置や運転制御方法は、上述した構成や動作を実現するプログラムを実行できる情報処理装置によっても実現され得る。このプログラムは、コンピュータ読み取り可能な記録媒体の形態で、流通され得る。このような記録媒体に記録されたプログラムを読み込んで、情報処理装置で実行することにより、本実施形態の機能をソフトウェア的に実現してもよい。
(付記1)車の運転を制御する運転制御装置であって、
前記運転制御装置は、自車の周囲の車を検出するセンサ部と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持する車載通信機と、前記センサ部の検出結果および前記車載通信機が保持するテーブルを基に自車の走行制御を判断する走行判断部と、前記走行判断部で判断した結果に基づいて前記自車の走行を制御する走行制御部とを備え、
自車が車線変更を行う場合、前記走行判断部は、前記センサ部の検出結果から変更先車線の後続直進車を特定し、前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記車載通信機は、前記識別番号を用いて前記後続直進車にユニキャスト方式で車線変更を要求する情報を送信することを特徴とする運転制御装置。
(付記2)前記走行判断部は、前記センサ部が検出した周囲の車と自車との相対距離と、前記車載通信機が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定することを特徴とする付記1記載の運転制御装置。
(付記3)前記走行制御部は、前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする付記1または2に記載の運転制御装置。
(付記4)車線変更を行う時に、前記車載通信機は車線変更を行う内容の情報をブロードキャスト方式で周囲の車に送信することを特徴とする付記1~3いずれかに記載の運転制御装置。
(付記5)車線変更が完了した時に、前記車載通信機は前記後続直進車に車線変更の完了を通知する内容をユニキャスト方式で送信することを特徴とする付記1~4いずれかに記載の運転制御装置。
(付記6)車線変更を行う場合の車の運転を制御する運転制御方法であって、
自車に搭載されたセンサ部により変更先車線の後続直進車を特定し、
自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持し、
前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信し、
前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする運転制御方法。
(付記7)前記センサ部が検出した周囲の車と自車との相対距離と、前記車載通信機が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定することを特徴とする付記6記載の運転制御方法。
(付記8)移動する車同士で通信を行う車車間通信システムであって、
車線変更を行う場合、自車に搭載されたセンサ部により変更先車線の後続直進車を特定し、自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持し、前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信し、前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする車車間通信システム。
(付記9)前記センサ部が検出した周囲の車と自車との相対距離と、前記車載通信機が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定することを特徴とする付記8記載の車車間通信システム。
(付記10)車線変更を行う場合の車の運転を制御する運転制御プログラムが記録された記録媒体であって、
コンピュータに、
自車に搭載されたセンサ部により変更先車線の後続直進車を特定する特定処理と、
自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持する保持処理と、
前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信する送信処理と、
前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行う車線変更処理と、を実行させることを特徴とする運転制御プログラムが記録された記録媒体。
(付記11)前記センサ部が検出した周囲の車と自車との相対距離と、前記車載通信機が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定する判定処理を実行させることを特徴とする付記10記載の運転制御プログラムが記録された記録媒体。
2 車載通信機
3 センサ部
3a レーダ
3b カメラ
4 測位部
5 走行判断部
6 走行制御部
7 ハンドル制御部
8 アクセル制御部
9 ブレーキ制御部
11 CPU
12 メモリ
Claims (10)
- 車の運転を制御する運転制御装置であって、
前記運転制御装置は、自車の周囲の車を検出するセンサ手段と、自車の周囲の車に搭載された車載通信手段との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持する車載通信手段と、前記センサ手段の検出結果および前記車載通信手段が保持するテーブルを基に自車の走行制御を判断する走行判断手段と、前記走行判断手段で判断した結果に基づいて前記自車の走行を制御する走行制御手段とを備え、
自車が車線変更を行う場合、前記走行判断手段は、前記センサ手段の検出結果から変更先車線の後続直進車を特定し、前記車載通信手段が保持するテーブルから前記後続直進車の識別番号を選択し、前記車載通信手段は、前記識別番号を用いて前記後続直進車にユニキャスト方式で車線変更を要求する情報を送信することを特徴とする運転制御装置。 - 前記走行判断手段は、前記センサ手段が検出した周囲の車と自車との相対距離と、前記車載通信手段が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定することを特徴とする請求項1記載の運転制御装置。
- 前記走行制御手段は、前記車載通信手段が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする請求項1または2に記載の運転制御装置。
- 車線変更を行う時に、前記車載通信手段は車線変更を行う内容の情報をブロードキャスト方式で周囲の車に送信することを特徴とする請求項1~3いずれかに記載の運転制御装置。
- 車線変更が完了した時に、前記車載通信手段は前記後続直進車に車線変更の完了を通知する内容をユニキャスト方式で送信することを特徴とする請求項1~4いずれかに記載の運転制御装置。
- 車線変更を行う場合の車の運転を制御する運転制御方法であって、
自車に搭載されたセンサ部により変更先車線の後続直進車を特定し、
自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持し、
前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信し、
前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする運転制御方法。 - 前記センサ部が検出した周囲の車と自車との相対距離と、前記車載通信機が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定することを特徴とする請求項6記載の運転制御方法。
- 移動する車同士で通信を行う車車間通信システムであって、
車線変更を行う場合、自車に搭載されたセンサ手段により変更先車線の後続直進車を特定し、自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持し、前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信し、前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行うことを特徴とする車車間通信システム。 - 前記センサ手段が検出した周囲の車と自車との相対距離と、前記車載通信機が保持するテーブルの位置情報とを比較して、誤差が予め定めた閾値以下の車を前記後続直進車と判定することを特徴とする請求項8記載の車車間通信システム。
- 車線変更を行う場合の車の運転を制御する運転制御プログラムが記録された記録媒体であって、
コンピュータに、
自車に搭載されたセンサ部により変更先車線の後続直進車を特定する特定処理と、
自車に搭載された車載通信機と、自車の周囲の車に搭載された車載通信機との間で、識別番号と位置情報とを含む情報を相互に送受信し、テーブルとして保持する保持処理と、
前記車載通信機が保持するテーブルから前記後続直進車の識別番号を選択し、前記識別番号を用いて前記後続直進車に車線変更を要求する情報をユニキャスト方式で送信する送信処理と、
前記車載通信機が前記後続直進車から車線変更を了解する内容の返信をユニキャスト方式で受信した後に、車線変更を行う車線変更処理と、を実行させることを特徴とする運転制御プログラムが記録された記録媒体。
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JP2019207700A (ja) | 2019-12-05 |
EP3273421A4 (en) | 2018-12-12 |
US10486701B2 (en) | 2019-11-26 |
EP3273421A1 (en) | 2018-01-24 |
JPWO2016147622A1 (ja) | 2017-12-28 |
US20180079419A1 (en) | 2018-03-22 |
JP6601485B2 (ja) | 2019-11-06 |
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