WO2017047261A1 - Lane change control device - Google Patents

Lane change control device Download PDF

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Publication number
WO2017047261A1
WO2017047261A1 PCT/JP2016/072721 JP2016072721W WO2017047261A1 WO 2017047261 A1 WO2017047261 A1 WO 2017047261A1 JP 2016072721 W JP2016072721 W JP 2016072721W WO 2017047261 A1 WO2017047261 A1 WO 2017047261A1
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WIPO (PCT)
Prior art keywords
lane
lane change
white line
control device
virtual
Prior art date
Application number
PCT/JP2016/072721
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French (fr)
Japanese (ja)
Inventor
中村　秋夫
Original Assignee
日立オートモティブシステムズ株式会社
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Priority to JP2017539758A priority Critical patent/JPWO2017047261A1/en
Publication of WO2017047261A1 publication Critical patent/WO2017047261A1/en

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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
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a lane change control device for controlling a lane change in an automatic driving system of a vehicle represented by an automobile.
  • the driver's safety support function includes a ⁇ constant speed driving / inter-vehicle distance control device (ACC) '' that runs at a set speed and automatically adjusts the speed when there is a preceding vehicle.
  • ACC inter-vehicle distance control device
  • LKAS lane keeping control device
  • LKAS is a device for recognizing a left and right solid white line of a travel lane with a front camera and controlling the vehicle travel with the center of the left and right solid white line as a target travel lane.
  • a lane change control device of the present invention includes a lane keeping control unit that controls traveling of the host vehicle so as to maintain the lane, and a blinker control unit that controls blinking of the blinker.
  • a lane keeping control unit that controls traveling of the host vehicle so as to maintain the lane
  • a blinker control unit that controls blinking of the blinker.
  • the driver when the lane change is performed across the solid white line, the driver does not need to operate the steering wheel, and the lane change is performed while maintaining the LKAS (LKAS lamp is lit). It is possible to provide a lane change control device that automatically changes lanes while reducing discomfort.
  • LKAS LKAS lamp is lit
  • FIG. 1 shows the configuration of a lane change control device 111 to which the present invention is applied.
  • the automatic driving control device 110 includes peripheral devices including a camera system 101, a surrounding state detection device 102, a high-precision map device 103, a roadside communication device 104, a display device 105, and a vehicle control device 120.
  • the vehicle control device 120 includes a steering control unit 121, a brake control unit 122, an accelerator control unit 123, a winker control unit 124, a vehicle speed detection unit 125, and a yaw rate detection unit 126, and inputs and outputs control information. I do.
  • the lane change control device 111 of the automatic driving control device 110 includes a lane change detection device 112, a lane change determination device 113, a virtual white line generation device 114, and a control white line control device 115. From the input control information, Lane change is controlled via a constant speed travel / inter-vehicle distance control device (ACC) 116 or a lane keeping control device (LKAS) 117.
  • ACC constant speed travel / inter-vehicle distance control device
  • LKAS lane keeping control device
  • the camera system 101 is a camera system mounted in front of the vehicle, images a road ahead, extracts an image (pixel) of the road and incidental information, and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 extracts the actual white line position and shape from the image information, and transmits it to the control white line control device 115.
  • the solid white line is a road lane marking represented by a solid line, a broken line, a dotted line, or the like of road paint.
  • the surrounding situation detection device 102 is configured by radar sensors attached to the front side and the rear side of the vehicle, and accurately detects the situation of the front vehicle, an obstacle such as a stopped car, and the vehicle situation of the rear side, It transmits to the automatic operation control apparatus 110.
  • the automatic driving control device 110 extracts the situation of the traveling lane and the vehicle situation of the lane change destination lane, and transmits them to the lane change determination device 113.
  • the surrounding state detection device 102 may detect the surrounding state of the host vehicle using a camera, sonar, or the like instead of the radar sensor.
  • the high-precision map device 103 can accurately represent the map information for each road lane, and the road shape for each lane, white line position and shape, curvature, vertical and horizontal gradient, destination route set by the driver, GPS, gyro
  • the own vehicle position detected by the sensor and the vehicle speed sensor is transmitted to the automatic driving control device 110.
  • the automatic driving control device 110 detects the lane change from the destination route, and determines whether the lane change is possible from the map information.
  • the lane change detection device 112 and the lane change determination device 113 are used for the information.
  • the virtual white line is transmitted to the virtual white line generation device 114 in order to obtain a virtual white line in consideration of the shape.
  • the roadside communication device 104 detects the traffic situation of the traveling route by a beacon or FM broadcast and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 makes the lane change to the rear of the traffic jam end vehicle when the traffic jam continues to the main line at the IC exit or SA / PA entrance of the traveling route, so the position of the traffic jam end vehicle is displayed as a virtual white line. Transmit to the generation device 114.
  • the display device 105 includes an input unit for performing various settings such as LKAS and ACC valid / invalid setting, lane change time, and destination setting as a driver's intention, and a control white line used by LKAS is a real white line or a virtual white line And an output unit that utters a voice when switching between a real white line and a virtual white line.
  • the settings of LKAS and ACC as the input information are transmitted to the lane keeping control device (LKAS) 117 and the constant speed travel / inter-vehicle distance control device (ACC) 116 in order to determine whether or not to perform the operation of the function. Is done.
  • the destination setting is transmitted to the high-precision map device 103, and when the lane change time is set, it is transmitted to the virtual white line generation device 114.
  • the output to the display device 105 is instructed from the lane keeping control device (LKAS) 117 and notified by screen display and voice utterance so that the driver can recognize whether the LKAS control white line is a real white line or a virtual white line. .
  • LKAS lane keeping control device
  • the vehicle control device 120 includes a steering control unit 121, a brake control unit 122, an accelerator control unit 123, a winker control unit 124, a vehicle speed detection unit 125, and a yaw rate detection unit 126.
  • the steering control unit 121 receives a torque instruction value from the lane keeping control device (LKAS) 117 along the target travel lane, and performs steering control.
  • LKAS lane keeping control device
  • the brake control unit 122 receives a deceleration instruction from the constant speed travel / inter-vehicle distance control device (ACC) 116 and performs deceleration control.
  • ACC constant speed travel / inter-vehicle distance control device
  • the accelerator control unit 123 receives an acceleration instruction from the constant speed travel / inter-vehicle distance control device (ACC) 116 and performs acceleration control.
  • ACC constant speed travel / inter-vehicle distance control device
  • the blinker control unit 124 detects the blinker blinking state and transmits it to the automatic operation control device 110.
  • the automatic driving control device 110 transmits the blinking state of the blinker to the lane change detection device 112.
  • the blinker blinks according to an instruction from the lane change detection device 112.
  • the vehicle speed detection unit 125 detects the vehicle speed of the host vehicle from the vehicle speed sensor and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 transmits the virtual white line to the virtual white line generation device 114 in order to use it for the calculation of the travel trajectory when generating the virtual white line.
  • the yaw rate detection unit 126 detects the angular velocity from the yaw rate sensor and transmits it to the automatic driving control device 110.
  • the automatic operation control device 110 transmits the virtual white line to the virtual white line generation device 114 in order to use it for the calculation of the travel trajectory when generating the virtual white line.
  • the lane change control device 111 includes a lane change detection device 112, a lane change determination device 113, a virtual white line generation device 114, and a control white line control device 115, detects a lane change, and determines whether or not a lane change is possible. Then, a virtual white line is provided between the current travel lane and the lane change destination, and the lane change across the actual white line is controlled while maintaining LKAS.
  • the lane change detection device 112 detects the lane change from the blinking of the left turn signal or the right turn signal, and requests the lane change determination device 113 to determine whether the lane change is possible in the detected turn signal direction.
  • the lane change detection device 112 can also detect a lane change from the destination route.
  • the lane change control of the present invention can be performed only by instructing the blinker control unit 124 to blink the blinker. Detect by flashing.
  • the lane change determination device 113 determines whether the lane change is possible without contacting other vehicles or obstacles based on the vehicle information around the host vehicle and the stop vehicle information from the surrounding state detection device 102.
  • the virtual white line generation device 114 is requested to generate a virtual white line.
  • the virtual white line generation device 114 is based on the road shape, white line position and shape of map information, curvature, vertical and horizontal gradients, traffic congestion end vehicle information, vehicle speed, yaw rate, and driver intention setting values (for example, lane change time)
  • a virtual white line is generated between the travel lane and the lane change destination, and the control white line control device 115 is requested to control the travel lane.
  • Control white line control device 115 connects a real white line and a virtual white line from the camera system 101 to determine a control white line for performing LKAS travel control, and sends the control white line to the lane maintenance control device (LKAS) 117. Request to follow the driving. When the travel of the virtual white line is finished, switching to the actual white line recognized by the camera system 101 is performed.
  • LKAS lane maintenance control device
  • the constant speed travel / inter-vehicle distance control device (ACC) 116 controls the vehicle to travel at a constant speed set by the driver when the driver sets the function to be effective, and sets the inter-vehicle distance when there is a preceding vehicle.
  • an acceleration / deceleration control instruction is given to the brake control unit 122 and the accelerator control unit 123.
  • LKAS Lane Maintenance Control Device
  • the lane keeping control device (LKAS) 117 automatically controls the center of the control white line as the target driving lane according to the control white line (real white line or virtual white line) when the driver sets the function to be effective.
  • a steering control instruction is issued to the control unit 121.
  • the display device 105 is instructed to perform screen display and voice utterance so that the driver can recognize whether the control white line used for LKAS control is a real white line or a virtual white line.
  • an acceleration / deceleration instruction is given to the constant speed traveling / inter-vehicle distance control device (ACC) 116.
  • Example 1 ⁇ Flowchart> Next, Example 1 in the case of changing the lane to the adjacent lane will be described with reference to FIGS. 2 and 3 together with the processing executed by the lane change control device 111.
  • the autonomous driving vehicle 303 recognizes the actual white lines 331 and 332 of the camera system 101, operates the LKAS (the LKAS lamp is lit), and always detects the actual white line and the surrounding situation detected by the camera system 101.
  • the vehicle surrounding information detected by the device 102, the map information and destination route information detected by the high-precision map device 103, the traffic information of the traveling path detected by the roadside communication device 104, the vehicle speed detection unit 125 and the yaw rate detection unit 126 are detected.
  • the vehicle is traveling on the traveling path A301 while acquiring information such as the vehicle speed and yaw rate to be performed and the driver intention information input from the display device 105.
  • the lane change detection device 112 receives a notification of the blinker blinking state from the blinker control unit 124 and detects a lane change to the right lane.
  • a lane change is detected by a notification from the turn signal control unit 124, but a lane change may be detected when the driver operates blinking of a turn signal or from a destination route.
  • ⁇ Lane change determination S203, S204> it is confirmed from the vehicle surrounding information detected by the surrounding situation detection device 102 that the vehicle does not come into contact with the other vehicle on the front side and the vehicle approaching from the rear side, and the lane change is determined. to decide. Further, whether or not the lane can be changed is determined based on the road shape of the map information and the restriction information, such as whether there is an adjacent lane in the lane change direction or whether the lane change is prohibited.
  • a virtual white line generation (S205) is requested.
  • the lane change impossible factor for example, a rapid approaching vehicle from the rear side
  • the lane change possibility determination in S203 is performed again.
  • a virtual white line 305 that connects the travel path A and the travel path B is generated. The generation of this virtual white line will be described with reference to FIG.
  • the automatic driving vehicle 303 acquires the solid white line of the road A (matching the solid white line from the camera system 101) and the solid white line of the road B from the road shape of the map information.
  • the solid white line shape of the traveling path B is correctly recognized.
  • a virtual white line switching start point 706 for starting lane change steering is determined from the position of the autonomous driving vehicle, and a lane change trajectory (traveling trajectory) 704 is calculated from the lane change time, vehicle speed, and yaw rate set by the driver.
  • the lane change track 704 may be calculated after first obtaining the virtual white line switching end point 708 that is the steering end point of the lane change from the information such as the vehicle speed. This is because the lane change track 704 is a curve corresponding to the speed of the autonomous driving vehicle 303, and the distance related to the lane change increases as the speed increases (see FIG. 8).
  • the lane change track 704 becomes a compound clothoid curve when the lane is changed to an adjacent lane, and the lane change track 704 is corrected based on the curvature of the road shape and the vertical and horizontal gradients.
  • shape points such as a virtual white line switching middle point 707 and a virtual white line switching end point 708 are extracted from the corrected lane change trajectory.
  • a virtual white line switching allowance section 712 is provided in front of the virtual white line switching start point 706 and in the back of the virtual white line switching end point 708, and the tip or end thereof is set as a virtual white line generation start point 709 and a virtual white line generation end point 710.
  • the virtual white line switching margin section 712 is used to connect the real white line and the virtual white line without a sense of incongruity by overlapping the real white line and the virtual white line for a certain period.
  • This virtual white line switching margin section 712 may be a time-converted distance or a specific distance according to the speed (for example, about 30 m in the case of 100 km / h).
  • the left and right virtual white line positions are calculated using the respective lane widths 711 with respect to the shape point positions of the travel track, and the virtual white line 305 is generated by connecting the virtual white line positions.
  • the lane width 711 used at this time the lane width of the lane on the road A is used up to the virtual white line switching midpoint 707, and the lane width of the lane on the road B is used after the virtual white line switching midpoint 707.
  • the generated virtual white line 305 is connected to the actual white lines 331 and 332 of the travel path A and the virtual white line, and the virtual white line and the actual white lines 332 and 333 of the travel path B.
  • the lane width 711 is generated by reducing the lane width between the virtual white line switching middle point 707 and the virtual white line switching end point 708 when there is a speed suppression lane mark on the traveling road B side. You may adjust speed, such as decelerating based on it. In this case, an acceleration / deceleration instruction is issued from the lane keeping control device (LKAS) 117 to the constant speed travel / inter-vehicle distance control device (ACC) 116.
  • LKAS lane keeping control device
  • ACC inter-vehicle distance control device
  • the actual white lines 331 and 332 from the camera system 101 are connected to the virtual white line 305 generated in S205 to determine the control white line, and the control white line information is transferred to the lane keeping control device (LKAS). ) 117 is notified.
  • the lane keeping control device (LKAS) 117 obtains the center of the lane from the control white line, and controls the vehicle to travel along the target travel lane.
  • control white line was a solid white line
  • LKAS LKAS lamp lit
  • the display device 105 notifies the driver by voice utterance that the driving is switched from the real white line to the virtual white line, and the screen display for running the virtual white line from the actual white lines 331 and 332, and the driver automatically You can recognize that you are changing lanes by driving control, and you can reduce anxiety and discomfort.
  • the virtual white line and the solid white lines 332 and 333 are connected when the automatic driving vehicle 303 recognizes the solid white line with the camera system 101 while traveling on the virtual white line on the travel path B.
  • the solid white line from the camera system 101, the solid white line of the road shape of the map information, and the virtual white line are layered and overlapped, and the virtual white line, the real white line from the camera system 101, and the solid white line of the road shape are prioritized. You may take it out and join it together. With this method, the virtual white line and the actual white line of the road B are connected before the lane change.
  • Example 2 which changes a lane across a white line when branching or joining will be described with reference to FIGS. 4 and 5.
  • Example 2 is a vehicle equipped with the lane change control device of the present invention.
  • One of the second embodiments is a case where the autonomous driving vehicle 403 changes lanes by branching from the traveling path A 401 to the branch path 402 (see FIG. 4).
  • the autonomous driving vehicle 403 detects a lane change by blinking the left turn signal.
  • the determination as to whether or not the lane can be changed is made based on the information on the surroundings of the own vehicle.
  • a virtual white line 405 is generated between the travel route A 401 and the branch route 402 based on the road shape of the map information.
  • the difference from the first embodiment is that it has to pass through the vehicle traffic lane and branch off, so that the position of the lane changeable range 406 is recognized from the road shape of the map information and passes above it.
  • a virtual white line 405 is generated.
  • the generated virtual white line 405 and the actual white line 404 of the travel route A401 are connected, and the lane of the branch can be changed across the vehicle traffic lane while maintaining the LKAS (LKAS lamp is lit).
  • the second example of the second embodiment is a case where the autonomous driving vehicle 503 changes lanes by merging from the merge path 501 to the travel path A 502 (see FIG. 5).
  • the self-driving vehicle 503 detects the merged lane change based on the destination route and road shape by blinking the right side blinker.
  • the lane change permission determination is made based on the information on the surroundings of the host vehicle whether it is possible to change the lane of the merging.
  • the vehicle passes through the vehicle lane and merges. Therefore, the position of the lane changeable range 506 is recognized from the road shape of the map information, and the virtual lane is changed so as to pass over it. A white line 505 is generated.
  • the generated virtual white line 505 and the actual white line 504 of the travel route A502 are connected, and the lane of the merge can be changed across the vehicle traffic lane while maintaining the LKAS (LKAS lamp is lit).
  • the third embodiment is also a vehicle equipped with the lane change control device of the present invention, as in the first and second embodiments.
  • the autonomous driving vehicle 603 is going to change the lane of the branch from the travel route A601 to the branch road 602.
  • the traffic jam end car 605 is a road lane line. This is a case where the vehicle stops outside and must travel behind the traffic jam end vehicle 605.
  • the self-driving vehicle 603 detects a branch lane change by blinking the left turn signal.
  • the positions of the traffic jam row 604 and the traffic jam end vehicle 605 on the branch road 602 are detected to recognize that it is necessary to travel outside the road line.
  • the virtual white line 606 is generated, but the virtual white line 606 is generated so as to pass through the position of the traffic jam end car 605, and the virtual white line 606 and the real white line 607 are connected to be the control white line of LKAS.
  • the position of the traffic jam end car 605 from the roadside communication device 104 and the roadside band width from the high-precision map device 103 are obtained. It is determined whether or not the roadside zone is exceeded even if a virtual white line is generated at the position, and whether or not the vehicle can actually travel is determined.
  • the autonomous driving vehicle 603 stops behind the traffic jam end vehicle 605 by automatic braking based on detection of a preceding vehicle or detection of a front obstacle by a constant speed traveling / inter-vehicle distance control device (ACC) 116.
  • ACC traveling / inter-vehicle distance control device
  • the present invention is not limited to the above-described embodiment, and includes various modifications.
  • the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.
  • each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit.
  • Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor.
  • Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
  • control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
  • ACC inter-vehicle distance control
  • LKAS Lane maintenance control device
  • Blinker control unit 125 ... Vehicle speed detection unit, 126 ... Yaw rate detection unit, 301, 401, 502, 601 ... Travel path A, 302 ... Runway B, 402,602 ... Branch, 501 ... Joint passage, 303,403,503,603,801 ... Automatic driving car, 304 ... first Car, 305, 405, 505, 606 ... Virtual white line, 331, 332, 333, 404, 504, 607 ... Real white line, 406, 506 ... Lane changeable range, 604 ... Congestion line, 605 ... Congestion end car, 704 802 ... Lane change trajectory (traveling trajectory), 706 ... Virtual white line switching start point, 707 ... Virtual white line switching middle point, 708 ... Virtual white line switching end point, 709 ... Virtual white line generation starting point, 710 ... Virtual white line generation end point, 711 ... Lane width 712: Virtual white line switching margin section

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Abstract

Provided is a lane change control device which automatically carries out lane change in an automatic driving system. A virtual lane is provided on the lane on which the vehicle is currently traveling and a target lane or target position, and control is carried out with the virtual lane being treated as a real lane so that automatic lane change is performed while a lane keeping assist system (LKAS) is kept active even when straddling a white line.

Description

車線変更制御装置Lane change control device
　本発明は、自動車に代表される車両の自動運転システムにおいて車線変更を制御する車線変更制御装置に関する。 The present invention relates to a lane change control device for controlling a lane change in an automatic driving system of a vehicle represented by an automobile.
　運転者の安全支援を行う機能には、設定した速度で走行し、前走車がいる場合は速度を自動的に調整して間隔を保つ「定速走行・車間距離制御装置(ACC)」や「車線維持制御装置(以降、LKAS)」がある。LKASは、走行車線の左右実白線を前方カメラにより認識し、その左右実白線の中心を目標走行車線として車両走行制御する装置である。 The driver's safety support function includes a `` constant speed driving / inter-vehicle distance control device (ACC) '' that runs at a set speed and automatically adjusts the speed when there is a preceding vehicle. There is a “lane keeping control device (hereinafter LKAS)”. LKAS is a device for recognizing a left and right solid white line of a travel lane with a front camera and controlling the vehicle travel with the center of the left and right solid white line as a target travel lane.
　このLKASが作動している時に車線変更を行うと、車線変更前と車線変更後で走行車線が変わるため、実白線の未認識期間が生じ、LKASが解除される。 ∙ If the lane change is performed while this LKAS is operating, the driving lane will change before and after the lane change, resulting in an unrecognized period of the solid white line, and LKAS will be cancelled.
　また、運転者によるウインカ点滅操作が行われた場合も、車線変更の意思があると判断し、前記実白線未認識による解除より前にLKASが解除される。 Also, when the driver blinks the blinker, it is determined that there is an intention to change the lane, and LKAS is released before the release due to the unrecognized solid white line.
　このため、車線変更時は運転者によるハンドル操作が必要であったが、近年では、LKASが解除されても目標車線変更位置を設けて自動操舵制御して車線変更する技術が提案されている(例えば、特許文献１参照)。 For this reason, a steering wheel operation by the driver was necessary at the time of lane change, but in recent years, a technology has been proposed in which a target lane change position is provided and automatic steering control is performed to change the lane even when LKAS is canceled ( For example, see Patent Document 1).
特開２０１４－０９１５１２号公報JP 2014-091512 A
　しかしながら、特許文献１に所載の技術では、車線変更を行う際にLKASが解除され、LKASランプが消灯してしまうため、走行車線を逸脱すると車両が自動車線変更を行っているのか分からなくなり、運転者は不安や違和感を持った車線変更となる。 However, in the technique described in Patent Document 1, when lane change is performed, LKAS is canceled and the LKAS lamp is extinguished. Therefore, if the vehicle deviates from the travel lane, it is not known whether the vehicle is changing the lane. The driver changes lanes with anxiety and discomfort.
　上記課題を解決するために、本発明の車線変更制御装置は、車線内を維持するように自車を走行制御する車線維持制御部と、ウインカの点滅を制御するウインカ制御部と、を有し、ウインカ制御部からのウインカ点滅信号が入力された場合に、車線維持制御部での走行制御を維持しながら自車の位置する車線とは異なる車線へ車線変更を行うことを特徴としている。 In order to solve the above-described problem, a lane change control device of the present invention includes a lane keeping control unit that controls traveling of the host vehicle so as to maintain the lane, and a blinker control unit that controls blinking of the blinker. When the blinker blinking signal is input from the blinker control unit, the lane change to the lane different from the lane where the vehicle is located is performed while maintaining the traveling control in the lane keeping control unit.
　本発明によれば、実白線を跨いで車線変更を行う場合に運転者によるハンドル操作が不要となり、かつLKASを維持(LKASランプ点灯)したまま車線変更を行うことで、運転者の不安感や違和感を軽減しながら、自動で車線変更する車線変更制御装置を提供できる。 According to the present invention, when the lane change is performed across the solid white line, the driver does not need to operate the steering wheel, and the lane change is performed while maintaining the LKAS (LKAS lamp is lit). It is possible to provide a lane change control device that automatically changes lanes while reducing discomfort.
　上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。 Issues, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
本発明に係る車線変更制御装置の一実施形態の構成を示すブロック図である。It is a block diagram which shows the structure of one Embodiment of the lane change control apparatus which concerns on this invention. 車線変更制御の手順を示すフローチャートである。It is a flowchart which shows the procedure of lane change control. 隣接車線への車線変更を示す模式図である。It is a schematic diagram which shows the lane change to an adjacent lane. 分岐の車線変更を示す模式図である。It is a schematic diagram which shows the lane change of a branch. 合流の車線変更を示す模式図である。It is a schematic diagram which shows the lane change of merge. 渋滞末尾位置への車線変更を示す模式図である。It is a schematic diagram which shows the lane change to a traffic congestion last position. 仮想白線生成を示す模式図である。It is a schematic diagram which shows virtual white line production | generation. 車線変更軌道を示す模式図である。It is a schematic diagram which shows a lane change track.
　本発明の実施形態を図面を参照しながら詳細に説明する。なお、本発明は、下記実施形態に限定されるものではなく、様々な態様にて実施することが可能である。 Embodiments of the present invention will be described in detail with reference to the drawings. In addition, this invention is not limited to the following embodiment, It is possible to implement in various aspects.
　本発明が適用された車線変更制御装置１１１の構成を図１に示す。 FIG. 1 shows the configuration of a lane change control device 111 to which the present invention is applied.
＜自動運転制御装置１１０＞
　自動運転制御装置１１０は、カメラシステム１０１と、周辺状況検出装置１０２と、高精度地図装置１０３と、路側通信装置１０４と、表示装置１０５と、車両制御装置１２０と、の周辺装置を備える。 <Automatic operation control device 110>
The automatic driving control device 110 includes peripheral devices including a camera system 101, a surrounding state detection device 102, a high-precision map device 103, a roadside communication device 104, a display device 105, and a vehicle control device 120.
　車両制御装置１２０は、ステアリング制御部１２１と、ブレーキ制御部１２２と、アクセル制御部１２３と、ウインカ制御部１２４と、車速検出部１２５と、ヨーレート検出部１２６と、を備え、制御情報の入出力を行う。 The vehicle control device 120 includes a steering control unit 121, a brake control unit 122, an accelerator control unit 123, a winker control unit 124, a vehicle speed detection unit 125, and a yaw rate detection unit 126, and inputs and outputs control information. I do.
　自動運転制御装置１１０の車線変更制御装置１１１は、車線変更検知装置１１２と、車線変更判断装置１１３と、仮想白線生成装置１１４と、制御白線制御装置１１５と、を備え、前記入力制御情報から、定速走行・車間距離制御装置(ACC)１１６または車線維持制御装置(LKAS)１１７を介して車線変更を制御する。 The lane change control device 111 of the automatic driving control device 110 includes a lane change detection device 112, a lane change determination device 113, a virtual white line generation device 114, and a control white line control device 115. From the input control information, Lane change is controlled via a constant speed travel / inter-vehicle distance control device (ACC) 116 or a lane keeping control device (LKAS) 117.
＜カメラシステム１０１＞
　カメラシステム１０１は、車両前方に取り付けられたカメラシステムであり、前方道路を撮像し、道路および付帯情報の画像(画素)を抽出し、自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、その画像情報から実白線位置および形状を抽出し、制御白線制御装置１１５へ送信する。なお、実白線とは、道路ペイントの実線、破線、点線などにより表される道路区画線のことである。 <Camera system 101>
The camera system 101 is a camera system mounted in front of the vehicle, images a road ahead, extracts an image (pixel) of the road and incidental information, and transmits it to the automatic driving control device 110. The automatic operation control device 110 extracts the actual white line position and shape from the image information, and transmits it to the control white line control device 115. The solid white line is a road lane marking represented by a solid line, a broken line, a dotted line, or the like of road paint.
＜周辺状況検出装置１０２＞
　周辺状況検出装置１０２は、車両の前側方および後側方に取り付けられたレーダセンサにより構成され、前方車両の状況や停止車などの障害物、および後側方の車両状況を精度よく検出し、自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、走行車線の状況および車線変更先車線の車両状況を抽出し、車線変更判断装置１１３へ送信する。なお、周辺状況検出装置１０２は、レーダセンサに代わって、カメラやソナー等を用いて自車両周辺状況を検出してもよい。 <Ambient situation detection device 102>
The surrounding situation detection device 102 is configured by radar sensors attached to the front side and the rear side of the vehicle, and accurately detects the situation of the front vehicle, an obstacle such as a stopped car, and the vehicle situation of the rear side, It transmits to the automatic operation control apparatus 110. The automatic driving control device 110 extracts the situation of the traveling lane and the vehicle situation of the lane change destination lane, and transmits them to the lane change determination device 113. Note that the surrounding state detection device 102 may detect the surrounding state of the host vehicle using a camera, sonar, or the like instead of the radar sensor.
＜高精度地図装置１０３＞
　高精度地図装置１０３は、道路車線毎の地図情報を正確に表すことができ、車線毎の道路形状、白線位置と形状、曲率、縦横勾配、運転者が設定した目的地経路、およびGPS、ジャイロセンサ、車速センサにより検出した自車両位置を自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、前記情報を目的地経路から車線変更の検知、地図情報から車線変更可否判断を行うために車線変更検知装置１１２と車線変更判断装置１１３へ、また、仮想白線生成時に道路形状を考慮した仮想白線とするために仮想白線生成装置１１４へ送信する。 <High-precision map device 103>
The high-precision map device 103 can accurately represent the map information for each road lane, and the road shape for each lane, white line position and shape, curvature, vertical and horizontal gradient, destination route set by the driver, GPS, gyro The own vehicle position detected by the sensor and the vehicle speed sensor is transmitted to the automatic driving control device 110. The automatic driving control device 110 detects the lane change from the destination route, and determines whether the lane change is possible from the map information. The lane change detection device 112 and the lane change determination device 113 are used for the information. The virtual white line is transmitted to the virtual white line generation device 114 in order to obtain a virtual white line in consideration of the shape.
＜路側通信装置１０４＞
　路側通信装置１０４は、ビーコンやFM放送により、進行路の交通状況を検出し、自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、進行路のIC出口やSA/PA入口などで本線まで渋滞が続いているときは、渋滞末尾車両の後ろへ車線変更を行わせるため、渋滞末尾車両の位置を仮想白線生成装置１１４へ送信する。 <Roadside communication device 104>
The roadside communication device 104 detects the traffic situation of the traveling route by a beacon or FM broadcast and transmits it to the automatic driving control device 110. The automatic operation control device 110 makes the lane change to the rear of the traffic jam end vehicle when the traffic jam continues to the main line at the IC exit or SA / PA entrance of the traveling route, so the position of the traffic jam end vehicle is displayed as a virtual white line. Transmit to the generation device 114.
＜表示装置１０５＞
　表示装置１０５は、運転者意思であるLKAS、ACCの有効/無効設定や車線変更時間などの各種設定および目的地設定を行う入力部と、LKASが使用している制御白線が実白線か仮想白線かを表示する出力部と、実白線と仮想白線の切換え時に音声発話する出力部を有する。 <Display device 105>
The display device 105 includes an input unit for performing various settings such as LKAS and ACC valid / invalid setting, lane change time, and destination setting as a driver's intention, and a control white line used by LKAS is a real white line or a virtual white line And an output unit that utters a voice when switching between a real white line and a virtual white line.
　前記入力情報であるLKAS、ACCの設定は、当該機能の動作を行うか否かの判断を行うため、車線維持制御装置(LKAS)１１７および定速走行・車間距離制御装置(ACC)１１６へ送信される。目的地設定は高精度地図装置１０３へ、車線変更時間を設定した場合は仮想白線生成装置１１４へ送信される。 The settings of LKAS and ACC as the input information are transmitted to the lane keeping control device (LKAS) 117 and the constant speed travel / inter-vehicle distance control device (ACC) 116 in order to determine whether or not to perform the operation of the function. Is done. The destination setting is transmitted to the high-precision map device 103, and when the lane change time is set, it is transmitted to the virtual white line generation device 114.
　また、表示装置１０５への出力は、車線維持制御装置(LKAS)１１７から指示し、LKASの制御白線が実白線または仮想白線なのかを運転者が認識できるように画面表示と音声発話で通知する。 Further, the output to the display device 105 is instructed from the lane keeping control device (LKAS) 117 and notified by screen display and voice utterance so that the driver can recognize whether the LKAS control white line is a real white line or a virtual white line. .
＜車両制御装置１２０＞
　車両制御装置１２０は、ステアリング制御部１２１と、ブレーキ制御部１２２と、アクセル制御部１２３と、ウインカ制御部１２４と、車速検出部１２５と、ヨーレート検出部１２６と、を備える。 <Vehicle control device 120>
The vehicle control device 120 includes a steering control unit 121, a brake control unit 122, an accelerator control unit 123, a winker control unit 124, a vehicle speed detection unit 125, and a yaw rate detection unit 126.
＜ステアリング制御部１２１＞
　ステアリング制御部１２１は、車線維持制御装置(LKAS)１１７から目標走行車線に沿うようにトルク指示値を受け、ステアリング制御を行う。 <Steering control unit 121>
The steering control unit 121 receives a torque instruction value from the lane keeping control device (LKAS) 117 along the target travel lane, and performs steering control.
＜ブレーキ制御部１２２＞
　ブレーキ制御部１２２は、定速走行・車間距離制御装置(ACC)１１６から減速指示を受け、減速制御を行う。 <Brake control unit 122>
The brake control unit 122 receives a deceleration instruction from the constant speed travel / inter-vehicle distance control device (ACC) 116 and performs deceleration control.
＜アクセル制御部１２３＞
　アクセル制御部１２３は、定速走行・車間距離制御装置(ACC)１１６から加速指示を受け、加速制御を行う。 <Accelerator control unit 123>
The accelerator control unit 123 receives an acceleration instruction from the constant speed travel / inter-vehicle distance control device (ACC) 116 and performs acceleration control.
＜ウインカ制御部１２４＞
　ウインカ制御部１２４は、ウインカ点滅状態を検知し、自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、ウインカの点滅状態を車線変更検知装置１１２へ送信する。 <Blinker control unit 124>
The blinker control unit 124 detects the blinker blinking state and transmits it to the automatic operation control device 110. The automatic driving control device 110 transmits the blinking state of the blinker to the lane change detection device 112.
　なお、目的地経路から車線変更検知装置１１２が車線変更を検知する場合は、車線変更検知装置１１２からの指示によりウインカの点滅を行う。 When the lane change detection device 112 detects a lane change from the destination route, the blinker blinks according to an instruction from the lane change detection device 112.
＜車速検出部１２５＞
　車速検出部１２５は、車速センサより自車両の車両速度を検出し、自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、仮想白線生成時の走行軌道算出に使用するため、仮想白線生成装置１１４へ送信する。 <Vehicle speed detection unit 125>
The vehicle speed detection unit 125 detects the vehicle speed of the host vehicle from the vehicle speed sensor and transmits it to the automatic driving control device 110. The automatic operation control device 110 transmits the virtual white line to the virtual white line generation device 114 in order to use it for the calculation of the travel trajectory when generating the virtual white line.
＜ヨーレート検出部１２６＞
　ヨーレート検出部１２６は、ヨーレートセンサより角速度を検出し、自動運転制御装置１１０へ送信する。自動運転制御装置１１０は、仮想白線生成時の走行軌道算出に使用するため、仮想白線生成装置１１４へ送信する。 <Yaw rate detection unit 126>
The yaw rate detection unit 126 detects the angular velocity from the yaw rate sensor and transmits it to the automatic driving control device 110. The automatic operation control device 110 transmits the virtual white line to the virtual white line generation device 114 in order to use it for the calculation of the travel trajectory when generating the virtual white line.
＜車線変更制御装置１１１＞
　車線変更制御装置１１１は、車線変更検知装置１１２と、車線変更判断装置１１３と、仮想白線生成装置１１４と、制御白線制御装置１１５と、を備え、車線変更を検知し、車線変更可否を判断した後、現在走行車線と車線変更先との間に仮想白線を設け、LKASを維持したまま実白線を跨いだ車線変更を制御する。 <Lane change control device 111>
The lane change control device 111 includes a lane change detection device 112, a lane change determination device 113, a virtual white line generation device 114, and a control white line control device 115, detects a lane change, and determines whether or not a lane change is possible. Then, a virtual white line is provided between the current travel lane and the lane change destination, and the lane change across the actual white line is controlled while maintaining LKAS.
＜車線変更検知装置１１２＞
　車線変更検知装置１１２は、左ウインカまたは右ウインカの点滅から車線変更を検知し、前記検知したウインカ方向に車線変更が可能か車線変更判断装置１１３へ判断を依頼する。 <Lane change detection device 112>
The lane change detection device 112 detects the lane change from the blinking of the left turn signal or the right turn signal, and requests the lane change determination device 113 to determine whether the lane change is possible in the detected turn signal direction.
　なお、本車線変更検知装置１１２は、目的地経路から車線変更を検知することも可能であるが、その場合もウインカ制御部１２４へウインカ点滅指示を行うのみで、本発明の車線変更制御はウインカ点滅により検知する。 The lane change detection device 112 can also detect a lane change from the destination route. In this case, the lane change control of the present invention can be performed only by instructing the blinker control unit 124 to blink the blinker. Detect by flashing.
＜車線変更判断装置１１３＞
　車線変更判断装置１１３は、周辺状況検出装置１０２からの自車両周辺の車両情報および停止車両情報により他車両や障害物と接触せずに車線変更が可能かを判断する。 <Lane change determination device 113>
The lane change determination device 113 determines whether the lane change is possible without contacting other vehicles or obstacles based on the vehicle information around the host vehicle and the stop vehicle information from the surrounding state detection device 102.
　更に、高精度地図装置１０３の地図情報より、道路形状からウインカ方向に車線変更先車線があるか、規制情報から自車両走行車線が車線変更禁止車線ではないか、など、車線変更の可否を判断する。車線変更が可能と判断した場合は、仮想白線の生成を仮想白線生成装置１１４へ依頼する。 Further, from the map information of the high-accuracy map device 103, it is determined whether or not the lane change is possible, such as whether there is a lane change destination lane in the direction of the turn signal from the road shape or whether the own vehicle traveling lane is a lane change prohibited lane from the regulation information. To do. When it is determined that the lane change is possible, the virtual white line generation device 114 is requested to generate a virtual white line.
＜仮想白線生成装置１１４＞
　仮想白線生成装置１１４は、地図情報の道路形状、白線位置と形状、曲率、縦横勾配、渋滞末尾車両情報、車速、ヨーレート、運転者意思の設定値(例えば、車線変更時間)を基に、現在走行車線と車線変更先との間に仮想白線を生成し、制御白線制御装置１１５へ走行車線の制御を依頼する。 <Virtual white line generator 114>
The virtual white line generation device 114 is based on the road shape, white line position and shape of map information, curvature, vertical and horizontal gradients, traffic congestion end vehicle information, vehicle speed, yaw rate, and driver intention setting values (for example, lane change time) A virtual white line is generated between the travel lane and the lane change destination, and the control white line control device 115 is requested to control the travel lane.
＜制御白線制御装置１１５＞
　制御白線制御装置１１５は、走行車線がカメラシステム１０１からの実白線と仮想白線を接続し、LKAS走行制御を行う制御白線を決定し、車線維持制御装置(LKAS)１１７へ前記決定した制御白線に従った走行を行うよう依頼する。仮想白線の走行終了時は、カメラシステム１０１で認識する実白線へ切換えを行う。 <Control white line control device 115>
The control white line control device 115 connects a real white line and a virtual white line from the camera system 101 to determine a control white line for performing LKAS travel control, and sends the control white line to the lane maintenance control device (LKAS) 117. Request to follow the driving. When the travel of the virtual white line is finished, switching to the actual white line recognized by the camera system 101 is performed.
＜定速走行・車間距離制御装置(ACC)１１６＞
　定速走行・車間距離制御装置(ACC)１１６は、運転者が当該機能を有効に設定した場合、運転者が設定した一定速度で走行するよう制御し、前走車がいる場合は車間距離を制御するため、ブレーキ制御部１２２およびアクセル制御部１２３へ加減速制御指示を行う。 <Constant Speed Traveling / Vehicle Distance Control Device (ACC) 116>
The constant speed travel / inter-vehicle distance control device (ACC) 116 controls the vehicle to travel at a constant speed set by the driver when the driver sets the function to be effective, and sets the inter-vehicle distance when there is a preceding vehicle. In order to control, an acceleration / deceleration control instruction is given to the brake control unit 122 and the accelerator control unit 123.
＜車線維持制御装置(LKAS)１１７＞
　車線維持制御装置(LKAS)１１７は、運転者が当該機能を有効に設定した場合、制御白線(実白線または仮想白線)に従って、その制御白線の中心を目標走行車線として自動走行制御するため、ステアリング制御部１２１へ操舵制御指示を行う。 <Lane Maintenance Control Device (LKAS) 117>
The lane keeping control device (LKAS) 117 automatically controls the center of the control white line as the target driving lane according to the control white line (real white line or virtual white line) when the driver sets the function to be effective. A steering control instruction is issued to the control unit 121.
　このとき、LKAS制御に用いる制御白線が実白線か仮想白線か、それを運転者が認知できるよう、表示装置１０５に画面表示と音声発話を行うよう指示する。 At this time, the display device 105 is instructed to perform screen display and voice utterance so that the driver can recognize whether the control white line used for LKAS control is a real white line or a virtual white line.
　また、仮想白線幅により車両の加減速制御を行う場合は、定速走行・車間距離制御装置(ACC)１１６へ加減速指示を行う。 In addition, when performing acceleration / deceleration control of the vehicle using the virtual white line width, an acceleration / deceleration instruction is given to the constant speed traveling / inter-vehicle distance control device (ACC) 116.
［実施例１］
＜フローチャート＞
　次に、隣接車線へ車線変更を行う場合の実施例１を、車線変更制御装置１１１が実行する処理とともに図２、図３を参照して説明する。 [Example 1]
<Flowchart>
Next, Example 1 in the case of changing the lane to the adjacent lane will be described with reference to FIGS. 2 and 3 together with the processing executed by the lane change control device 111.
＜周辺装置から情報取得Ｓ２０１＞
　最初のステップＳ２０１では、自動運転車３０３が、カメラシステム１０１の実白線３３１、３３２を認識し、LKASを動作(LKASランプを点灯)させ、常に、カメラシステム１０１が検出した実白線、周辺状況検出装置１０２が検出した自車両周辺情報、高精度地図装置１０３が検出した地図情報および目的地経路情報、路側通信装置１０４が検出する進行路の交通情報、車速検出部１２５およびヨーレート検出部１２６が検出する車速およびヨーレート、表示装置１０５から入力された運転者意思情報などの情報を取得しながら、走行路Ａ３０１を走行している。 <Information acquisition from peripheral device S201>
In the first step S201, the autonomous driving vehicle 303 recognizes the actual white lines 331 and 332 of the camera system 101, operates the LKAS (the LKAS lamp is lit), and always detects the actual white line and the surrounding situation detected by the camera system 101. The vehicle surrounding information detected by the device 102, the map information and destination route information detected by the high-precision map device 103, the traffic information of the traveling path detected by the roadside communication device 104, the vehicle speed detection unit 125 and the yaw rate detection unit 126 are detected. The vehicle is traveling on the traveling path A301 while acquiring information such as the vehicle speed and yaw rate to be performed and the driver intention information input from the display device 105.
＜車線変更検知Ｓ２０２＞
　つづくＳ２０２では、先行車３０４を追越すために、走行路Ａ３０１から右側隣接車線の走行路Ｂ３０２へ車線変更を行うため、自動運転車３０３の運転者は右ウインカ点滅操作を行い、右側ウインカを点滅させる。 <Lane change detection S202>
In subsequent S202, in order to overtake the preceding vehicle 304, the lane change is made from the travel route A301 to the travel route B302 of the right adjacent lane. Let
　これにより、車線変更検知装置１１２は、ウインカ制御部１２４からウインカ点滅状態の通知を受け、右側車線への車線変更を検知する。 Thus, the lane change detection device 112 receives a notification of the blinker blinking state from the blinker control unit 124 and detects a lane change to the right lane.
　車線変更を検知すると、車線変更可否の判断（Ｓ２０３）を依頼する。 When a lane change is detected, a request is made to determine whether a lane change is possible (S203).
　なお、本発明ではウインカ制御部１２４からの通知により車線変更を検知するが、運転者がウインカの点滅を操作した場合や、目的地経路から、車線変更を検知してもよい。 In the present invention, a lane change is detected by a notification from the turn signal control unit 124, but a lane change may be detected when the driver operates blinking of a turn signal or from a destination route.
＜車線変更判断Ｓ２０３、Ｓ２０４＞
　Ｓ２０３およびＳ２０４では、周辺状況検出装置１０２が検出した自車両周辺情報から、前側方の他車両、および後側方からの急接近車などにより車両と接触しないことを確認し、車線変更の可否を判断する。更に、車線変更方向に隣接車線があるか、また車線変更禁止車線でないかなど、地図情報の道路形状や規制情報により車線変更可否を判断する。 <Lane change determination S203, S204>
In S203 and S204, it is confirmed from the vehicle surrounding information detected by the surrounding situation detection device 102 that the vehicle does not come into contact with the other vehicle on the front side and the vehicle approaching from the rear side, and the lane change is determined. to decide. Further, whether or not the lane can be changed is determined based on the road shape of the map information and the restriction information, such as whether there is an adjacent lane in the lane change direction or whether the lane change is prohibited.
　車線変更可能であると判断した場合は、仮想白線生成（Ｓ２０５）を依頼する。 If it is determined that the lane can be changed, a virtual white line generation (S205) is requested.
　車線変更不可の場合は、車線変更不可要因(例えば、後側方からの急接近車)を取り除いて、再度Ｓ２０３の車線変更可否判断を行う。 If the lane change is impossible, the lane change impossible factor (for example, a rapid approaching vehicle from the rear side) is removed, and the lane change possibility determination in S203 is performed again.
＜仮想白線生成Ｓ２０５＞
　Ｓ２０５では、走行路Ａと走行路Ｂを繋ぐ仮想白線３０５を生成する。この仮想白線の生成を図７にて説明する。 <Virtual White Line Generation S205>
In S205, a virtual white line 305 that connects the travel path A and the travel path B is generated. The generation of this virtual white line will be described with reference to FIG.
　自動運転車３０３は、Ｓ２０１にて地図情報の道路形状から、走行路Ａの実白線(カメラシステム１０１からの実白線と一致)と走行路Ｂの実白線を取得しており、走行路Ａと走行路Ｂの実白線形状は正しく認識できている。 In S201, the automatic driving vehicle 303 acquires the solid white line of the road A (matching the solid white line from the camera system 101) and the solid white line of the road B from the road shape of the map information. The solid white line shape of the traveling path B is correctly recognized.
　次に、自動運転車位置から車線変更の操舵を開始する仮想白線切換始点７０６を決め、運転者が設定した車線変更時間、車速、ヨーレートから車線変更軌道(走行軌道)７０４を算出する。この車線変更軌道７０４は、前記車速等の情報より車線変更の操舵終了地点である仮想白線切換終点７０８を先に求めてから算出してもよい。これは、車線変更軌道７０４が自動運転車３０３の速度に応じた曲線であり、速度が大きいと車線変更に係る距離も長くなるためである(図８参照)。 Next, a virtual white line switching start point 706 for starting lane change steering is determined from the position of the autonomous driving vehicle, and a lane change trajectory (traveling trajectory) 704 is calculated from the lane change time, vehicle speed, and yaw rate set by the driver. The lane change track 704 may be calculated after first obtaining the virtual white line switching end point 708 that is the steering end point of the lane change from the information such as the vehicle speed. This is because the lane change track 704 is a curve corresponding to the speed of the autonomous driving vehicle 303, and the distance related to the lane change increases as the speed increases (see FIG. 8).
　この車線変更軌道７０４は、隣接車線への車線変更では複合クロソイド曲線となるが、この車線変更軌道７０４に道路形状の曲率、縦横勾配に基づいて補正を行う。 The lane change track 704 becomes a compound clothoid curve when the lane is changed to an adjacent lane, and the lane change track 704 is corrected based on the curvature of the road shape and the vertical and horizontal gradients.
　次に、前記補正後の車線変更軌道から、仮想白線切換中点７０７および仮想白線切換終点７０８などの形状点を抽出する。 Next, shape points such as a virtual white line switching middle point 707 and a virtual white line switching end point 708 are extracted from the corrected lane change trajectory.
　次に、仮想白線切換余裕区間７１２を仮想白線切換始点７０６の手前と、仮想白線切換終点７０８の奥に設け、その先端または終端を仮想白線生成始点７０９と仮想白線生成終点７１０とする。この仮想白線切換余裕区間７１２は、実白線と仮想白線を一定区間重複させることで、実白線と仮想白線を違和感なく繋げるためのものである。この仮想白線切換余裕区間７１２は、速度に応じた時間換算距離や特定距離(例えば、100km/hの場合約30m)としてもよい。 Next, a virtual white line switching allowance section 712 is provided in front of the virtual white line switching start point 706 and in the back of the virtual white line switching end point 708, and the tip or end thereof is set as a virtual white line generation start point 709 and a virtual white line generation end point 710. The virtual white line switching margin section 712 is used to connect the real white line and the virtual white line without a sense of incongruity by overlapping the real white line and the virtual white line for a certain period. This virtual white line switching margin section 712 may be a time-converted distance or a specific distance according to the speed (for example, about 30 m in the case of 100 km / h).
　次に、前記走行軌道の形状点位置に対する各レーン幅７１１を用いて、左右仮想白線位置を算出し、その仮想白線位置を繋いで仮想白線３０５を生成する。 Next, the left and right virtual white line positions are calculated using the respective lane widths 711 with respect to the shape point positions of the travel track, and the virtual white line 305 is generated by connecting the virtual white line positions.
　このとき用いるレーン幅７１１は、仮想白線切換中点７０７までは走行路Ａの車線のレーン幅を、仮想白線切換中点７０７後は走行路Ｂの車線のレーン幅を用いる。 As the lane width 711 used at this time, the lane width of the lane on the road A is used up to the virtual white line switching midpoint 707, and the lane width of the lane on the road B is used after the virtual white line switching midpoint 707.
　前記生成した仮想白線３０５は、走行路Ａの実白線３３１と３３２と仮想白線、および仮想白線と走行路Ｂの実白線３３２と３３３と繋がることになる。 The generated virtual white line 305 is connected to the actual white lines 331 and 332 of the travel path A and the virtual white line, and the virtual white line and the actual white lines 332 and 333 of the travel path B.
　なお、レーン幅７１１は走行路Ｂ側に速度抑制レーンマークなどがある場合には、仮想白線切換中点７０７から仮想白線切換終点７０８までの間でレーン幅を減少させて生成し、レーン幅に基づいて減速させるなど速度調整を行ってもよい。この場合、車線維持制御装置(LKAS)１１７から定速走行・車間距離制御装置(ACC)１１６へ加減速指示を行うことになる。 The lane width 711 is generated by reducing the lane width between the virtual white line switching middle point 707 and the virtual white line switching end point 708 when there is a speed suppression lane mark on the traveling road B side. You may adjust speed, such as decelerating based on it. In this case, an acceleration / deceleration instruction is issued from the lane keeping control device (LKAS) 117 to the constant speed travel / inter-vehicle distance control device (ACC) 116.
＜制御白線制御Ｓ２０６＞
　図２、図３に戻り、Ｓ２０６では、カメラシステム１０１からの実白線３３１、３３２をＳ２０５で生成した仮想白線３０５に接続して制御白線を決定し、その制御白線情報を車線維持制御装置(LKAS)１１７へ通知する。車線維持制御装置(LKAS)１１７は、制御白線から車線の中心を求め、目標走行車線に沿った走行を行うよう当該車両を制御する。 <Control white line control S206>
2 and 3, in S206, the actual white lines 331 and 332 from the camera system 101 are connected to the virtual white line 305 generated in S205 to determine the control white line, and the control white line information is transferred to the lane keeping control device (LKAS). ) 117 is notified. The lane keeping control device (LKAS) 117 obtains the center of the lane from the control white line, and controls the vehicle to travel along the target travel lane.
　これにより、制御白線をあたかも実白線として走行制御することで、LKASを維持(LKASランプ点灯)したまま、実白線を跨いで自動車線変更を行うことができる。 Thus, by controlling the driving as if the control white line was a solid white line, it is possible to change the vehicle line across the solid white line while maintaining the LKAS (LKAS lamp lit).
　また、このとき、表示装置１０５は、実白線３３１、３３２から仮想白線を走行する画面表示と、実白線から仮想白線に走行が切り替わることを音声発話にて運転者に通知し、運転者は自動運転制御による車線変更を行っていることが認知でき、不安や違和感を軽減できる。 At this time, the display device 105 notifies the driver by voice utterance that the driving is switched from the real white line to the virtual white line, and the screen display for running the virtual white line from the actual white lines 331 and 332, and the driver automatically You can recognize that you are changing lanes by driving control, and you can reduce anxiety and discomfort.
　その後、仮想白線と実白線３３２、３３３は、自動運転車３０３が走行路Ｂの仮想白線走行中にカメラシステム１０１で実白線を認識したときに接続される。 Thereafter, the virtual white line and the solid white lines 332 and 333 are connected when the automatic driving vehicle 303 recognizes the solid white line with the camera system 101 while traveling on the virtual white line on the travel path B.
　なお、カメラシステム１０１からの実白線、地図情報の道路形状の実白線、仮想白線、を階層化して重ね合わせ、仮想白線、カメラシステム１０１からの実白線、道路形状の実白線、の優先順位で取り出して繋ぎ合わせてもよい。この方法とすると、仮想白線と走行路Ｂの実白線が車線変更前から繋がることになる。 The solid white line from the camera system 101, the solid white line of the road shape of the map information, and the virtual white line are layered and overlapped, and the virtual white line, the real white line from the camera system 101, and the solid white line of the road shape are prioritized. You may take it out and join it together. With this method, the virtual white line and the actual white line of the road B are connected before the lane change.
［実施例２］
　次に、分岐または合流する場合に白線を跨いで車線変更する実施例２について、図４および図５にて説明する。 [Example 2]
Next, Example 2 which changes a lane across a white line when branching or joining will be described with reference to FIGS. 4 and 5.
　この実施例２も実施例１と同様、本発明の車線変更制御装置を搭載した車両である。 As in Example 1, Example 2 is a vehicle equipped with the lane change control device of the present invention.
　実施例２の一つは、自動運転車４０３が、走行路Ａ４０１から分岐路４０２へ分岐による車線変更する場合である(図４参照)。 One of the second embodiments is a case where the autonomous driving vehicle 403 changes lanes by branching from the traveling path A 401 to the branch path 402 (see FIG. 4).
　この場合、自動運転車４０３は、左側ウインカ点滅により車線変更を検知する。 In this case, the autonomous driving vehicle 403 detects a lane change by blinking the left turn signal.
　次に、目的地経路や地図情報の道路形状より、左側車線がなく、左側前方に分岐路があるため、分岐による車線変更であると判断する。 Next, from the destination route and the road shape of the map information, there is no left lane and there is a branch road ahead on the left side, so it is determined that the lane change is due to a branch.
　車線変更可否判断は、実施例１と同様、自車両周辺情報から分岐車線変更が可能か判断する。 In the same way as in the first embodiment, the determination as to whether or not the lane can be changed is made based on the information on the surroundings of the own vehicle.
　分岐の車線変更が可能である場合は、地図情報の道路形状を基に走行路Ａ４０１と分岐路４０２との間に仮想白線４０５を生成する。このとき、実施例１と異なるのは、車両通行帯線を通過して分岐しなくてはいけないため、地図情報の道路形状から車線変更可能範囲４０６の位置を認識し、その上を通過するように仮想白線４０５を生成する。 When the branch lane can be changed, a virtual white line 405 is generated between the travel route A 401 and the branch route 402 based on the road shape of the map information. At this time, the difference from the first embodiment is that it has to pass through the vehicle traffic lane and branch off, so that the position of the lane changeable range 406 is recognized from the road shape of the map information and passes above it. A virtual white line 405 is generated.
　前記生成した仮想白線４０５と走行路Ａ４０１の実白線４０４を接続し、LKASを維持(LKASランプ点灯)したまま、車両通行帯線を跨いで分岐の車線変更を行うことができる。 The generated virtual white line 405 and the actual white line 404 of the travel route A401 are connected, and the lane of the branch can be changed across the vehicle traffic lane while maintaining the LKAS (LKAS lamp is lit).
　実施例２の二つ目は、自動運転車５０３が、合流路５０１から走行路Ａ５０２へ合流による車線変更する場合である(図５参照)。 The second example of the second embodiment is a case where the autonomous driving vehicle 503 changes lanes by merging from the merge path 501 to the travel path A 502 (see FIG. 5).
　前記分岐の車線変更と同様、自動運転車５０３は、右側ウインカ点滅により、目的地経路や道路形状により、合流の車線変更を検知する。 Like the branch lane change, the self-driving vehicle 503 detects the merged lane change based on the destination route and road shape by blinking the right side blinker.
　車線変更可否判断は、実施例１と同様、自車両周辺情報から合流の車線変更が可能か判断する。 In the same manner as in the first embodiment, the lane change permission determination is made based on the information on the surroundings of the host vehicle whether it is possible to change the lane of the merging.
　次に、実施例２の分岐車線変更と同様、車両通行帯線を通過して合流するため、地図情報の道路形状から車線変更可能範囲５０６の位置を認識し、その上を通過するように仮想白線５０５を生成する。 Next, as in the case of the branch lane change of the second embodiment, the vehicle passes through the vehicle lane and merges. Therefore, the position of the lane changeable range 506 is recognized from the road shape of the map information, and the virtual lane is changed so as to pass over it. A white line 505 is generated.
　前記生成した仮想白線５０５と走行路Ａ５０２の実白線５０４を接続し、LKASを維持(LKASランプ点灯)したまま、車両通行帯線を跨いで合流の車線変更を行うことができる。 The generated virtual white line 505 and the actual white line 504 of the travel route A502 are connected, and the lane of the merge can be changed across the vehicle traffic lane while maintaining the LKAS (LKAS lamp is lit).
［実施例３］
　次に、道路区画線外を通過する場合の実施例３を、図６にて説明する。 [Example 3]
Next, Embodiment 3 in the case of passing outside the road lane marking will be described with reference to FIG.
　この実施例３も前記実施例１、２と同様、本発明の車線変更制御装置を搭載した車両である。 The third embodiment is also a vehicle equipped with the lane change control device of the present invention, as in the first and second embodiments.
　この実施例は、自動運転車６０３が、走行路Ａ６０１から分岐路６０２へ分岐の車線変更を行おうとしているが、分岐路６０２および本線に渋滞列６０４があり、渋滞末尾車６０５は道路区画線外に停車しており、その渋滞末尾車６０５の後ろへ走行しなくてはいけない場合である。 In this embodiment, the autonomous driving vehicle 603 is going to change the lane of the branch from the travel route A601 to the branch road 602. However, there is a traffic jam column 604 on the branch road 602 and the main line, and the traffic jam end car 605 is a road lane line. This is a case where the vehicle stops outside and must travel behind the traffic jam end vehicle 605.
　先ず、自動運転車６０３は、左側ウインカ点滅により分岐の車線変更を検知する。 First, the self-driving vehicle 603 detects a branch lane change by blinking the left turn signal.
　次に、路側通信装置１０４の情報から、分岐路６０２の渋滞列６０４および渋滞末尾車６０５の位置を検知し、道路区画線外への走行が必要なことを認識する。 Next, from the information of the roadside communication device 104, the positions of the traffic jam row 604 and the traffic jam end vehicle 605 on the branch road 602 are detected to recognize that it is necessary to travel outside the road line.
　次に、仮想白線６０６を生成するが、渋滞末尾車６０５の位置を通過するように仮想白線６０６を生成し、この仮想白線６０６と実白線６０７を接続し、LKASの制御白線とする。 Next, the virtual white line 606 is generated, but the virtual white line 606 is generated so as to pass through the position of the traffic jam end car 605, and the virtual white line 606 and the real white line 607 are connected to be the control white line of LKAS.
　この渋滞末尾車６０５の位置を通過させる仮想白線６０６を生成するとき、路側通信装置１０４からの渋滞末尾車６０５の位置と高精度地図装置１０３からの路側帯幅を得て、渋滞末尾車６０５の位置に仮想白線を生成しても路側帯を超えてしまわないか、実際に走行可能かを判断し、走行可能であれば仮想白線６０６を生成する。 When generating the virtual white line 606 that passes through the position of the traffic jam end car 605, the position of the traffic jam end car 605 from the roadside communication device 104 and the roadside band width from the high-precision map device 103 are obtained. It is determined whether or not the roadside zone is exceeded even if a virtual white line is generated at the position, and whether or not the vehicle can actually travel is determined.
　これにより、区画線外である渋滞末尾車６０５の後ろへ誘導するような走行を行う場合にも、LKASを維持(LKASランプ点灯)したまま車線変更できる。 This allows you to change lanes while maintaining LKAS (LKAS lamp is lit) even when driving to the rear of traffic jam end car 605 outside the lane line.
　渋滞末尾車６０５の後ろを通過する仮想白線を生成できないときは、運転者へLKASを維持したまま自動車線変更ができないことを通知する。 When the virtual white line that passes behind the traffic ending car 605 cannot be generated, the driver is notified that the lane cannot be changed while maintaining the LKAS.
　なお、自動運転車６０３は、渋滞末尾車６０５の後ろで、定速走行・車間距離制御装置(ACC)１１６の前走車検知または前方障害物検知による自動ブレーキにて停車する。 It should be noted that the autonomous driving vehicle 603 stops behind the traffic jam end vehicle 605 by automatic braking based on detection of a preceding vehicle or detection of a front obstacle by a constant speed traveling / inter-vehicle distance control device (ACC) 116.
　なお、本発明は上記した実施形態に限定されるものではなく、様々な変形形態が含まれる。例えば、上記した実施形態は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、実施形態の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 Note that the present invention is not limited to the above-described embodiment, and includes various modifications. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, it is possible to add, delete, and replace other configurations for a part of the configuration of the embodiment.
　また、上記の各構成、機能、処理部、処理手段等は、それらの一部又は全部を、例えば集積回路で設計する等によりハードウェアで実現してもよい。また、上記の各構成、機能等は、プロセッサがそれぞれの機能を実現するプログラムを解釈し、実行することによりソフトウェアで実現してもよい。各機能を実現するプログラム、テーブル、ファイル等の情報は、メモリや、ハードディスク、ＳＳＤ(Solid State Drive)等の記憶装置、または、ＩＣカード、ＳＤカード、ＤＶＤ等の記録媒体に置くことができる。 In addition, each of the above-described configurations, functions, processing units, processing means, and the like may be realized by hardware by designing a part or all of them with, for example, an integrated circuit. Each of the above-described configurations, functions, and the like may be realized by software by interpreting and executing a program that realizes each function by the processor. Information such as programs, tables, and files for realizing each function can be stored in a memory, a hard disk, a storage device such as an SSD (Solid State Drive), or a recording medium such as an IC card, an SD card, or a DVD.
　また、制御線や情報線は説明上必要と考えられるものを示しており、製品上必ずしも全ての制御線や情報線を示しているとは限らない。実際には殆ど全ての構成が相互に接続されていると考えてもよい。 Also, the control lines and information lines indicate what is considered necessary for the explanation, and not all the control lines and information lines on the product are necessarily shown. Actually, it may be considered that almost all the components are connected to each other.
１０１…カメラシステム、１０２…周辺状況検出装置、１０３…高精度地図装置、１０４…路側通信装置、１０５…表示装置、１１０…自動運転制御装置、１１１…車線変更制御装置、１１２…車線変更検知装置、１１３…車線変更判断装置、１１４…仮想白線生成装置、１１５…制御白線制御装置、１１６…定速走行・車間距離制御(ACC)、１１７…車線維持制御装置(LKAS)、１２０…車両制御装置、１２１…ステアリング制御部、１２２…ブレーキ制御部、１２３…アクセル制御部、１２４…ウインカ制御部、１２５…車速検出部、１２６…ヨーレート検出部、３０１，４０１，５０２，６０１…走行路Ａ、３０２…走行路Ｂ、４０２，６０２…分岐路、５０１…合流路、３０３，４０３，５０３，６０３，８０１…自動運転車、３０４…先行車、３０５，４０５，５０５，６０６…仮想白線、３３１，３３２，３３３，４０４，５０４，６０７…実白線、４０６，５０６…車線変更可能範囲、６０４…渋滞列、６０５…渋滞末尾車、７０４，８０２…車線変更軌道(走行軌道)、７０６…仮想白線切換始点、７０７…仮想白線切換中点、７０８…仮想白線切換終点、７０９…仮想白線生成始点、７１０…仮想白線生成終点、７１１…レーン幅、７１２…仮想白線切換余裕区間 DESCRIPTION OF SYMBOLS 101 ... Camera system, 102 ... Peripheral condition detection apparatus, 103 ... High-precision map apparatus, 104 ... Roadside communication apparatus, 105 ... Display apparatus, 110 ... Automatic driving control apparatus, 111 ... Lane change control apparatus, 112 ... Lane change detection apparatus , 113 ... Lane change determination device, 114 ... Virtual white line generation device, 115 ... Control white line control device, 116 ... Constant speed travel / inter-vehicle distance control (ACC), 117 ... Lane maintenance control device (LKAS), 120 ... Vehicle control device , 121 ... Steering control unit, 122 ... Brake control unit, 123 ... Accelerator control unit, 124 ... Blinker control unit, 125 ... Vehicle speed detection unit, 126 ... Yaw rate detection unit, 301, 401, 502, 601 ... Travel path A, 302 ... Runway B, 402,602 ... Branch, 501 ... Joint passage, 303,403,503,603,801 ... Automatic driving car, 304 ... first Car, 305, 405, 505, 606 ... Virtual white line, 331, 332, 333, 404, 504, 607 ... Real white line, 406, 506 ... Lane changeable range, 604 ... Congestion line, 605 ... Congestion end car, 704 802 ... Lane change trajectory (traveling trajectory), 706 ... Virtual white line switching start point, 707 ... Virtual white line switching middle point, 708 ... Virtual white line switching end point, 709 ... Virtual white line generation starting point, 710 ... Virtual white line generation end point, 711 ... Lane width 712: Virtual white line switching margin section

Claims (6)

  1. 　車線内を維持するように自車を走行制御する車線維持制御部と、
    　ウインカの点滅を制御するウインカ制御部と、を有し、
    　前記ウインカ制御部からのウインカ点滅信号が入力された場合に、前記車線維持制御部での走行制御を維持しながら自車の位置する車線とは異なる車線へ車線変更を行うことを特徴とする車線変更制御装置。     A lane keeping control unit that controls the traveling of the host vehicle so as to maintain the lane,
    A blinker control unit for controlling blinking of the blinker,
    When a blinker blinking signal is input from the blinker control unit, a lane is changed to a lane different from the lane in which the host vehicle is located while maintaining the traveling control in the lane keeping control unit. Change control unit.
  2. 　請求項１に記載の車線変更制御装置において、
    　前記ウインカ点滅信号に基づいて、車線変更を判断する車線変更判断部と、
    　前記車線変更判断部で車線変更すると判断された場合に車線変更制御を行う車線変更制御部と、を有し、
    　前記車線変更制御部は、車線を跨がっても車線維持制御機能を維持したまま車線変更を行うことを特徴とする車線変更制御装置。     In the lane change control device according to claim 1,
    Based on the blinker blinking signal, a lane change determination unit that determines lane change;
    A lane change control unit that performs lane change control when it is determined that the lane change is determined by the lane change determination unit,
    The said lane change control part performs a lane change, maintaining a lane maintenance control function, even if it straddles a lane, The lane change control apparatus characterized by the above-mentioned.
  3. 　請求項２に記載の車線変更制御装置において、
    　車線を跨ぐように仮想車線を生成する仮想車線生成部を有し、
    　前記車線変更制御部は、車線を跨ぐように生成された前記仮想車線に沿って車線変更を行うことを特徴とする車線変更制御装置。     In the lane change control device according to claim 2,
    It has a virtual lane generator that generates a virtual lane so as to cross the lane,
    The said lane change control part performs a lane change along the said virtual lane produced | generated so that a lane may be straddled, The lane change control apparatus characterized by the above-mentioned.
  4. 　請求項３に記載の車線変更制御装置において、
    　走行路上の道路形状を認識する道路形状認識部を有し、
    　前記仮想車線生成部は、認識された前記道路形状に基づいて仮想車線を生成することを特徴とする車線変更制御装置。     In the lane change control device according to claim 3,
    It has a road shape recognition unit that recognizes the road shape on the road,
    The lane change control device, wherein the virtual lane generation unit generates a virtual lane based on the recognized road shape.
  5. 　請求項３に記載の車線変更制御装置において、
    　交通情報を取得する交通情報取得部を有し、
    　前記仮想車線生成部は、取得された前記交通情報に基づいて仮想車線を生成することを特徴とする車線変更制御装置。     In the lane change control device according to claim 3,
    It has a traffic information acquisition unit that acquires traffic information,
    The virtual lane generation unit generates a virtual lane based on the acquired traffic information.
  6. 　請求項３に記載の車線変更制御装置において、
    　車線を検知する車線検知部を有し、
    　車線変更中は、前記仮想車線に沿って走行制御し、車線変更後は、検知された車線に沿って走行制御することを特徴とする車線変更制御装置。     In the lane change control device according to claim 3,
    It has a lane detector that detects lanes,
    A lane change control device that performs travel control along the virtual lane during a lane change, and performs travel control along the detected lane after the lane change.
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