WO2017002590A1 - 走行指令生成装置 - Google Patents
走行指令生成装置 Download PDFInfo
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- WO2017002590A1 WO2017002590A1 PCT/JP2016/067472 JP2016067472W WO2017002590A1 WO 2017002590 A1 WO2017002590 A1 WO 2017002590A1 JP 2016067472 W JP2016067472 W JP 2016067472W WO 2017002590 A1 WO2017002590 A1 WO 2017002590A1
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- travel command
- collision
- obstacles
- command generation
- collision probability
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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
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18154—Approaching an intersection
Definitions
- the present invention relates to a travel command generation device for automobiles and robots, and more particularly to a travel command generation device that calculates a travel command for avoiding a collision at high speed.
- preventive safety technology predicts the future position of an obstacle and generates a warning display or collision avoidance command based on the prediction, it is important to improve the prediction accuracy of the future position of the obstacle.
- Patent Document 1 discloses a technique for calculating a collision probability based on a future position prediction considering the probabilistic behavior of an obstacle and displaying a warning to the driver when the possibility of a collision is high.
- Patent Document 1 calculates the probability of collision between an obstacle and the vehicle, assuming that the driver continues to drive at a substantially constant speed on the vehicle lane.
- it is necessary to repeatedly calculate the collision probability between an obstacle and the vehicle in a plurality of vehicle speed profiles and search for the optimum speed profile that minimizes the collision probability.
- the speed command calculation time for automatic travel increases, and there is a possibility that control will not be in time within a certain control cycle.
- an object of the present invention is to realize a high-speed collision probability between an obstacle and a vehicle in automatic traveling control.
- the present invention provides: In a travel command generating device that generates a travel command for avoiding a collision between the plurality of obstacles and the host vehicle from the existence probability distribution of the plurality of obstacles, Based on the existence probability distribution of the plurality of obstacles, a collision distance table is generated by inputting a moving distance L on a fixed route and a time T, and outputting a collision probability between the plurality of obstacles and the own vehicle, and the collision probability A travel command for avoiding a collision between the plurality of obstacles and the host vehicle is generated from the table.
- the present invention when the movement distance L on the fixed route and the time T are input, generates the vehicle region S when moving L on the fixed route, and the existence probability distribution of the plurality of obstacles at the time T
- the collision probability table is generated by calculating an integral value, an average value, or a maximum value in the vehicle area S.
- the present invention searches for a running command that minimizes the integrated value or the maximum value of the collision probability table in a certain period.
- the travel command is calculated in parallel by providing a plurality of the collision probability tables.
- the repetition calculation of the collision probability in the search for the optimum driving command of the own vehicle is speeded up.
- the calculation speed can be further increased by arranging the collision probability calculation result in a small memory that can be accessed at high speed.
- FIG. 1 is an overall block diagram of a travel command generation device according to a first embodiment of the present invention.
- FIG. 1 is an overall block diagram of a travel command generation device according to a first embodiment of the present invention.
- the travel command generation device (1) inputs obstacle information from the sensor (7) and own vehicle information from the GPS (8) via a network, calculates a command value necessary for travel control from the input information, Output to the vehicle control ECU (9) via the network.
- the vehicle control ECU (9) controls various vehicle actuators by driving various actuators (not shown) on the basis of the input command value for travel control.
- the sensor (7) in this figure is specifically a camera, a radar, or the like, and is described collectively as one in the notation.
- the travel command generation device (1) inputs data from a sensor (not shown) for measuring the state of the vehicle (not shown) in addition to the GPS (7) for travel control.
- the travel command generation device (1) includes IF1 (4), a map DB (5), a calculation unit (2), an external storage unit (3), and IF2.
- the IF1 (4) is a physical interface for inputting obstacle information from the sensor (7) and own vehicle information from the GPS (8) via the network, and outputs the input information to the arithmetic unit (2).
- the map DB (5) is a database storing static map information necessary for travel control, and outputs necessary map information to the calculation unit (2) in response to a request from the calculation unit (2).
- the arithmetic unit (2) inputs obstacle information from the sensor (7), own vehicle information from the GPS (8), and static map information from the map DB (5). A necessary command value is calculated, and the travel command value is output to the vehicle control ECU (9) via the network.
- the arithmetic unit (2) is specifically mounted with a semiconductor chip such as a microprocessor or FPGA.
- the arithmetic unit (2) stores intermediate data of a size that cannot be stored in the arithmetic unit in the external storage unit (3).
- the external storage unit (3) is implemented by a semiconductor memory such as SDRAM.
- IF2 (6) is a physical interface for outputting the travel command value calculated by the arithmetic unit (2) via the network.
- the functions of the dynamic map generation unit (10), the obstacle prediction unit (11), the course generation unit (12), the collision probability calculation unit (13), and the speed command generation unit (14) are software or hardware. Implemented in.
- the dynamic map generation unit (10) inputs obstacle information from the sensor (7), own vehicle information from the GPS (8), and static map information from the map DB (5), and integrates them. Thus, a dynamic map necessary for traveling control is generated.
- FIG. 2 is a conceptual diagram of a dynamic map generated by the dynamic map generation unit (10) and shows an example of an intersection.
- the obstacle prediction unit (11) extracts obstacle information from the dynamic map generated by the dynamic map generation unit (10), and predicts the existence probability distribution of the obstacle.
- FIG. 3 shows the prediction result of the existence probability distribution taking the obstacles O1 to 3 (21) to (23) in the dynamic map shown in FIG. 2 as an example.
- the existence probability distributions corresponding to () to (23) are (311) to (313), respectively.
- the existence probability distribution of is generated.
- the obstacle existence probability distribution data generated here is stored in the external storage unit (3) as necessary.
- the course generation unit (12) extracts the road shape and route information to the destination from the dynamic map generated by the dynamic map generation unit (10), and in the near future, for example, between 10 (s) A fixed route that the vehicle should pass through is generated.
- FIG. 4 is an example of a fixed route that the own vehicle should pass through in the dynamic map shown in FIG. This figure shows an example in which the vehicle turns to the right, and a route (40) passing through the center of the intersection and the center of the right lane after the right turn is generated.
- the collision probability calculation unit (13) uses the obstacle existence probability distribution output by the obstacle prediction unit (11) and the fixed route output by the route generation unit (12) to move the travel distance L on the fixed route. , And time T, and a collision probability table is generated that outputs the collision probability between the obstacle and the vehicle.
- FIG. 5 is a flowchart showing the processing of the collision probability calculation unit (13).
- variable i for the time loop is initialized.
- a variable j for the own vehicle travel distance loop on the fixed route is initialized.
- FIG. 6 shows a calculation method of the vehicle position on the fixed route.
- the vehicle position (x_tmp, ⁇ y_tmp) when moving by L on the fixed route is calculated from the two-dimensional shape of the fixed route.
- a vehicle area S 60 centered on the vehicle position (x_tmp, y_tmp) is generated.
- the collision probability is calculated by integrating the collision probability distribution in the vehicle area S.
- the calculation of the collision probability may be the maximum value of the collision probability in the own vehicle region S or the average value of the collision probability in the own vehicle region S.
- the end of the movement distance loop is determined. If the processing step (52) and the processing step (53) are executed up to a predetermined maximum moving distance ( ⁇ L ⁇ N), the process exits this loop. Otherwise, j is incremented (55), and the processing step Return to (52).
- the end of the time loop is determined. If the processing step (52) and the processing step (53) have been executed up to a predetermined maximum time ( ⁇ T ⁇ M), the processing exits from this loop and ends all processing. Otherwise, i is incremented (57) and the process returns to the processing step (51).
- P [i] [j] is stored in the internal storage unit (15) that can be accessed at high speed for high speed calculation of the travel command value.
- the internal storage unit (15) is implemented by SRAM in a semiconductor chip.
- FIG. 8 is a flowchart showing processing of the speed command generation unit (14).
- the time increment is the same as that used in the collision probability calculation unit (13) and is ⁇ T.
- the movement distance on the fixed route from the present to the future within the specific period is calculated.
- the collision probability R between the obstacle and the vehicle is calculated.
- the process step (83) it is determined whether or not the collision probability R is smaller than the threshold value Rth.
- the collision probability R is smaller than the threshold value Rth as a result of the determination, it is determined that no collision with an obstacle occurs when traveling using the speed profile, and the process is terminated.
- the speed profile is updated (84) and the process returns to the processing step (81).
- the first value V [0] in the speed profile is selected as the speed command value and sent to the vehicle control ECU via the network within a specific control period.
- FIG. 9 is a flowchart showing the processing of the collision probability calculation unit (13) according to the second embodiment of the present invention.
- the process of the collision probability calculating part (13) by 2nd embodiment of this invention is the same as 1st embodiment except a process step (90), description of the same part is abbreviate
- the end of the movement distance loop is determined. Since the maximum value of the movement distance of the own vehicle can be limited depending on the time, the maximum value N of the movement distance loop variable j is calculated to be proportional to the time as N ⁇ k ⁇ i. As described above, the number of calculation loops of the collision probability calculation unit (13) and the capacity of the collision probability table can be reduced, and further calculation speed can be increased.
- the configuration of the travel command generation device according to the third embodiment of the present invention is the same as that of the first embodiment except for the speed command generation units (14a) (14b) and the internal storage units (15a) (15b). Therefore, the description of the same part is omitted.
- the collision probability calculation unit (13) according to the third embodiment of the present invention generates a plurality of the same collision probability tables and stores them in the internal storage unit 1 (15a) and the internal storage unit 2 (15b).
- Speed command value generation is performed in parallel using two sets of speed command generation unit 1 (14a) and internal storage unit 1 (15a), speed command generation unit 2 (14b) and internal storage unit 2 (15b). Further speedup is possible.
- the degree of parallelism is 2. However, the degree of parallelism may be further increased in order to obtain a predetermined performance.
Abstract
Description
複数障害物の存在確率分布から、前記複数障害物と自車との衝突を回避する走行指令を生成する走行指令生成装置において、
前記複数障害物の存在確率分布から、固定進路上の移動距離L、および時刻Tを入力とし、前記複数障害物と自車との衝突確率を出力とする衝突確率テーブルを生成し、前記衝突確率テーブルより、前記複数障害物と自車との衝突を回避する走行指令を生成することを特徴とする。
2…演算ユニット
3…外部記憶部
4…IF1
5…地図DB
6…IF2
7…センサ
8…GPS
9…車両制御ECU
Claims (5)
- 複数障害物の存在確率分布から、前記複数障害物と自車との衝突を回避する走行指令を生成する走行指令生成装置において、
前記複数障害物の存在確率分布から、固定進路上の移動距離L、および時刻Tを入力とし、前記複数障害物と自車との衝突確率を出力とする衝突確率テーブルを生成し、前記衝突確率テーブルより、前記複数障害物と自車との衝突を回避する走行指令を生成することを特徴とする走行指令生成装置。 - 請求項1記載の走行指令生成装置において、
前記衝突確率テーブルの生成方法は、固定進路上の移動距離L、および時刻Tを入力とした場合、固定進路上でL移動した時の自車領域をS生成し、時刻Tにおける前記複数障害物の存在確率分布の前記自車領域S内の積分値、または、平均値、または、最大値を計算することにより求められること、を特徴とする走行指令生成装置。 - 請求項2記載の走行指令生成装置において、
前記走行指令の生成方法は、一定期間における前記衝突確率テーブルの積算値、または最大値を最小化する走行指令を探索することにより求めること、を特徴とする走行指令生成装置。 - 請求項3記載の走行指令生成装置において、
前記走行指令の生成方法は、前記衝突確率テーブルを複数個備えることにより並列処理されること、を特徴とする走行指令生成装置。 - 請求項2記載の走行指令生成装置において、
前記衝突確率テーブルの入力である固定進路上の移動距離Lの範囲は、時刻Tに依存して決定されること、を特徴とする走行指令生成装置。
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US15/578,445 US10049578B2 (en) | 2015-06-29 | 2016-06-13 | Travel command generation device |
JP2017526264A JP6470839B2 (ja) | 2015-06-29 | 2016-06-13 | 走行指令生成装置 |
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