WO2017022447A1 - 車両制御装置、車両制御方法、および車両制御プログラム - Google Patents
車両制御装置、車両制御方法、および車両制御プログラム Download PDFInfo
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- WO2017022447A1 WO2017022447A1 PCT/JP2016/070857 JP2016070857W WO2017022447A1 WO 2017022447 A1 WO2017022447 A1 WO 2017022447A1 JP 2016070857 W JP2016070857 W JP 2016070857W WO 2017022447 A1 WO2017022447 A1 WO 2017022447A1
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- vehicle
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
- B60T7/00—Brake-action initiating means
- B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
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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
- B60W30/18154—Approaching an intersection
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L1/00—Supplying electric power to auxiliary equipment of vehicles
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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
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- B60W2554/80—Spatial relation or speed relative to objects
- B60W2554/801—Lateral distance
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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
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- B60W2554/803—Relative lateral speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/08—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to drivers or passengers
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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
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/04—Monitoring the functioning of the control system
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- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D1/00—Steering controls, i.e. means for initiating a change of direction of the vehicle
- B62D1/24—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted
- B62D1/28—Steering controls, i.e. means for initiating a change of direction of the vehicle not vehicle-mounted non-mechanical, e.g. following a line or other known markers
- B62D1/286—Systems for interrupting non-mechanical steering due to driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B62D—MOTOR VEHICLES; TRAILERS
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- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
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- 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
Definitions
- the present invention relates to a vehicle control device, a vehicle control method, and a vehicle control program.
- This application claims priority based on Japanese Patent Application No. 2015-156207 filed on Aug. 6, 2015 and Japanese Patent Application No. 2015-179974 filed on Sep. 11, 2015, and the contents thereof. Is hereby incorporated by reference.
- a support start unit that starts support for lane change based on input from the input device, a host vehicle (hereinafter also referred to as a first vehicle or simply a vehicle), and another vehicle (hereinafter referred to as a second vehicle or other vehicle).
- a detection unit that detects a relative distance and a relative speed of a vehicle), and a calculation that calculates a collision risk when another vehicle changes lanes based on the relative distance and relative speed detected by the detection unit with respect to another vehicle.
- the first determination unit that determines whether or not the lane change is possible based on the relative distance, the relative speed, and the collision risk level, and the first determination unit determines that the lane change is not possible, based on the relative distance and the relative speed.
- a driving support device that includes a setting unit that sets a target speed toward a lane changeable position and a control unit that controls the speed of the host vehicle to become the target speed when it is determined that there is a space. Is known (see, for example, Patent Document 1).
- An aspect of the present invention has been made in view of such circumstances, and provides a vehicle control device, a vehicle control method, and a vehicle control program capable of performing flexible automatic driving according to the movement of surrounding vehicles.
- One of the purposes is to do.
- One aspect of the present invention is a vehicle control device provided in a vehicle, which estimates an lane change by a surrounding vehicle traveling around the vehicle, and a lane by the surrounding vehicle by the estimating unit.
- a virtual vehicle setting unit that sets a virtual vehicle that virtually simulates the surrounding vehicle to be estimated on the lane of a lane change destination of the surrounding vehicle, and the virtual vehicle setting unit
- a control plan generation unit that generates a control plan for the vehicle based on the virtual vehicle set by the control unit, and controls acceleration, deceleration, or steering of the vehicle based on the control plan generated by the control plan generation unit A travel control unit.
- the virtual vehicle setting unit is based on information on the speed of a surrounding vehicle that is a target of the estimation when the estimation unit estimates a lane change by the surrounding vehicle.
- the state of the virtual vehicle may be set.
- the virtual vehicle setting unit is configured such that the lane of the lane change destination of the surrounding vehicle when the lane change by the surrounding vehicle is estimated by the estimation unit, When the vehicle is a lane in which the vehicle travels, a non-setting area where the virtual vehicle is not set may be provided forward from the position of the vehicle.
- the non-setting area may be provided based on a relative speed between the speed of the vehicle and the speed of a surrounding vehicle that is a target of the lane change estimation.
- the virtual vehicle setting unit is configured to cause the estimation unit to perform the operation between the vehicle and a preceding vehicle traveling in front of the vehicle.
- the virtual vehicle is set on the lane in which the vehicle travels, and the control plan generation unit is set by the virtual vehicle setting unit instead of the preceding vehicle
- a control plan for the vehicle may be generated based on the virtual vehicle.
- the estimation unit may detect a decrease in the lane ahead of the vehicle by referring to map information using the position of the vehicle.
- Another aspect of the present invention is a vehicle control device provided in a vehicle, and when a decrease in a lane in front of the vehicle is detected, a lane change by a surrounding vehicle traveling around the vehicle
- the surrounding vehicle that is the object of the estimation is virtually simulated on the lane of the lane change destination of the surrounding vehicle
- a virtual vehicle setting unit that sets a virtual vehicle
- a travel control unit that controls acceleration, deceleration, or steering of the vehicle based on the virtual vehicle set by the virtual vehicle setting unit.
- a computer provided in a vehicle estimates a lane change by a surrounding vehicle traveling around the vehicle and estimates a lane change by the surrounding vehicle
- a virtual vehicle that virtually imitates the surrounding vehicle that is the estimation target is set, and a control plan for the vehicle is generated based on the set virtual vehicle
- the vehicle control method controls acceleration, deceleration or steering of the vehicle based on a generated control plan.
- a computer provided in a vehicle causes a lane change by a surrounding vehicle traveling around the vehicle to be estimated, and a lane change by the surrounding vehicle is estimated
- a virtual vehicle that virtually imitates the surrounding vehicle that is the estimation target is set on the lane of the lane change destination of the surrounding vehicle, and a control plan for the vehicle is generated based on the set virtual vehicle.
- a vehicle control program for controlling acceleration, deceleration or steering of the vehicle based on the generated control plan.
- the non-setting area in which the virtual vehicle is not set is provided forward from the position of the vehicle. Under the control of operation, it is possible to realize a gradual control state transition.
- the non-setting area where the virtual vehicle is not set is provided based on the relative speed between the speed of the vehicle and the speed of the surrounding vehicle to be estimated. Accordingly, more flexible automatic driving can be performed.
- the virtual vehicle when a lane change between the vehicle and the preceding vehicle traveling in front of the vehicle is estimated, the virtual vehicle is set on the lane in which the vehicle travels, and the preceding vehicle Since the vehicle control plan is generated based on the virtual vehicle set instead of the vehicle, more flexible automatic driving can be performed according to the movement of the surrounding vehicle.
- the surrounding vehicle traveling around the vehicle changes the lane based on the distance to the point where the lane decreases or the arrival time. Therefore, more accurate estimation can be performed.
- FIG. 1 is a diagram illustrating components included in a vehicle M (hereinafter also referred to as a first vehicle M) on which the vehicle control device 100 according to the first embodiment is mounted.
- the vehicle on which the vehicle control device 100 is mounted is, for example, a motor vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a vehicle using an internal combustion engine such as a diesel engine or a gasoline engine as a power source, or an electric vehicle using a motor as a power source.
- a hybrid vehicle having an internal combustion engine and an electric motor.
- the electric vehicle mentioned above drives using the electric power discharged by batteries, such as a secondary battery, a hydrogen fuel cell, a metal fuel cell, and an alcohol fuel cell, for example.
- the finder 20-4 is attached to a trunk lid or the like, and the finders 20-5 and 20-6 are attached to the side surface of the vehicle body, the interior of the taillight, or the like.
- the viewfinders 20-1 to 20-6 have a detection area of about 150 degrees in the horizontal direction, for example.
- the finder 20-7 is attached to a roof or the like.
- the finder 20-7 has a detection area of 360 degrees in the horizontal direction, for example.
- Radars 30-1 and 30-4 are, for example, long-distance millimeter-wave radars that have a wider detection area in the depth direction than other radars.
- Radars 30-2, 30-3, 30-5, and 30-6 are medium-range millimeter-wave radars that have a narrower detection area in the depth direction than radars 30-1 and 30-4.
- finders 20-1 to 20-7 are not particularly distinguished, they are simply referred to as “finder 20”
- radars 30-1 to 30-6 are not particularly distinguished, they are simply referred to as “radar 30”.
- the radar 30 detects an object by, for example, FM-CW (Frequency Modulated Continuous Wave) method.
- FM-CW Frequency Modulated Continuous Wave
- FIG. 1 is merely an example, and a part of the configuration may be omitted, or another configuration may be added.
- FIG. 2 is a functional configuration diagram of the vehicle M centering on the vehicle control device 100 according to the first embodiment.
- the vehicle M includes a finder 20, a radar 30, and a camera 40, a navigation device 50, a vehicle sensor 60, a travel driving force output device 72, a steering device 74, a brake device 76, an operation device 78, and an operation.
- the detection sensor 80, the changeover switch 82, and the vehicle control device 100 are mounted. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like.
- CAN Controller Area Network
- the configuration for specifying the position of the vehicle M may be provided independently of the navigation device 50.
- the navigation apparatus 50 may be implement
- the configuration for specifying the position of the vehicle M may be provided independently of the navigation device 50.
- the traveling driving force output device 72 includes an engine and an engine ECU (Electronic Control Unit) that controls the engine when the vehicle M is an automobile using an internal combustion engine as a power source, for example.
- the traveling driving force output device 72 includes a traveling motor and a motor ECU that controls the traveling motor.
- the traveling driving force output device 72 includes an engine and an engine ECU, a traveling motor, and a motor ECU.
- the engine ECU adjusts the throttle opening, shift stage, etc.
- the travel driving force output device 72 includes only the travel motor, the motor ECU adjusts the duty ratio of the PWM signal applied to the travel motor in accordance with information input from the travel control unit 120, and the travel drive described above. Output force.
- the traveling driving force output device 72 includes an engine and a traveling motor, both the engine ECU and the motor ECU control the traveling driving force in cooperation with each other according to information input from the traveling control unit 120.
- the steering device 74 includes, for example, an electric motor, a steering torque sensor, a steering angle sensor, and the like.
- the electric motor changes the direction of the steering wheel by applying a force to a rack and pinion function or the like, for example.
- the steering torque sensor detects, for example, twisting of the torsion bar when the steering wheel is operated as steering torque (steering force).
- the steering angle sensor detects, for example, a steering steering angle (or actual steering angle).
- the steering device 74 drives the electric motor according to the information input from the travel control unit 120 and changes the direction of the steering wheel.
- the brake device 76 includes a master cylinder that transmits a brake operation performed on the brake pedal as hydraulic pressure, a reservoir tank that stores brake fluid, a brake actuator that adjusts a braking force output to each wheel, and the like.
- the brake control unit 44 controls the brake actuator and the like so that the brake torque according to the pressure of the master cylinder is output to each wheel according to the information input from the travel control unit 120.
- the brake device 76 is not limited to the electronically controlled brake device that operates by the hydraulic pressure described above, but may be an electronically controlled brake device that operates by an electric actuator.
- the automatic operation mode is an operation mode that travels in a state where the driver does not perform an operation (or the operation amount is small or the operation frequency is low compared to the manual operation mode). More specifically, the automatic operation mode is an operation mode in which a part or all of the driving force output device 72, the steering device 74, and the brake device 76 are controlled based on the action plan.
- the vehicle control device 100 includes, for example, a host vehicle position recognition unit 102, an external environment recognition unit 104, an action plan generation unit 106, a lane change control unit 110, a travel control unit 120, a control switching unit 122, and a storage unit. 130.
- Some or all of the vehicle position recognition unit 102, the external environment recognition unit 104, the action plan generation unit 106, the lane change control unit 110, the travel control unit 120, and the control switching unit 122 may be a CPU (Central Processing Unit) or the like. It is a software function unit that functions when a processor executes a program.
- CPU Central Processing Unit
- the own vehicle position recognition unit 102 It recognizes the lane in which the vehicle is traveling (the traveling lane) and the relative position of the vehicle M with respect to the traveling lane.
- the map information 132 is, for example, map information with higher accuracy than the navigation map included in the navigation device 50, and includes information on the center of the lane or information on the boundary of the lane. More specifically, the map information 132 includes road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like.
- Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, road lane number, width of each lane, road gradient, road position (longitude, latitude, height). Information including 3D coordinates), curvature of lane curves, lane merging and branch point positions, signs provided on roads, and the like.
- the traffic regulation information includes information that the lane is blocked due to construction, traffic accidents, traffic jams, or the like.
- the outside recognition unit 104 estimates whether or not the surrounding vehicle is changing lanes (or whether or not it is about to change) based on the history of the position of the surrounding vehicle and the operating state of the direction indicator. Further, the external environment recognition unit 104 reduces the lane in front of the vehicle M based on the position of the vehicle M acquired from the navigation device 50 and the map information 132, or information input from the finder 20, the radar 30, the camera 40, and the like. When detected, the lane change of the surrounding vehicle is estimated based on the distance to the lane decrease point or the arrival time.
- the external recognition unit 104 is an example of an “estimation unit”.
- FIG. 4 is a diagram illustrating a state in which a lane change of a surrounding vehicle is estimated when a decrease in lane is detected by the external recognition unit 104.
- m is a surrounding vehicle
- d is a traveling (traveling) direction of each vehicle
- L1 is a lane in which the vehicle M travels
- L2 and L3 are adjacent lanes.
- the road shape is such that the adjacent lane L2 disappears and merges with the lane L1.
- the external environment recognition unit 104 estimates that the surrounding vehicle m traveling in the adjacent lane L2 changes to the lane L1.
- the external recognition unit 104 searches the map information 132 based on the position of the vehicle M acquired from the navigation device 50, and, for example, a first predetermined distance (for example, several hundred [m] to several hundreds from the position of the vehicle M to the front). [Km]), it is determined whether there is a point VP where the lane decreases.
- a first predetermined distance for example, several hundred [m] to several hundreds from the position of the vehicle M to the front. [Km]
- the outside world recognition unit 104 determines that there is a point VP where the lane decreases, the distance or arrival time from the surrounding vehicle m traveling on the vehicle M or the disappearing lane to the point VP (the distance is the vehicle M or the surrounding area).
- the estimated result that the surrounding vehicle m changes lanes is output to other functional units (such as the lane change control unit 110) at the subsequent stage at a timing when the vehicle m divided by the speed of the vehicle m falls within a predetermined value. That is, the lane change timing is estimated based on the distance or arrival time from the vehicle M or the surrounding vehicle m traveling in the disappearing lane to the point VP.
- the predetermined value is a value with respect to the distance, it is set to, for example, about several tens [m].
- the predetermined value is a value for the arrival time, for example, it is set to about several seconds.
- the said numerical value is an example and a predetermined value is not limited to these numerical values.
- the outside recognition unit 104 may detect a decrease in the lane ahead of the vehicle M based on an image obtained by capturing the front of the vehicle M with the camera 40.
- the action plan generation unit 106 generates an action plan in a predetermined section.
- the predetermined section is, for example, a section that passes through a toll road such as an expressway among the routes derived by the navigation device 50. Not only this but the action plan production
- the action plan is composed of a plurality of events that are executed sequentially, for example.
- Events include, for example, a deceleration event that decelerates the vehicle M, an acceleration event that accelerates the vehicle M, a lane keep event that causes the vehicle M to travel without departing from the traveling lane, a lane change event that changes the traveling lane, and a vehicle M Passing event for overtaking the preceding vehicle at the time, change to the desired lane at the branch point, or branch event for driving the vehicle M so as not to deviate from the current driving lane, acceleration or deceleration of the vehicle M at the lane junction point Merging events that change the driving lane.
- the vehicle control device 100 changes the lane so that the vehicle M travels in the direction of the destination in the automatic driving mode, Need to maintain lanes. Therefore, when the action plan generation unit 106 refers to the map information 132 and finds that a junction exists on the route, the action plan generation unit 106 performs a period from the current position (coordinate) of the vehicle M to the position (coordinate) of the junction. Then, a lane change event is set for changing the lane to a desired lane that can proceed in the direction of the destination. Information indicating the action plan generated by the action plan generation unit 106 is stored in the storage unit 130 as action plan information 136.
- FIG. 5 is a diagram showing an example of an action plan generated for a certain section.
- the action plan generation unit 106 classifies scenes that occur when traveling according to a route to a destination, and generates an action plan so that an event corresponding to each scene is executed. Note that the action plan generation unit 106 may dynamically change the action plan according to a change in the situation of the vehicle M.
- the action plan generation unit 106 may change (update) the generated action plan based on the state of the outside world recognized by the outside world recognition unit 104, for example.
- the state of the outside world constantly changes.
- the distance interval with other vehicles changes relatively.
- the action plan generation unit 106 may change the event set for each control section in accordance with the external state change as described above.
- the action plan generation unit 106 determines that the speed of the other vehicle recognized by the external field recognition unit 104 during the vehicle traveling exceeds a threshold value or the movement direction of the other vehicle traveling in the adjacent lane adjacent to the traveling lane.
- the event set in the driving section where the vehicle M is scheduled to travel is changed. For example, when the event is set so that the lane change vent is executed after the lane keep event, the vehicle from the rear of the lane to which the lane is changed becomes greater than the threshold during the lane keep event according to the recognition result of the external recognition unit 104.
- the action plan generation unit 106 changes the event next to the lane keep event from a lane change to a deceleration event, a lane keep event, or the like.
- the vehicle control device 100 can avoid the vehicle M from colliding with the vehicle to which the lane is changed.
- the vehicle control device 100 can automatically drive the vehicle M safely even when a change occurs in the external environment.
- the lane change control unit 110 performs control when the lane change event included in the action plan is performed by the action plan generation unit 106.
- the lane change control unit 110 includes, for example, a target position candidate setting unit 111, a virtual vehicle setting unit 112, an other vehicle position change estimation unit 113, a control plan generation unit 114, and a target position determination unit 115.
- the target position candidate setting unit 111 refers to the positions of surrounding vehicles recognized by the external field recognition unit 104, and first sets a large target area for lane change, and the vehicle M travels within the target area.
- a lane change target position candidate is set as a relative position with respect to a surrounding vehicle traveling in an adjacent lane adjacent to a traveling lane (own lane).
- the target area will be described as corresponding to the entire detection area of the device.
- the target area may be a partial area of the device detection area.
- FIG. 6 is a diagram illustrating a state where the target position candidate setting unit 111 according to the first embodiment sets lane change target position candidates.
- ma and mb are surrounding vehicles
- DR is a detection area
- T1 to T3 are lane change target position candidates.
- the target position candidate setting unit 111 sets the lane change target position candidate T1 between the vehicle ma and the vehicle mb on the adjacent lane L2, and the vehicle traveling direction d from the rear of the vehicle mb.
- a lane change target position candidate T2 is set up to the outer edge of the detection region DR on the rear side. That is, when there are a plurality of surrounding vehicles on the adjacent lane, the target position candidate setting unit 111 sets the lane change target position candidate T between the plurality of surrounding vehicles. For example, when there are n nearby vehicles, the target position candidate setting unit 111 sets n + 1 lane change target position candidates T in the detection region DR on the adjacent lane. In the example of FIG.
- the target position candidate T cannot be set in front of the vehicle ma. Therefore, since there are two vehicles on the adjacent lane L2, the target position candidate setting unit 111 should set three lane change target position candidates T, but the target position candidate T is in front of the vehicle ma. Cannot be set, two lane change target position candidates T are set.
- the virtual vehicle setting unit 112 uses a virtual vehicle that virtually imitates the monitoring vehicle that is not recognized by the external recognition unit 104 at the outer edge of the device detection area. Set in a predetermined state.
- the monitoring vehicle includes a vehicle that travels in front of (immediately before) the vehicle M in the travel lane, a vehicle that travels in front of (immediately before) the lane change target position candidate T, and a rear (immediately) of the lane change target position candidate T.
- Vehicle to travel a vehicle traveling in front of the vehicle M in the travel lane (immediately before) is referred to as a preceding vehicle, and a vehicle traveling in front of the lane change target position candidate T is referred to as a lane change target position candidate preceding vehicle.
- a vehicle that travels behind the change target position candidate T is referred to as a lane change target position candidate following vehicle.
- the predetermined state includes a state where the speed of the virtual vehicle is zero, a state where the speed (or acceleration) of the virtual vehicle is equal to or less than a threshold, and a state where the speed of the virtual vehicle is equal to the vehicle M.
- the virtual vehicle setting unit 112 may set a virtual vehicle that is stopped near the outer edge of the detection region, or may set a virtual vehicle that is traveling at a constant speed.
- the virtual vehicle setting unit 112 sets the virtual vehicle as a stationary stationary body when the virtual vehicle is set near the outer edge of the detection area on the front side of the vehicle M, and the rear of the vehicle M When a virtual vehicle is set on the side or inside the detection area, the virtual vehicle is set as a moving body having a predetermined speed (acceleration).
- the virtual vehicle setting unit 112 sets the virtual vehicle speed (or acceleration) in a state that is equal to or higher than a threshold value.
- the virtual vehicle setting unit 112 may set a virtual vehicle that travels at a constant multiple (including 1 times) of the assumed maximum speed in the vicinity of the outer edge of the detection region DR, and the speed of the vehicle M and surrounding vehicles.
- a virtual vehicle that travels at a speed that is a constant multiple of (including 1 times) may be set.
- the virtual vehicle setting unit 112 sets a virtual vehicle as a moving body that travels at the assumed maximum speed.
- the other vehicle position change estimation unit 113 determines the future position change of the monitoring vehicles (the preceding vehicle, the lane change target position candidate preceding vehicle, and the lane change target position candidate following vehicle) recognized by the external environment recognition unit 104. Is estimated. At this time, if any one or more of the preceding vehicle, the lane change target position candidate preceding vehicle, and the lane change target position candidate following vehicle are not recognized by the external recognition unit 104, these three vehicles Future position changes are estimated for the vehicle recognized by the external recognition unit 104 and the virtual vehicle set by the virtual vehicle setting unit 112 in response to the fact that the vehicle is not recognized.
- the other vehicle position change estimation unit 113 receives the monitoring vehicle recognized by the external recognition unit 104 and the vehicle not being recognized. Future position changes are estimated for some or all of the virtual vehicle set by the setting unit 112 and the virtual interrupt vehicle set by the virtual vehicle setting unit 112 in response to the vehicle performing a lane change operation. .
- control plan generation unit 114 For each lane change target position candidate T set by the target position candidate setting unit 111, the control plan generation unit 114 changes the lane based on the position change of the surrounding vehicle estimated by the other vehicle position change estimation unit 113. Generate a control plan for each lane change target position candidate T set by the target position candidate setting unit 111.
- the target position determination unit 115 selects one of the plurality of lane change target position candidates T set by the target position candidate setting unit 111 based on the control plan generated by the control plan generation unit 114 for each lane change target position candidate T. Two lane change target positions T # are determined.
- FIG. 7 is a flowchart illustrating an example of a processing flow of the lane change control unit 110 in the first embodiment.
- the target position candidate setting unit 111 selects one lane change target position candidate T (step S100).
- the virtual vehicle setting unit 112 performs a virtual vehicle setting process (step S102).
- FIG. 8 and 9 are flowcharts illustrating an example of the flow of the virtual vehicle setting process according to the first embodiment.
- the process of this flowchart corresponds to the process of step S102 in the flowchart of FIG. 7 described above.
- the preceding vehicle is referred to as m1
- the lane change target position candidate preceding vehicle is referred to as m2
- the lane change target position candidate subsequent vehicle is referred to as m3.
- a virtual vehicle corresponding to the preceding vehicle m1 is referred to as vm1
- a virtual vehicle corresponding to the lane change target position candidate preceding vehicle m2 is referred to as vm2
- a virtual vehicle corresponding to the lane change target position candidate following vehicle m3 is referred to as vm3.
- the virtual interrupt vehicle corresponding to the lane change target position candidate preceding vehicle m2 during the lane change operation is referred to as vm2 #
- the virtual interrupt vehicle corresponding to the lane change target position candidate following vehicle m3 during the lane change operation is referred to as vm3 #.
- the virtual vehicle setting unit 112 determines whether or not the preceding vehicle m1 is recognized by the external recognition unit 104 (step S200). If the preceding vehicle m1 is not recognized by the external recognition unit 104, the virtual vehicle setting unit 112 sets the virtual vehicle vm1 virtually imitating the preceding vehicle m1 as a stationary body near the outer edge of the detection region ( Step S202).
- FIG. 10 is a diagram illustrating an example of a scene in which the preceding vehicle m1 is not recognized in the detection area DR.
- the travel lane (the lane in which the vehicle M travels) is represented as L1
- the adjacent lane on the right side of the travel lane L1 is represented as L2
- the adjacent lane on the left side of the travel lane L1 is represented as L3
- the lane change target position candidate is represented as T.
- the vehicle m2 is positioned in front of the lane change target position candidate T in the adjacent lane L2, and thus is recognized as a preceding vehicle for the lane change target position candidate.
- the virtual vehicle setting unit 112 sets the stationary virtual vehicle vm1 in the vicinity of the outer edge of the detection region DR in front of the traveling lane L1.
- the virtual vehicle setting unit 112 sets the virtual vehicle vm1 so that the rear end portion of the vehicle body is located outside the detection region DR.
- FIG. 11 is a diagram illustrating an example of a state in which the virtual vehicle vm1 is set near the outer edge of the detection region DR. As illustrated in FIG. 11, the virtual vehicle setting unit 112 arranges the virtual vehicle vm1 outside the outer edge so that the entire vehicle body region is not included in the detection region DR.
- the virtual vehicle setting unit 112 may set the virtual vehicle vm1 so that the rear end portion of the vehicle body is located inside the detection region DR.
- FIG. 12 is a diagram illustrating another example of setting the virtual vehicle vm1 near the outer edge of the detection region DR. As illustrated in FIG. 12, the virtual vehicle setting unit 112 arranges the virtual vehicle vm1 on the outer edge so that a part of the vehicle body region is included in the detection region DR. Note that the virtual vehicle setting unit 112 may arrange the virtual vehicle vm1 on the inner side of the outer edge so that the entire vehicle body region is included in the detection region DR.
- the virtual vehicle setting unit 112 sets the virtual vehicle vm1 at the center CL of the traveling lane, for example, with respect to the lane width direction with respect to the lane traveling direction. Note that the virtual vehicle setting unit 112 may set the virtual vehicle vm1 at a position outside the center CL in the lane width direction.
- the virtual vehicle setting unit 112 recognizes the following vehicle m3 following the lane change target position candidate by the external recognition unit 104. It is determined whether or not (step S204).
- the virtual vehicle setting unit 112 detects a virtual vehicle vm3 that virtually simulates the lane change target position candidate following vehicle m3 as a detection region. Is set as a moving object in the vicinity of the outer edge (step S206).
- FIG. 13 is a diagram illustrating an example of a scene in which the lane change target position candidate succeeding vehicle m3 is not recognized in the detection region DR.
- the traveling lane is represented as L1
- the adjacent lane on the right side of the traveling lane L1 is represented as L2
- the adjacent lane on the left side of the traveling lane L1 is represented as L3
- the lane change target position candidate is represented as T.
- the vehicle m1 is located in front of the vehicle M in the travel lane L1, and thus is recognized as a preceding vehicle.
- the virtual vehicle setting unit 112 sets the virtual vehicle vm3 of the moving body in the vicinity of the outer edge of the detection region DR behind the adjacent lane L2.
- the arrangement position of the virtual vehicle vm3 is the same as the arrangement position of the virtual vehicle vm1 described above.
- the virtual vehicle setting unit 112 may set the virtual vehicle vm3 so that the front end portion of the vehicle body is positioned outside the detection region DR, or the front end portion of the vehicle body is positioned inside the detection region DR.
- a virtual vehicle vm3 may be set.
- the virtual vehicle setting unit 112 indicates that the lane change target position candidate following vehicle m3 recognized by the outside recognition unit 104 is the driving lane. It is determined whether or not it is estimated that the lane will be changed (or the lane will be changed) (step S208).
- the virtual vehicle setting unit 112 will be described later. The process of S218 is performed.
- the virtual vehicle setting unit 112 changes the lane. Whether the lane change target position candidate following vehicle m3 in operation is behind the preceding vehicle m1 or the virtual vehicle vm1 and ahead of the vehicle M, that is, the preceding vehicle m1 or the virtual vehicle vm1. It is determined whether or not the vehicle is located between the vehicle and the vehicle M (step S210).
- the virtual vehicle setting unit 112 determines in the determination process in step S200 that the preceding vehicle m1 is recognized by the external recognition unit 104, the position of the lane change target position candidate following vehicle m3, the preceding vehicle By comparing the position of m1 and the position of the vehicle M, it is determined whether or not the lane change target position candidate following vehicle m3 during the lane changing operation is located between the preceding vehicle m1 and the vehicle M. . More specifically, the virtual vehicle setting unit 112 is configured such that the front end of the lane change target position candidate rear-running vehicle m3 is located behind the front end of the front-running vehicle m1 and is ahead of the front end of the vehicle M. In the case where the vehicle is located at, it is determined that the lane change target position candidate following vehicle m3 during the lane changing operation is located between the preceding vehicle m1 and the vehicle M.
- the virtual vehicle setting unit 112 is such that the rear end portion of the lane change target position candidate rear vehicle m3 is positioned behind the rear end portion of the front vehicle m1 and forward of the rear end portion of the vehicle M. In this case, it may be determined that the lane change target position candidate following vehicle m3 during the lane changing operation is located between the preceding vehicle m1 and the vehicle M.
- the virtual vehicle setting unit 112 is Lane change target position candidate
- the lane change target position candidate It may be determined that the following vehicle m3 is positioned ahead of the vehicle M.
- the lane change target position candidate following vehicle m3 recognized by the external recognition unit 104 is behind the virtual vehicle vm1. Will be located. Therefore, when it is determined that the preceding vehicle m1 is not recognized by the external recognition unit 104 in the process of step S200 described above ("No" determination result), the lane change target position candidate is determined in the determination process of step S210. The position of the following vehicle m3 is determined to be behind the position of the virtual vehicle vm1.
- the virtual vehicle setting unit 112 When the lane change target position candidate following vehicle m3 during the lane changing operation is not located between the preceding vehicle m1 or the virtual vehicle vm1 and the vehicle M, the virtual vehicle setting unit 112 performs processing in step S218 described later. To implement. On the other hand, when the lane change target position candidate following vehicle m3 during the lane changing operation is located between the preceding vehicle m1 or the virtual vehicle vm1 and the vehicle M, the virtual vehicle setting unit 112 sets the virtual vehicle vm1. It is determined whether it has already been set (step S212).
- the virtual vehicle setting unit 112 deletes the set virtual vehicle vm1 (step S214), and virtually sets the lane change target position candidate following vehicle m3 during the lane change operation.
- the simulated virtual interrupt vehicle vm3 # is set as a moving object in the detection area DR (step S216).
- the virtual vehicle setting unit 112 skips the process of step S214 and performs the process of step S216 described above.
- FIG. 14 is a diagram illustrating an example of a scene in which a virtual interrupt vehicle vm3 # that virtually simulates the lane change target position candidate succeeding vehicle m3 is set.
- the preceding vehicle m1 and the lane change target position candidate preceding vehicle m2 do not exist, the lane change target position candidate following vehicle m3 exists, and the lane change target position candidate after the detection region DR.
- the traveling vehicle m3 is positioned in front of the vehicle M, and the lane change target position candidate following traveling vehicle m3 represents a situation in which the lane change from the adjacent lane L2 to the travel lane L1 is about to be performed.
- the virtual vehicle setting unit 112 performs a virtual interrupt so as to be positioned next to the current lane change target position candidate succeeding vehicle m3 on the travel lane L1 that is the lane change destination of the lane change target position candidate succeeding vehicle m3.
- the vehicle vm3 # is set. More specifically, for example, the virtual vehicle setting unit 112 is configured such that a perpendicular drawn from a reference point such as the center of gravity of the lane change target position candidate succeeding vehicle m3 and a lane center line on the traveling lane L1 are orthogonal to each other.
- a virtual interrupt vehicle vm3 # is set.
- the virtual vehicle setting unit 112 sets the speed or acceleration of the virtual interrupt vehicle vm3 # based on the state of the lane change target position candidate following vehicle m3. For example, the virtual vehicle setting unit 112 sets the virtual interrupt vehicle vm3 # having the same speed as the speed of the lane change target position candidate following vehicle m3.
- the other vehicle position change estimation unit 113 receives the fact that the lane change target position candidate preceding vehicle m2 has not been recognized, and the virtual vehicle vm2 set by the virtual vehicle setting unit 112 and the lane change target position candidate The virtual interrupt vehicle vm3 # set by the virtual vehicle setting unit 112 in response to the fact that the following vehicle vm3 is in the lane changing operation, and the lane change target position candidate following vehicle that is being recognized by the external recognition unit 104 and is changing the lane A future position change is estimated for m3.
- the virtual vehicle setting unit 112 performs the process of step S210 described above, compares the positions of the preceding vehicle m1, the lane change target position candidate following vehicle m3, and the vehicle M, and changes the lane. It is determined whether the target position candidate rear-running vehicle m3 is positioned between the front-running vehicle m1 and the vehicle M. In the example of FIG. 15, the lane change target position candidate following vehicle m3 is positioned behind the vehicle M, so the virtual vehicle setting unit 112 virtually simulates the lane change target position candidate following vehicle m3. The vehicle vm3 # is not set in the detection area DR.
- the other vehicle position change estimating unit 113 determines the future vehicle m1, the lane change target position candidate preceding vehicle m2 and the lane change target position candidate following vehicle m3 recognized by the external field recognition unit 104 in the future. Estimate position change.
- the virtual vehicle setting unit 112 determines whether or not the lane change target position candidate preceding vehicle m2 has been recognized by the external field recognition unit 104 (step S218). If the lane change target position candidate preceding vehicle m2 is not recognized by the outside recognition unit 104, the virtual vehicle setting unit 112 uses the virtual vehicle vm2 virtually simulating the lane change target position candidate preceding vehicle m2 as the outer edge of the detection region. It is set as a stationary body in the vicinity (step S220).
- FIG. 16 is a diagram illustrating an example of a scene in which the lane change target position candidate preceding vehicle m2 is not recognized in the detection region DR.
- the driving lane is L1
- the adjacent lane on the right side of the driving lane L1 is L2
- the adjacent lane on the left side of the driving lane L1 is L3
- the lane change target position candidate is T, as in FIGS. Represents.
- the vehicle m1 is located in front of the vehicle M in the travel lane L1, and thus is recognized as a preceding vehicle.
- the virtual vehicle setting unit 112 sets the stationary virtual vehicle vm2 near the outer edge of the detection region DR in front of the adjacent lane L2.
- the arrangement position of the virtual vehicle vm2 is the same as the arrangement position of the virtual vehicle vm1 and the virtual vehicle vm3 described above.
- the virtual vehicle setting unit 112 may set the virtual vehicle vm2 so that the rear end portion of the vehicle body is located outside the detection region DR, or the rear end portion of the vehicle body is located inside the detection region DR.
- the virtual vehicle vm2 may be set.
- the virtual vehicle setting unit 112 causes the lane change target position candidate preceding vehicle m2 recognized by the outside world recognition unit 104 to travel. It is determined whether or not it is estimated that the lane is changed to the lane (or the lane is to be changed) (step S222).
- the lane change control unit 110 of the flowchart ends.
- the virtual vehicle setting unit 112 performs the virtual interrupt It is determined whether or not the vehicle vm3 # has already been set (step S224).
- the lane change control unit 110 ends the process of this flowchart.
- the virtual vehicle setting unit 112 indicates that the lane change target position candidate preceding vehicle m2 during the lane changing operation is behind the preceding vehicle m1 or the virtual vehicle vm1.
- the virtual vehicle setting unit 112 determines the positional relationship of the preceding vehicle lane change target position candidate m2 as in the case of determining the positional relationship of the preceding vehicle lane change target position candidate m3 as described above. Judgment is made by comparing reference points such as the part and the center of gravity.
- the virtual vehicle setting unit 112 deletes the set virtual vehicle vm1 (step S230), and virtually sets the lane change target position candidate preceding vehicle m2 during the lane change operation.
- the simulated virtual interrupt vehicle vm2 # is set as a moving object in the detection area DR (step S232).
- FIG. 17 is a diagram illustrating an example of a scene in which a virtual interrupt vehicle vm2 # virtually simulating the lane change target position candidate preceding vehicle m2 is set.
- the preceding vehicle m1 does not exist in the detection region DR
- the lane change target position candidate preceding vehicle m2 and the lane change target position candidate following vehicle m3 exist, and the lane change target position candidate before
- the traveling vehicle m2 is located in front of the vehicle M
- the vehicle in front of the lane change target position candidate m2 represents a situation in which the lane is changing from the adjacent lane L2 to the traveling lane L1.
- the virtual vehicle setting unit 112 sets the speed or acceleration of the virtual interrupt vehicle vm2 # based on the state of the preceding vehicle lane change target position candidate m2. For example, the virtual vehicle setting unit 112 sets a virtual interrupt vehicle vm2 # having the same speed as the speed of the lane change target position candidate preceding vehicle m2.
- the other vehicle position change estimating unit 113 determines the future vehicle m1, the lane change target position candidate preceding vehicle m2 and the lane change target position candidate following vehicle m3 recognized by the external field recognition unit 104 in the future. Estimate position change.
- the virtual vehicle setting unit 112 when the vehicles before and after the lane change target position candidate T are both going to change lanes, the vehicle that is traveling closer to the vehicle M (lane change target position candidate following vehicle m3). Is preferentially set in front of the vehicle M.
- the virtual interrupt vehicle is set when the lane change target position candidate preceding vehicle m2 and the lane change target position candidate following vehicle m3 are about to change lanes, but the present invention is not limited thereto.
- the virtual vehicle setting unit 112 virtually imitates the vehicle.
- a virtual interrupt vehicle may be set.
- a vehicle traveling on an adjacent lane different from the adjacent lane in which the lane change target position candidate T is set will be referred to as a second adjacent lane traveling vehicle m4.
- FIG. 20 is a diagram illustrating an example of a scene in which a virtual interrupt vehicle vm4 # that virtually simulates the second adjacent lane traveling vehicle m4 is set.
- the preceding vehicle lane change target position candidate m2 does not exist in the detection region DR
- the preceding vehicle m1 the lane change target position candidate following vehicle m3, and the second adjacent lane traveling vehicle m4 exist.
- the second adjacent lane traveling vehicle m4 is positioned between the preceding vehicle m1 and the vehicle M, and the second adjacent lane traveling vehicle m4 is about to change the lane from the adjacent lane L3 to the traveling lane L1.
- the virtual vehicle setting unit 112 sets a virtual interrupt vehicle vm4 # that virtually simulates the second adjacent lane traveling vehicle m4 as a moving body in the detection region DR.
- the virtual vehicle setting unit 112 sets the speed or acceleration of the virtual interrupt vehicle vm4 # based on the state of the second adjacent lane traveling vehicle m4. For example, the virtual vehicle setting unit 112 sets the virtual interrupt vehicle vm4 # having the same speed as the speed of the second adjacent lane traveling vehicle m4.
- the other vehicle position change estimation unit 113 receives the virtual interrupt vehicle vm4 # set by the virtual vehicle setting unit 112 in response to the second adjacent lane traveling vehicle m4 being in the lane change operation, and the lane change target. Future position changes for the virtual vehicle vm2 set by the virtual vehicle setting unit 112 in response to the fact that the position candidate preceding vehicle m2 is not recognized and the lane change target position candidate following vehicle m3 recognized by the external recognition unit 104 Is estimated.
- the virtual vehicle setting unit 112 sets the second adjacent lane travel vehicle m4 and the lane.
- the position of the target vehicle m3 following the change target position candidate is compared, and a virtual interrupt vehicle that virtually simulates a vehicle closer to the vehicle M is set.
- FIG. 21 is a diagram illustrating another example of a scene where a virtual interrupt vehicle vm4 # virtually simulating the second adjacent lane traveling vehicle m4 is set.
- the lane change target position candidate preceding vehicle m2 does not exist in the detection region DR, as in FIG. 20, the preceding vehicle m1, the lane change target position candidate following vehicle m3, the second adjacent vehicle
- the second adjacent lane traveling vehicle m4 and the lane change target position candidate following vehicle m3 are positioned between the preceding vehicle m1 and the vehicle M
- the second adjacent lane traveling vehicle m4 is the adjacent lane.
- the lane change control unit 110 can set various virtual vehicles according to the lane change operation of the surrounding vehicle by the processing of the flowchart described above.
- the vehicle position change estimation unit 113 estimates future position changes for these three monitored vehicles (step S104).
- Future position changes can be estimated based on, for example, a constant speed model that is assumed to run while maintaining the current speed, a constant acceleration model that is assumed to run while maintaining the current acceleration, and various other models. it can.
- the other vehicle position change estimation unit 113 may consider the steering angle of a monitoring vehicle (including a virtual vehicle) that is highly likely to interfere when the vehicle M changes lanes, or may not consider the steering angle.
- the position change may be estimated on the assumption that the vehicle travels with the travel lane maintained. In the following description, it is assumed that the monitoring vehicle is assumed to travel while maintaining the traveling lane while maintaining the current speed.
- FIG. 22 is a diagram illustrating an example of the positional relationship between the vehicle M and the surrounding vehicles when the monitoring vehicle to be determined is recognized.
- M is a vehicle
- m1 is a preceding vehicle
- m2 is a preceding vehicle for a lane change target position candidate
- m3 is a following vehicle for a lane change target position candidate
- T is a lane change target position candidate.
- pattern (a) shows a positional relationship of m1-m2-M-m3 in order from the traveling direction side of the vehicle, and shows an example in which the vehicle M changes lanes without changing the relative position with respect to the monitored vehicle.
- Pattern (b) has a positional relationship of m2-m1-m3-M in order from the traveling direction side of the vehicle, and the lane is changed by increasing the relative position with respect to the monitored vehicle (relatively accelerating). An example is shown.
- the other vehicle position change estimation unit 113 performs a classification of future position changes based on the speed models of the monitoring vehicles m1, m2, and m3 for each pattern in which the vehicle positional relationship is typified.
- FIG. 23 is a diagram showing patterns obtained by categorizing changes in the position of surrounding vehicles with respect to the vehicle positional relationship pattern (a).
- FIG. 24 is a diagram showing patterns obtained by typifying changes in the position of surrounding vehicles with respect to the vehicle positional relationship pattern (b). 23 and 24, the vertical axis represents displacement in the traveling direction with reference to the vehicle M, and the horizontal axis represents elapsed time. 23 and FIG.
- the possible existence area after the lane change is a displacement in which the vehicle M can exist when the monitored vehicle (m1, m2, m3) continues traveling with the same tendency after the lane change. Shows the area.
- the lane changeable region is below the displacement of the preceding vehicle m1, that is, the vehicle M is the preceding vehicle before the lane change is performed.
- it is restricted not to come out before m1 it is shown that there is no problem even if it comes before the preceding vehicle m1 after changing lanes.
- This possible area after the lane change is used for the processing of the control plan generation unit 114.
- These patterns may be a pattern representing the positional relationship, and these patterns may be classified according to the number of vehicles. In the case of the above-described example, there are six types of patterns representing the positional relationship of vehicles.
- the other vehicle position change estimation unit 113 receives the monitoring vehicle recognized by the external recognition unit 104 and the fact that the monitoring vehicle is not recognized and sets the virtual vehicle. A future position change is estimated for the virtual vehicle set by the unit 112 (step S104).
- the other vehicle position change estimation unit 113 recognizes the recognized lane change target position. Future position changes are estimated for the candidate preceding vehicle, the lane change target position candidate succeeding vehicle, and the virtual vehicle that virtually simulates the unrecognized preceding vehicle.
- FIG. 25 is a diagram illustrating an example of a positional relationship between the vehicle M and the monitoring vehicle when a part of the monitoring vehicle is not recognized.
- the preceding vehicle m1 is not recognized, and a virtual vehicle vm1 virtually simulating the preceding vehicle m1 is set.
- the positional relationship of the vehicle when the virtual vehicle vm1 is set will be described as a pattern (c).
- the pattern (c) has a positional relationship of vm1-m2-Mm3 in order from the vehicle traveling direction side, and the vehicle M changes the lane without changing the relative position with the surrounding vehicle (monitoring vehicle). An example is shown.
- FIG. 26 is a diagram showing patterns obtained by typifying changes in the position of surrounding vehicles with respect to the vehicle positional relationship pattern (c).
- the vertical axis in FIG. 24 represents the displacement in the traveling direction with reference to the vehicle M, and the horizontal axis represents the elapsed time, as in FIGS.
- the future position change is estimated by a model in which the virtual vehicle vm1 is assumed to be a stationary body of zero speed.
- the other vehicle position change estimation unit 113 determines that all the surrounding vehicles The future position change is estimated for the virtual vehicle corresponding to. In such a case, the other vehicle position change estimation unit 113 estimates a future position change based on a speed model according to the speed of each virtual vehicle set by the virtual vehicle setting unit 112.
- the other vehicle position change estimation unit 113 is not limited to the preceding vehicle, the preceding vehicle for the lane change target position candidate, and the following vehicle for the lane change target position candidate, for example, the preceding vehicle that travels in the traveling lane.
- the future position change may be estimated in consideration of a vehicle different from the vehicle ahead of the lane change target position candidate preceding vehicle and the lane change target position candidate following vehicle traveling in the adjacent lane.
- the other vehicle position change estimation unit 113 may estimate a future position change in consideration of a vehicle (for example, the second adjacent lane vehicle m4) traveling on a lane adjacent to the adjacent lane.
- control plan generation unit 114 lanes based on the position change of the surrounding vehicle estimated by the other vehicle position change estimation unit 113.
- a control plan for change is generated (step S106).
- step S106 the process of step S106 will be described.
- the control plan generation unit 114 determines the start time and the end time of the lane change based on the position change of the surrounding vehicle (monitoring vehicle) estimated by the other vehicle position change estimation unit 113, and from this start time The speed of the vehicle M is determined so as to change the lane during the period up to the end point (the lane changeable period P).
- the control plan generation unit 114 determines the start time of the lane change.
- the control plan generation unit 114 detects that the lane change target position candidate following vehicle m3 catches up with the lane change target position candidate preceding vehicle m2, and the lane change target position candidate following vehicle m3 and the lane change target position candidate preceding vehicle m2. When the distance between and a predetermined distance is determined as the end point. In this way, the control plan generation unit 114 derives the lane changeable period P by determining the start time and the end time of the lane change.
- the control plan generation unit 114 obtains a restriction on the speed of the vehicle M that can enter the lane changeable area within the derived lane changeable period P, and generates a control plan for changing the lane according to the restriction on the speed.
- FIG. 27 is a diagram illustrating an example of a control plan for changing lanes generated by the control plan generation unit 114.
- the vertical axis in FIG. 27 represents the displacement in the traveling direction with reference to the vehicle M, and the horizontal axis represents the elapsed time.
- the preceding vehicle is represented as m1
- the lane change target position candidate preceding vehicle is represented as m2
- the lane change target position candidate following vehicle is represented as m3.
- m1 the preceding vehicle
- m2 the lane change target position candidate preceding vehicle
- m3 the lane change target position candidate following vehicle
- the lane changeable area is smaller than the displacement of the preceding vehicle m1, smaller than the displacement of the lane change target position candidate preceding vehicle m2, and the displacement of the lane change target position candidate following vehicle m3. Is a larger area. That is, the speed limitation of the vehicle M is that the vehicle M is in the preceding vehicle m1 in the period (lane changeable period P) until the lane change target position candidate following vehicle m3 catches up with the lane change target position candidate preceding vehicle m2. It is set in a speed range in which the vehicle M overtakes the lane change target position candidate succeeding vehicle m3.
- the restriction on the speed of the vehicle M is that the lane change that becomes the preceding vehicle after the lane change (a state that is located between the lane change target position candidate preceding vehicle m2 and the lane change target position candidate following vehicle m3). It may include following the target position candidate preceding vehicle m2. In this case, the vehicle M may deviate from the lane changeable area and enter the lane changeable area when the follow-up running is started. As shown in FIG. 27, the possible area after the lane change is an area where the displacement of the preceding vehicle m1 is smaller than the displacement of the preceding vehicle m2 of the lane change target position candidate.
- entering the lane changeable area from the lane changeable area maintains the state where the vehicle M does not come out ahead of the preceding vehicle m1 due to the speed restriction before the lane change. From time to time, after changing the lane, the vehicle M transitions to a state where the vehicle M comes out ahead of the preceding vehicle m1.
- the control plan generation unit 114 determines that the displacement of the vehicle M is the lane change target position candidate following vehicle m3.
- the speed limit of the vehicle M is set so that the lane change is started at a point sufficiently larger than the displacement (for example, CP in FIG. 27).
- the control plan generation unit 114 draws a trajectory (trajectory) representing a change in the displacement of the vehicle M shown in FIG. 27 so as to satisfy the speed constraint set in this manner, and uses this trajectory (trajectory) as a control plan. To derive.
- the control plan generation unit 114 may generate a control plan such that the vehicle M follows the preceding vehicle at a speed at which the relative position between the vehicle M and the preceding vehicle is constant, for example. .
- the lane change control unit 110 determines whether or not the processing of steps S100 to S106 has been performed for all lane change target position candidates T (step S108). When the processes of steps S100 to S106 are not performed for all lane change target position candidates T, the process returns to step S100, the next lane change target position candidate T is selected, and the subsequent processes are performed.
- the target position determination unit 116 determines the lane change target position T # by evaluating the corresponding control plan (step S110). .
- the traveling control unit 120 sets the control mode to the automatic operation mode or the manual operation mode under the control of the control switching unit 122, and the traveling driving force output device 72, the steering device 74, and the brake device 76 are set according to the set control mode. Control a controlled object including part or all of it.
- the traveling control unit 120 reads the action plan information 136 generated by the action plan generation unit 106 in the automatic driving mode, and controls a control target based on an event included in the read action plan information 136. When this event is a lane change event, the travel control unit 120 follows the control plan generated by the control plan generation unit 114, the control amount (for example, the rotation speed) of the electric motor in the steering device 92, and the travel driving force output device.
- a control amount of the ECU at 90 (for example, an engine throttle opening degree, a shift stage, etc.) is determined.
- the traveling control unit 120 outputs information indicating the control amount determined for each event to the corresponding control target.
- each device (72, 74, 76) to be controlled can control the device to be controlled according to the information indicating the control amount input from the travel control unit 120.
- the traveling control unit 120 appropriately adjusts the determined control amount based on the detection result of the vehicle sensor 60.
- the traveling control unit 120 controls the control target based on the operation detection signal output from the operation detection sensor 80 in the manual operation mode. For example, the traveling control unit 120 outputs the operation detection signal output by the operation detection sensor 80 to each device to be controlled as it is.
- the control switching unit 122 changes the control mode of the vehicle M by the travel control unit 120 from the automatic driving mode to the manual driving mode based on the behavior plan information 136 generated by the behavior plan generating unit 106 and stored in the storage unit 130. Or switch from manual operation mode to automatic operation mode. Further, the control switching unit 122 changes the control mode of the vehicle M by the travel control unit 120 from the automatic operation mode to the manual operation mode, or from the manual operation mode to the automatic operation based on the control mode designation signal input from the changeover switch 82. Switch to mode. That is, the control mode of the traveling control unit 120 can be arbitrarily changed during traveling or stopping by an operation of a driver or the like.
- the switching unit 122 switches the control mode of the travel control unit 120 from the automatic operation mode to the manual operation mode.
- the vehicle control device 100 does not go through the operation of the changeover switch 82 by the operation performed by the driver when an object such as a person jumps out on the roadway or the preceding vehicle suddenly stops. You can immediately switch to manual operation mode.
- the vehicle control device 100 can cope with an emergency operation by the driver, and can improve safety during traveling.
- the outside recognition unit 104 that estimates the lane change by the surrounding vehicle that travels around the vehicle M
- the outside recognition unit A virtual vehicle setting unit 112 that sets a virtual vehicle that virtually simulates a peripheral vehicle to be recognized on the lane of a lane change destination of the peripheral vehicle when the lane change by the peripheral vehicle is estimated by A control plan generation unit 114 that generates a control plan for the vehicle M based on the virtual vehicle set by the setting unit 112, and an acceleration, deceleration, or the like of the vehicle M based on the control plan generated by the control plan generation unit 114
- the traveling control unit 120 that controls the steering, it is possible to perform flexible automatic driving according to the movement of the surrounding vehicle.
- the vehicle control device 100 when the surrounding vehicle that is changing lanes is closer to the vehicle M than the preceding vehicle, the virtual interrupt vehicle Is set in front of the vehicle M, and the control plan of the vehicle M is generated with reference to the virtual interrupt vehicle set instead of the preceding vehicle, so that more flexible automatic driving is performed according to the movement of the surrounding vehicles. Can do.
- the vehicle control device 100 according to the second embodiment is different from the first and second embodiments in that the virtual vehicle is set based on the relative speed Vr between the speed of the monitored vehicle and the speed of the vehicle M.
- Vr the relative speed between the speed of the monitored vehicle and the speed of the vehicle M.
- the virtual vehicle setting unit 112 in the second embodiment determines whether or not the lane change destination of the monitoring vehicle is a travel lane, and when the lane change destination of the monitoring vehicle is a travel lane, the speed of the monitoring vehicle Based on the relative speed Vr with respect to the speed of the vehicle M, an area in which the virtual vehicle is not set (hereinafter referred to as “non-setting area NSR”) is set in front of the vehicle M.
- FIG. 28 and FIG. 29 are flowcharts illustrating an example of a processing flow of the lane change control unit 110 in the second embodiment.
- the process of this flowchart corresponds to the process of step S102 of the flowchart of FIG. 7 described in the first embodiment.
- the virtual vehicle setting unit 112 recognizes the following vehicle m3 following the lane change target position candidate by the external recognition unit 104. It is determined whether or not (step S304).
- the virtual vehicle setting unit 112 detects a virtual vehicle vm3 that virtually simulates the lane change target position candidate following vehicle m3 as a detection region. Is set as a moving object in the vicinity of the outer edge (step S306).
- the virtual vehicle setting unit 112 indicates that the lane change target position candidate following vehicle m3 recognized by the outside recognition unit 104 is the driving lane. It is determined whether or not it is estimated that the lane will be changed (or the lane is to be changed) (step S308).
- the virtual vehicle setting unit 112 changes the lane. Whether the lane change target position candidate following vehicle m3 in operation is behind the preceding vehicle m1 or the virtual vehicle vm1 and ahead of the vehicle M, that is, the preceding vehicle m1 or the virtual vehicle vm1. It is determined whether the vehicle is located between the vehicle M and the vehicle M (step S310).
- the virtual vehicle setting unit 112 When the lane change target position candidate following vehicle m3 during the lane changing operation is not located between the preceding vehicle m1 or the virtual vehicle vm1 and the vehicle M, the virtual vehicle setting unit 112 performs the process of step S322 described later. To implement.
- the speed of the lane change target position candidate following vehicle m3 during the lane change operation is located between the preceding vehicle m1 or the virtual vehicle vm1 and the vehicle M, the speed of the lane change target position candidate following vehicle m3. It is determined whether or not the relative speed Vr between the vehicle speed and the speed of the vehicle M is greater than or equal to zero (step S312).
- the relative speed Vr is a value obtained by subtracting the speed value of the vehicle M from the speed value of the following vehicle lane change target position candidate m3.
- the virtual vehicle setting unit 112 sets the non-setting area NSR in front of the vehicle M when the relative speed Vr is greater than or equal to zero (step S314).
- FIG. 30 is a diagram schematically showing whether or not to set the non-setting area NSR.
- the vertical axis represents the distance (position) on the traveling direction side
- the horizontal axis represents the relative speed Vr.
- a point O shown in FIG. 30 is an origin coordinate, and a zero relative speed Vr and a position of the vehicle M are used as reference coordinates. Therefore, when the monitoring vehicle is positioned ahead of the vehicle M, the vertical axis takes a positive value. Moreover, when the speed of the monitoring vehicle is larger than the speed of the vehicle M, the relative speed Vr becomes zero or more and takes a positive value on the horizontal axis.
- the virtual vehicle setting unit 112 sets the non-setting area NSR when taking a positive value on both the vertical axis and the horizontal axis. That is, the virtual vehicle setting unit 112 sets the non-setting area NSR when the monitoring vehicle is positioned ahead of the vehicle M and the speed of the monitoring vehicle is higher than the speed of the vehicle M.
- the virtual vehicle setting unit 112 determines the area area of the non-setting area NSR based on the relative speed Vr. For example, the distance component NSRy in the lane width direction and the distance component NSRx in the lane length direction of the non-setting area NSR are respectively determined, and the area area of the non-setting area NSR is determined.
- FIG. 31 is a diagram showing an example of the relationship between the distance component NSRx in the lane length direction in the non-setting area NSR and the relative speed Vr.
- Point O in the figure is the origin coordinate, and the reference coordinate is when the relative velocity Vr is zero and when the distance component NSRx is zero.
- the distance component NSRx increases exponentially with the increase of the relative velocity Vr in the range from the origin O to a certain inflection point IP, and in the range after the certain inflection point IP, It is expressed by a function F that increases logarithmically (or positive square root function) as the relative velocity Vr increases and saturates along an asymptote.
- Such a function F may be represented by a graph-like map as shown in FIG. 31, for example, or as table data in which the distance component NSRx and the relative velocity Vr are associated with each other for some sample points. May be represented.
- Such a function F (or map or table data) is stored in the storage unit 130 as non-setting area derivation information 138. Therefore, the virtual vehicle setting unit 112 refers to the non-setting area derivation information 138, for example, substitutes the relative speed Vr into the function F, and determines the distance component NSRx in the lane length direction in the non-setting area NSR. .
- the function described above is merely an example, and may be represented by another function.
- the virtual vehicle setting unit 112 determines whether or not the lane change target position candidate preceding vehicle m2 has been recognized by the external world recognition unit 104 (step S322). If the lane change target position candidate preceding vehicle m2 is not recognized by the outside recognition unit 104, the virtual vehicle setting unit 112 uses the virtual vehicle vm2 virtually simulating the lane change target position candidate preceding vehicle m2 as the outer edge of the detection region. A stationary object is set in the vicinity (step S324).
- the virtual vehicle setting unit 112 causes the lane change target position candidate preceding vehicle m2 recognized by the outside world recognition unit 104 to travel. It is determined whether or not an operation of changing the lane to the lane (or changing the lane) is performed (step S326).
- the virtual vehicle setting unit 112 It is determined whether or not the interrupting vehicle vm3 # has already been set (step S328).
- the lane change control unit 110 ends the process of this flowchart.
- the virtual vehicle setting unit 112 indicates that the lane change target position candidate preceding vehicle m2 during the lane changing operation is behind the preceding vehicle m1 or the virtual vehicle vm1.
- the virtual vehicle setting unit 112 determines whether or not the virtual vehicle vm1 has already been set when the relative speed Vr is not greater than or equal to zero or when the non-setting area NSR is set (step S336). If the virtual vehicle vm1 has already been set, the virtual vehicle setting unit 112 deletes the set virtual vehicle vm1 (step S338), and virtually sets the lane change target position candidate preceding vehicle m2 during the lane change operation.
- the simulated virtual interrupt vehicle vm2 # is set as a moving body in the detection area DR excluding the non-setting area NSR (step S340).
- the virtual vehicle setting unit 112 skips the process of step S338 and performs the process of step S340 described above. Thereby, the process of this flowchart is complete
- the virtual vehicle setting unit 112 sets the virtual interrupt vehicle vm2 #. At this time, the virtual vehicle setting unit 112 sets the non-setting region NSR with reference to the front end portion of the vehicle M using the function F as shown in FIG. The virtual vehicle setting unit 112 sets the virtual interrupt vehicle vm2 # in an area excluding the non-setting area NSR.
- the other vehicle position change estimation unit 113, the virtual interrupt vehicle vm2 # set by the virtual vehicle setting unit 112, the lane change target position candidate preceding vehicle m2 and the lane change recognized by the external world recognition unit 104 A future position change is estimated for the target position candidate rear-running vehicle m3.
- the vehicle control apparatus 100 when the monitoring vehicle traveling in the adjacent lane changes the lane on the traveling lane, the non-set area on the traveling lane Since the NSR is set, the virtual vehicle is not set near the vehicle M.
- the vehicle control apparatus 100 according to the second embodiment can realize a gradual transition of the control state even when the monitored vehicle interrupts the traveling lane and changes the lane.
- the vehicle control apparatus 100 in the second embodiment can smoothly control the traveling of the vehicle M.
- FIG. 33 is a functional configuration diagram of the vehicle M around the vehicle control device 100A according to the third embodiment.
- the same reference numerals are given to the functional units common to the first embodiment, and the description thereof will be omitted.
- the external environment recognition unit 104 of the vehicle control device 100A determines whether or not the surrounding vehicle has changed lanes based on the history of the position of the surrounding vehicle, the operating state of the direction indicator, or the like (or Or not).
- the external environment recognition unit 104 reduces the lane in front of the vehicle M based on the position of the vehicle M acquired from the navigation device 50 and the map information 132, or information input from the finder 20, the radar 30, the camera 40, and the like. When detected, the lane change of the surrounding vehicle is estimated based on the distance to the lane decrease point or the arrival time.
- the external world recognition unit 104 is another example of an “estimation unit”.
- the virtual vehicle setting unit 112 sets, in a predetermined state, a virtual vehicle that virtually simulates the surrounding vehicle when there is a surrounding vehicle estimated to be changed to the lane in which the vehicle M travels by the external recognition unit 104. To do.
- the predetermined state is, for example, a state in which the current speed of surrounding vehicles is maintained.
- the traveling control unit 120A is a vehicle out of the surrounding vehicles that travel in front of the vehicle M or the virtual vehicles that are set in front of the vehicle M when the automatic operation mode is set. Control is performed to maintain a constant inter-vehicle distance for peripheral vehicles closer to M. As a result, the vehicle control device 100A can perform safer control than that in which the inter-vehicle distance control is performed only on a vehicle that actually travels in front of the vehicle M.
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Abstract
Description
本願は、2015年8月6日に出願された日本国特許出願2015-156207号及び2015年9月11日に出願された日本国特許出願2015-179974号に基づき優先権を主張し、その内容をここに援用する。
これに関連して、入力装置の入力に基づいて車線変更の支援を開始する支援開始部と、自車(以下、第1車両又は単に車両ともいう)と他車(以下、第2車両又は他車両ともいう)の相対距離及び相対速度を検出する検出部と、検出部が検出した相対距離及び相対速度に基づいて自車が車線変更した時の衝突危険度を他車に対して算出する算出部と、相対距離,相対速度及び衝突危険度に基づいて車線変更の可否を判断する第1の判断部と、第1の判断部が車線変更できないと判断した場合、相対距離及び相対速度に基づいて車線変更する目標スペースを決定する決定部と、目標スペースに車線変更できるスペースがあるか否かを判断する第2の判断部と、第2の判断部が前記スペースがないと判断した場合、車線変更待機位置へ向けて目標速度を設定し、スペースがあると判断した場合、車線変更可能位置へ向けて目標速度を設定する設定部と、自車の速度が目標速度となるように制御する制御部とを備える走行支援装置が知られている(例えば、特許文献1参照)。
<第1の実施形態>
[車両構成]
図1は、第1の実施形態に係る車両制御装置100が搭載された車両M(以下、第1車両Mとも称する)の有する構成要素を示す図である。車両制御装置100が搭載される車両は、例えば、二輪や三輪、四輪等の自動車であり、ディーゼルエンジンやガソリンエンジン等の内燃機関を動力源とした自動車や、電動機を動力源とした電気自動車、内燃機関および電動機を兼ね備えたハイブリッド自動車等を含む。また、上述した電気自動車は、例えば、二次電池、水素燃料電池、金属燃料電池、アルコール燃料電池等の電池により放電される電力を使用して駆動する。
以下、車両制御装置100について説明する。車両制御装置100は、例えば、自車位置認識部102と、外界認識部104と、行動計画生成部106と、車線変更制御部110と、走行制御部120と、制御切替部122と、記憶部130とを備える。自車位置認識部102、外界認識部104、行動計画生成部106、車線変更制御部110、走行制御部120、および制御切替部122のうち一部または全部は、CPU(Central Processing Unit)等のプロセッサがプログラムを実行することにより機能するソフトウェア機能部である。また、これらのうち一部または全部は、LSI(Large Scale Integration)やASIC(Application Specific Integrated Circuit)等のハードウェア機能部であってもよい。また、記憶部130は、ROM(Read Only Memory)やRAM(Random Access Memory)、HDD(Hard Disk Drive)、フラッシュメモリ等で実現される。プロセッサが実行するプログラムは、予め記憶部130に格納されていてもよいし、車載インターネット設備等を介して外部装置からダウンロードされてもよい。また、プログラムを格納した可搬型記憶媒体が図示しないドライブ装置に装着されることで記憶部130にインストールされてもよい。
車線変更制御部110は、行動計画生成部106により行動計画に含まれる車線変更イベントが実施される際の制御を行う。車線変更制御部110は、例えば、ターゲット位置候補設定部111と、仮想車両設定部112と、他車位置変化推定部113と、制御計画生成部114と、ターゲット位置決定部115とを備える。
ターゲット位置候補設定部111は、外界認識部104によって認識された周辺車両の位置を参照し、まず車線変更の対象となる大枠の対象領域を設定し、対象領域内において、車両Mが走行している走行車線(自車線)に隣接する隣接車線を走行する周辺車両に対する相対位置として、車線変更ターゲット位置候補を設定する。本実施形態では、一例として、対象領域を機器の全検出領域に相当するものとして説明する。なお、対象領域は、機器の検出領域の一部領域であってもよい。
仮想車両設定部112は、監視車両が外界認識部104によって認識されていない場合、外界認識部104によって認識されていない監視車両を仮想的に擬した仮想車両を、機器の検出領域の外縁に、所定の状態で設定する。
以下、車線変更をしようとしている、或いは車線変更をしている監視車両を仮想的に擬した仮想車両を、特に仮想割込み車両と称して説明する。
他車位置変化推定部113は、外界認識部104によって認識されている監視車両(前走車両、車線変更ターゲット位置候補前走車両、および車線変更ターゲット位置候補後走車両)について、将来の位置変化を推定する。この際、前走車両、車線変更ターゲット位置候補前走車両、および車線変更ターゲット位置候補後走車両のうちいずれか1つ以上の車両が外界認識部104によって認識されていない場合、これら3つの車両のうちの外界認識部104によって認識されている車両と、車両が認識されていないことを受けて仮想車両設定部112が設定した仮想車両とについて、将来の位置変化を推定する。
また、車両m3は、隣接車線L2において車線変更ターゲット位置候補Tの後方に位置しているため、車線変更ターゲット位置候補後走車両であると認識される。また、隣接車線L2において車線変更ターゲット位置候補Tの前方に位置する車両が検出されていないため車線変更ターゲット位置候補前走車両m2は認識されていない。従って、仮想車両設定部112は、隣接車線L2の前方における検出領域DRの外縁付近に、静止体の仮想車両vm2を設定する。
また、図23および図24における車線変更後存在可能領域とは、車線変更を行った後、監視車両(m1、m2、m3)が同じ傾向で走行を続けた場合に、車両Mが存在できる変位の領域を示している。例えば、図23における「速度:m2>m1>m3」の図において、車線変更可能領域が前走車両m1の変位よりも下側にある、すなわち車線変更を行う前には車両Mが前走車両m1よりも前に出ないように制約されるが、車線変更を行った後は、前走車両m1よりも前に出ても問題無いことを示している。この車線変更後存在可能領域は、制御計画生成部114の処理に用いられる。なお、車両の位置関係を類型化したパターンは、上述したパターン(a)、(b)の他に、例えば、m2-m1-M-m3の順序や、m1-M-m2-m3の順序等の位置関係を表すパターンであってもよく、これらパターンは車両の数に応じて分類化されてもよい。上述した例の場合、車両の位置関係を表すパターンは、6通りに類型化される。
この場合、追従走行を開始した時点では、車両Mが車線変更可能領域から逸脱し、車線変更後存在可能領域に進入してもよい。車線変更後存在可能領域とは、図27に示すように、前走車両m1の変位が車線変更ターゲット位置候補前走車両m2の変位よりも小さい領域である。すなわち、車線変更可能領域から車線変更後存在可能領域に進入することは、車線変更を行う前において、上記速度の制約により車両Mが前走車両m1よりも前に出ない状態を維持しているときから、車線変更を行った後において、車両Mが前走車両m1よりも前に出る状態に遷移することを示している。
走行制御部120は、制御切替部122による制御によって、制御モードを自動運転モードあるいは手動運転モードに設定し、設定した制御モードに従って、走行駆動力出力装置72、ステアリング装置74、およびブレーキ装置76の一部または全部を含む制御対象を制御する。走行制御部120は、自動運転モード時において、行動計画生成部106によって生成された行動計画情報136を読み込み、読み込んだ行動計画情報136に含まれるイベントに基づいて制御対象を制御する。このイベントが車線変更イベントである場合、走行制御部120は、制御計画生成部114により生成された制御計画に従い、ステアリング装置92における電動モータの制御量(例えば回転数)と、走行駆動力出力装置90におけるECUの制御量(例えばエンジンのスロットル開度やシフト段等)と、を決定する。走行制御部120は、イベントごとに決定した制御量を示す情報を、対応する制御対象に出力する。これによって、制御対象の各装置(72、74、76)は、走行制御部120から入力された制御量を示す情報に従って、その制御対象の装置を制御することができる。
また、走行制御部120は、車両センサ60の検出結果に基づいて、決定した制御量を適宜調整する。
以下、第2の実施形態について説明する。第2の実施形態における車両制御装置100は、監視車両の速度と車両Mの速度との相対速度Vrに基づいて仮想車両を設定する点で、第1および第2の実施形態と相違する。以下、係る相違点を中心に説明する。
図30に示す点Oは、原点座標であり、ゼロの相対速度Vrと、車両Mの位置とを基準座標としている。従って、監視車両が車両Mより前方に位置する場合、縦軸において正の値をとる。また、監視車両の速度が車両Mの速度よりも大きい場合、相対速度Vrはゼロ以上となり、横軸において正の値をとる。
以下、第3の実施形態について説明する。図33は、第3の実施形態に係る車両制御装置100Aを中心とした車両Mの機能構成図である。ここでは、第1の実施形態と共通する機能部については共通の符号を付し、再度の説明を省略する。車両制御装置100Aの外界認識部104は、第1の実施形態と同様、周辺車両の位置の履歴や方向指示器の作動状態等に基づいて、周辺車両が車線変更をしているか否か(あるいはしようとしているか否か)を推定する。また、外界認識部104は、ナビゲーション装置50から取得される車両Mの位置および地図情報132、あるいはファインダ20、レーダ30、カメラ40等から入力される情報に基づいて車両Mの前方における車線減少を検知した場合に、その車線減少地点までの距離または到達時間に基づいて、周辺車両の車線変更を推定する。
外界認識部104は、「推定部」の他の一例である。
これによって、車両制御装置100Aは、車両Mの前方を実際に走行する車両に対してのみ車間距離制御を行うものに比して、より安全な制御を行うことができる。
Claims (11)
- 車両に設けられた車両制御装置であって、
前記車両の周辺を走行する周辺車両による車線変更を推定する推定部と、
前記推定部によって前記周辺車両による車線変更が推定された場合に、前記周辺車両の車線変更先の車線上に、前記推定の対象である周辺車両を仮想的に擬した仮想車両を設定する仮想車両設定部と、
前記仮想車両設定部によって設定された仮想車両に基づいて、前記車両の制御計画を生成する制御計画生成部と、
前記制御計画生成部によって生成された制御計画に基づいて、前記車両の加速、減速または操舵を制御する走行制御部と、
を備える車両制御装置。 - 前記仮想車両設定部は、前記推定部によって前記周辺車両による車線変更が推定された際の前記推定の対象である周辺車両の速度に関する情報に基づいて、前記仮想車両の状態を設定する、
請求項1に記載の車両制御装置。 - 前記仮想車両設定部は、前記推定部によって前記周辺車両による車線変更が推定された際の前記周辺車両の車線変更先の車線が、前記車両が走行する車線である場合に、前記車両の位置から前方に、前記仮想車両を設定しない非設定領域を設ける、
請求項1または2に記載の車両制御装置。 - 前記非設定領域は、前記車両の速度と、前記車線変更の推定の対象である周辺車両の速度との相対速度に基づいて設けられる、
請求項3に記載の車両制御装置。 - 前記仮想車両設定部は、前記推定部により、前記車両と前記車両の前方を走行する前走車両との間に対する前記周辺車両による車線変更が推定された場合に、前記車両が走行する車線上において前記仮想車両を設定し、
前記制御計画生成部は、前記前走車両の代わりに前記仮想車両設定部によって設定された仮想車両に基づいて、前記車両の制御計画を生成する、
請求項1から4のうちいずれか1項に記載の車両制御装置。 - 前記推定部は、前記車両の前方における車線の減少を検知した場合に、前記車両の周辺を走行する周辺車両が車線変更をすると推定する、
請求項1から5のうちいずれか1項に記載の車両制御装置。 - 前記推定部は、前記車両の位置を用いて地図情報を参照することにより、前記車両の前方における車線の減少を検知する、
請求項6に記載の車両制御装置。 - 前記推定部は、前記車両の前方における車線の減少を検知した場合に、前記車両または前記周辺車両から前記車線の減少する地点までの距離または到達時間に基づいて、前記車両の周辺を走行する周辺車両が車線変更をするタイミングを推定する、
請求項6または7に記載の車両制御装置。 - 車両に設けられた車両制御装置であって、
前記車両の前方における車線の減少を検知した場合に、前記車両の周辺を走行する周辺車両による車線変更を推定する推定部と、
前記推定部によって前記周辺車両による車線変更が推定された場合に、前記周辺車両の車線変更先の車線上に、前記推定の対象である周辺車両を仮想的に擬した仮想車両を設定する仮想車両設定部と、
前記仮想車両設定部によって設定された仮想車両に基づいて、前記車両の加速、減速または操舵を制御する走行制御部と、
を備える車両制御装置。 - 車両に設けられたコンピュータが、
前記車両の周辺を走行する周辺車両による車線変更を推定し、
前記周辺車両による車線変更を推定した場合に、前記周辺車両の車線変更先の車線上に、前記推定の対象である周辺車両を仮想的に擬した仮想車両を設定し、
前記設定した仮想車両に基づいて、前記車両の制御計画を生成し、
前記生成した制御計画に基づいて、前記車両の加速、減速または操舵を制御する、
車両制御方法。 - 車両に設けられたコンピュータに、
前記車両の周辺を走行する周辺車両による車線変更を推定させ、
前記周辺車両による車線変更を推定させた場合に、前記周辺車両の車線変更先の車線上に、前記推定の対象である周辺車両を仮想的に擬した仮想車両を設定させ、
前記設定させた仮想車両に基づいて、前記車両の制御計画を生成させ、
前記生成させた制御計画に基づいて、前記車両の加速、減速または操舵を制御させる、
車両制御プログラム。
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