WO2017130641A1 - 車両の走行制御方法および車両の走行制御装置 - Google Patents
車両の走行制御方法および車両の走行制御装置 Download PDFInfo
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- WO2017130641A1 WO2017130641A1 PCT/JP2017/000047 JP2017000047W WO2017130641A1 WO 2017130641 A1 WO2017130641 A1 WO 2017130641A1 JP 2017000047 W JP2017000047 W JP 2017000047W WO 2017130641 A1 WO2017130641 A1 WO 2017130641A1
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- pedestrian crossing
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- pedestrian
- travel control
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Definitions
- the present invention relates to a vehicle travel control method and a vehicle travel control device.
- Patent Document 1 a technique for predicting whether or not a moving object that crosses a pedestrian crossing and its own vehicle approach each other is known.
- the problem to be solved by the present invention is that a vehicle that can appropriately detect a moving object that may approach the host vehicle when the host vehicle approaches the pedestrian crossing before the host vehicle approaches the pedestrian crossing.
- a control method and a travel control device for a vehicle are provided.
- the present invention specifies a pedestrian crossing through which the host vehicle is to pass as a first pedestrian crossing, predicts a position at which the host vehicle passes through the first pedestrian crossing as an intersection position, and is within a predetermined first distance from the intersection position.
- a certain pedestrian crossing is specified as the second pedestrian crossing, an area including the first pedestrian crossing and the second pedestrian crossing is set as a detection area of the moving object, and the moving object is detected in the detection area, thereby solving the above problem. .
- the area including the second pedestrian crossing close to the first pedestrian crossing is set as the detection area of the moving object, the possibility that the own vehicle approaches the first pedestrian crossing when approaching the first pedestrian crossing. It is possible to appropriately detect a moving object having a position before the vehicle approaches the first pedestrian crossing.
- FIG. 1 is a configuration diagram illustrating a vehicle travel control device according to an embodiment of the present invention. It is a figure which shows an example of the link information which map information has, and the area information of a pedestrian crossing. It is a figure for demonstrating an example of the prediction method of an intersection position. It is a figure for demonstrating an example of the identification method of a 2nd pedestrian crossing. It is a figure for demonstrating an example of the setting method of a detection area. It is a figure which shows an example of a detection area. It is a flowchart which shows an example of the traveling control process which concerns on 1st Embodiment of this invention. It is a figure which shows an example of the setting method of the detection area
- FIG. (1) for demonstrating an example of the setting method of the detection area in 3rd Embodiment of this invention.
- FIG. (2) for demonstrating an example of the setting method of the detection area
- FIG. (3) for demonstrating an example of the traveling control process which concerns on 3rd Embodiment of this invention.
- FIG. 1 is a diagram showing a configuration of a vehicle travel control apparatus 100 according to an embodiment of the present invention.
- the vehicle travel control apparatus 100 includes a surrounding detection sensor 110, a vehicle speed sensor 120, a host vehicle position detection apparatus 130, a database 140, a drive control apparatus 150, and a control.
- Device 160 are connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other.
- CAN Controller Area Network
- the surrounding detection sensor 110 detects an object present around the host vehicle.
- a surrounding detection sensor 110 includes a front camera that images the front of the host vehicle, a rear camera that images the rear of the host vehicle, a front radar that detects an obstacle ahead of the host vehicle, and an obstacle behind the host vehicle. And a rear radar that detects an obstacle present on the side of the vehicle.
- objects detected by the surrounding detection sensor 110 include pedestrians, bicycles, motorcycles, automobiles, road obstacles, traffic lights, road markings, and pedestrian crossings.
- the surrounding detection sensor 110 may be configured to use one of the plurality of sensors described above, or may be configured to combine two or more types of sensors.
- the detection result of the surrounding detection sensor 110 is output to the control device 160.
- the vehicle speed sensor 120 measures the rotational speed of a drive system such as a drive shaft or wheels, and detects the traveling speed of the vehicle (hereinafter also referred to as vehicle speed) based on this.
- vehicle speed the traveling speed of the vehicle
- the vehicle speed information detected by the vehicle speed sensor 120 is output to the control device 160.
- the own vehicle position detection device 130 includes a GPS unit, a gyro sensor, and the like.
- the own vehicle position detection device 130 detects radio waves transmitted from a plurality of satellite communications by the GPS unit, periodically acquires the position information of the own vehicle, and acquires the acquired position information of the own vehicle and the gyro sensor.
- the current position of the host vehicle is detected based on the angle change information and the vehicle speed acquired from the vehicle speed sensor 120.
- the position information of the host vehicle detected by the host vehicle position detection device 130 is output to the control device 160.
- the database 140 stores map information.
- the map information includes link information for roads, sidewalks, and pedestrian crossings on which vehicles travel.
- FIG. 2 is a diagram for explaining the link information included in the map information.
- the link information of the road on which the vehicle travels has links and nodes for each lane as link information.
- each of the links LA1 to LA4 of the lanes A1 to A4 is stored in the database 140 as link information of the road on which the host vehicle V1 travels.
- the link information of a pedestrian crossing has, as link information, a link extending in the length direction of the pedestrian crossing (that is, the crossing direction of a moving object such as a pedestrian or a bicycle crossing the pedestrian crossing). .
- the database 140 also includes information such as lane boundary lines (lane marks, curbs, etc.), stop lines, guardrails, road shapes, road curvatures, and the like as map information.
- the links LB1 and LB2 of the crosswalks B1 and B2 are stored in the database 140 as link information of the crosswalk.
- the map information stored in the database 140 includes pedestrian crossing area information on the map.
- the shape of the area of the pedestrian crossing is not limited to a rectangle, but may be another polygon.
- the area information such as the position and shape of the areas RB1 and RB2 occupied by the crosswalks B1 and B2 on the map is stored in the database 140.
- the map information stored in the database 140 includes information on road configurations other than pedestrian crossings. Examples of such a road configuration include information on sidewalks, roadside belts, and median strips.
- the sidewalks SW1 and SW2 and the median strip M are stored in the database 140 as road configuration information. Note that the map information stored in the database 140 is appropriately referred to by the control device 160.
- the drive control device 150 controls the traveling of the host vehicle. For example, when the own vehicle follows the preceding vehicle (hereinafter also referred to as follow-up running control), the drive control device 150 sets the acceleration / deceleration and the vehicle speed so that the distance between the own vehicle and the preceding vehicle is a constant distance. Operation of the drive mechanism for realizing (including the operation of an internal combustion engine in an engine vehicle, an electric motor operation in an electric vehicle system, and including torque distribution between the internal combustion engine and the electric motor in a hybrid vehicle) ) And brake operation. Further, when the host vehicle makes a right / left turn or a lane change, the turning control of the host vehicle is executed by controlling the operation of the steering actuator and the wheel. The drive control device 150 controls the traveling of the host vehicle according to an instruction from the control device 160 described later. Further, as a traveling control method by the drive control device 150, other known methods can be used.
- the control device 160 includes a ROM (Read Only Memory) that stores a program for controlling the traveling of the host vehicle, a CPU (Central Processing Unit) that executes the program stored in the ROM, and an accessible storage device. It consists of a functioning RAM (Random Access Memory).
- ROM Read Only Memory
- CPU Central Processing Unit
- RAM Random Access Memory
- As an operation circuit instead of or in addition to a CPU (Central Processing Unit), an MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), etc. Can be used.
- the control device 160 executes a program stored in the ROM by the CPU, thereby acquiring a host vehicle information acquisition function for acquiring host vehicle information, a surrounding information acquisition function for acquiring a detection result of the surrounding detection sensor 110, A route search function for searching a planned travel route of a vehicle, a first pedestrian crossing specifying function for specifying a pedestrian crossing that the host vehicle is scheduled to pass as a first pedestrian crossing, and an intersection position where the host vehicle passes over the first pedestrian crossing An intersection position prediction function for predicting the vehicle distance, a first distance calculation function for calculating a distance that the moving object moves before the host vehicle reaches the first pedestrian crossing, and a first distance from the intersection position.
- a second pedestrian crossing specifying function for specifying a pedestrian crossing as a second pedestrian crossing; an interpolation area setting function for setting an interpolation area for connecting the first pedestrian crossing and the second pedestrian crossing; a first pedestrian crossing; Based on a detection area setting function for setting an area including a sidewalk and an interpolation area as a detection area, a moving object detection function for detecting a moving object in the detection area, and a moving object detected in the detection area And a travel control function for controlling the vehicle. Below, each function with which the control apparatus 160 is provided is demonstrated.
- the own vehicle information acquisition function of the control device 160 is a function that can acquire information on the own vehicle as own vehicle information. Specifically, the control device 160 can acquire the vehicle speed information of the host vehicle as the host vehicle information from the vehicle speed sensor 120 by the host vehicle information acquisition function. In addition, the control device 160 can acquire information on the current position of the host vehicle from the host vehicle position detection device 130 as host vehicle information by the host vehicle information acquisition function.
- the surrounding information acquisition function of the control device 160 is a function that can acquire the detection result of the surrounding detection sensor 110 as surrounding information.
- the control device 160 acquires, as ambient information, image information outside the vehicle captured by the front camera and the rear camera, and detection results by the front radar, the rear radar, and the side radar, by the ambient information acquisition function. Can do.
- the control device 160 performs image analysis on the image information acquired from the camera by the surrounding information acquisition function, and performs clustering processing on the point cloud information detected by the radar, so that the position of the object around the host vehicle Information such as moving speed can be acquired as ambient information.
- the route search function of the control device 160 is a function that can search for the planned travel route of the host vehicle. For example, when the driver inputs a destination via an input device (not shown) by the route search function, the control device 160 uses the destination input by the driver, the map information stored in the database 140, and the Based on the position information of the host vehicle detected by the vehicle position detection device 130, the planned travel route of the host vehicle can be searched.
- the database 140 according to the present embodiment stores link information for each lane as in the example illustrated in FIG.
- a weight corresponding to the travel distance or road condition in each lane is set in advance for each lane link (for example, the longer the distance, the worse the road condition, the greater the link weight).
- the control device 160 can identify a lane suitable for the travel route from the current position of the host vehicle to the destination by using the route search function, and correct the link weight of the identified lane. For example, when it is necessary to make a right turn in order to reach the destination, it is possible to perform a correction for reducing the link weight of the right turn lane. Then, the control device 160 uses the route search function to use the graph search theory such as the Dijkstra method or the A * (A-star) algorithm to sum the weights of the lane links passing from the current position of the host vehicle to the destination. It is possible to search for a lane-level route with the smallest lane as a planned travel route.
- the route search function uses the route search theory such as the Dijkstra method or the A * (A-star) algorithm to sum the weights of the lane links passing from the current position of the host vehicle to the destination. It is possible to search for a lane-level route with the smallest lane as a planned travel route.
- the first pedestrian crossing specifying function of the control device 160 specifies the pedestrian crossing through which the host vehicle will pass as the first pedestrian crossing based on the planned travel route searched by the route search function and the map information stored in the database 140. It is a function that can be done. For example, the control device 160 can obtain the pedestrian crossing area information represented by polygons by referring to the map information stored in the database 140 by the first pedestrian crossing specifying function. And the control apparatus 160 specifies this pedestrian crossing as a 1st pedestrian crossing when the link of the lane which shows the driving route of the own vehicle, and the area
- the link LA2 of the lane A2 indicating the planned travel route of the host vehicle V1 intersects the area RB1 of the pedestrian crossing B1, and therefore the pedestrian crossing B1 is specified as the first pedestrian crossing.
- the link LA2 of the lane A2 indicating the planned travel route of the host vehicle V1 does not intersect the area RB2 of the pedestrian crossing B2, and therefore the pedestrian crossing B2 is not specified as the first pedestrian crossing.
- the identification method of the first pedestrian crossing is not limited to the above method.
- the control device 160 specifies the pedestrian crossing as the first pedestrian crossing when the lane link and the pedestrian crossing link determined as the planned travel route of the vehicle intersect with the first pedestrian crossing specifying function. can do.
- the link LA2 of the lane A2 indicating the planned travel route of the host vehicle V1 intersects the link LB1 of the pedestrian crossing B1, and therefore the pedestrian crossing B1 is specified as the first pedestrian crossing.
- the link LA2 of the lane A2 indicating the planned travel route of the host vehicle V1 does not intersect the link LB2 of the pedestrian crossing B2, and therefore the pedestrian crossing B2 is not specified as the first pedestrian crossing.
- the control device 160 is configured to identify the first pedestrian crossing by acquiring a captured image in front of the host vehicle from a camera that images the front of the host vehicle and performing image analysis using the first pedestrian crossing specifying function. You can also
- the intersection position prediction function of the control device 160 is a function that can predict the position on the first pedestrian crossing through which the vehicle passes as the intersection position in the length direction of the first pedestrian crossing. Specifically, the control device 160 can predict the intersection point between the planned traveling route of the host vehicle and the moving route of the moving object crossing the first pedestrian crossing as an intersection position by the intersection position prediction function. Note that the control device 160 can acquire the link of the first pedestrian crossing as a moving path of the moving object crossing the first pedestrian crossing by referring to the map information stored in the database 140 by the intersection position prediction function. it can.
- FIG. 3 is a diagram for explaining an example of a method for predicting an intersection position. For example, in the example shown in FIG.
- the control device 160 uses the intersection position prediction function to determine the position of the intersection point P between the link LA2 of the lane A2 indicating the planned travel route of the host vehicle V1 and the link LB1 of the first pedestrian crossing B1. Can be predicted as the intersection position.
- the first distance calculation function of the control device 160 calculates, as the first distance, the distance that a moving object (a moving body that crosses a pedestrian crossing such as a pedestrian or a bicycle) moves before the host vehicle reaches the first pedestrian crossing. It is a function that can be done. Specifically, the control device 160 can calculate the first distance by the first distance calculation function based on the moving speed of the moving object and the estimated arrival time until the host vehicle reaches the intersection position. it can. For example, the control device 160 can calculate the distance D from the current position of the host vehicle to the intersection position P with reference to the map information by the first distance calculation function.
- the average moving speed of the pedestrian (for example, 80 meters per minute) is stored in the ROM of the control device 160 as the moving speed Vp of the moving object, and the control device 160 has the first distance calculation function.
- the average moving speed of the pedestrian stored in the ROM of the control device 160 can be acquired as the moving speed Vp of the moving object.
- the moving speed Vp of the moving object is not limited to the average moving speed of the pedestrian.
- the average moving speed of a bicycle may be used as the moving speed of a moving object, or an average moving speed of a pedestrian with a relatively low moving speed such as an elderly pedestrian in a crosswalk where many elderly pedestrians pass. May be used as the moving speed of the moving object.
- the second pedestrian crossing specifying function of the control device 160 is a function that can specify, as a second pedestrian crossing, a pedestrian crossing close to the first pedestrian crossing that is not more than the first distance from the intersection position. . Specifically, among the pedestrian crossings close to the first pedestrian crossing, the distance from the crossing position to the pedestrian crossing in the length direction of the first pedestrian crossing (in the direction along the link of the first pedestrian crossing) is the first. A pedestrian crossing that is less than the distance is identified as the second pedestrian crossing.
- FIG. 4 is a diagram for explaining an example of a method for identifying the second pedestrian crossing. For example, in the example shown in FIG. 4, the pedestrian crossing B1 is specified as the first pedestrian crossing, and the pedestrian crossing B2 exists near the first pedestrian crossing. Moreover, in the example shown in FIG.
- the pedestrian crossing B2 since the distance DB2 from the intersection position P to the pedestrian crossing B2 in the length direction (X direction) of the first pedestrian crossing B1 is equal to or less than the first distance D1, the pedestrian crossing B2 is Identified as two pedestrian crossings.
- the control device 160 sets the pedestrian crossing as the second pedestrian crossing by the second pedestrian crossing specifying function. Not specified.
- the interpolation area setting function of the control device 160 is a function that can set an area where the first pedestrian crossing and the second pedestrian crossing are combined as an interpolation area.
- FIG. 5 is a diagram for explaining an example of a detection area setting method. For example, in the example shown in FIG. 5, a region RM that connects the first pedestrian crossing B1 and the second pedestrian crossing B2 is set as the interpolation region. Further, the control device 160 can set the width of the interpolation area based on the width of the first pedestrian crossing and the width of the second pedestrian crossing by the interpolation area setting function. For example, in the scene shown in FIG.
- the control device 160 uses the interpolation area setting function to set the average value of the width WB1 of the first pedestrian crossing B1 and the width WB2 of the second pedestrian crossing B2 as the width WM of the interpolation area RM. Can be set. Further, the control device 160 may set the width WB1 of the first pedestrian crossing B1 as the width WM of the interpolation region RM by the interpolation region setting function, or may set the width WB2 of the second pedestrian crossing B2 to the interpolation region RM. The width WM may be set.
- the controller 160 uses the interpolation area setting function to change the width WM of the interpolation area RM from the width WB1 of the first pedestrian crossing B1 to the second crossing from the first pedestrian crossing B1 side to the second pedestrian crossing B2 side.
- the width WM of the interpolation region RM can also be set so as to change to the width WB2 of the sidewalk B2.
- the detection area setting function of the control device 160 is a function that can set an area including the first pedestrian crossing, the second pedestrian crossing, and the interpolation area as a detection area for detecting a moving object.
- the control device 160 uses the detection region setting function to determine a region obtained by combining the region RB1 of the first pedestrian crossing B1, the region RB2 of the second pedestrian crossing B2, and the interpolation region RM. It can be set as a detection area of a moving object.
- a region RT including the region RB1 of the first pedestrian crossing B1, the region RB2 of the second pedestrian crossing B2, and the interpolation region RM is set as a detection region.
- control device 160 can set an area including all the second pedestrian crossings as a detection area. Further, when the second pedestrian crossing is not specified by the detection area setting function, the control device 160 can set only the area of the first pedestrian crossing as the detection area.
- the moving object detection function of the control device 160 is a function that can detect a moving object in the detection area set by the detection area setting function.
- the control device 160 can detect the moving object based on only the detection result in the detection region RT among the detection results of the surrounding detection sensor 110 by the moving object detection function. Thereby, for example, as shown in FIG. 2, even when a moving object exists in the second pedestrian crossing B2 close to the first pedestrian crossing B1, such a moving object can be detected.
- the traveling control function of the control device 160 is a function capable of controlling the automatic driving traveling of the host vehicle. Specifically, the control device 160 causes the drive control device 150 to transmit the engine and the engine based on the detection result of the surrounding detection sensor 110 and a predetermined travel condition (traffic regulations, planned travel route, etc.) by the travel control function. By controlling a driving mechanism such as a brake and a steering mechanism such as a steering actuator, a driving operation normally performed by a driver can be automatically executed. For example, the control device 160 controls the driving position in the width direction of the host vehicle by causing the drive control device 150 to control the operation of the steering actuator or the like so that the host vehicle travels in the lane by the driving control function. Lane keep control can be performed.
- a driving mechanism such as a brake and a steering mechanism such as a steering actuator
- control device 160 causes the drive control device 150 to control the operation of the drive mechanism such as the engine and the brake so that the host vehicle and the preceding vehicle travel at a constant inter-vehicle distance by the travel control function. It is also possible to perform follow-up running control that automatically follows the preceding vehicle. Further, the control device 160 controls the driving mechanism such as the engine and the brake and the steering mechanism such as the steering actuator on the basis of the detection result of the surrounding detection sensor 110 and the predetermined traveling condition by the traveling control function. Turn left and right, change lanes, park and stop, etc. automatically. For example, in this embodiment, when a moving object is detected in the detection area by the moving object detection function by the travel control function, the control device 160 controls the engine and brake drive mechanisms to determine the own vehicle. It can be stopped in front of one pedestrian crossing.
- FIG. 7 is a flowchart illustrating an example of a travel control process according to the first embodiment. Note that the travel control process described below is executed by the control device 160. Further, the travel control process described below is repeatedly executed at predetermined time intervals.
- step S101 the vehicle information including the vehicle speed information and the position information is acquired by the vehicle information acquisition function.
- step S102 the detection result of the surrounding detection sensor 110 is acquired as surrounding information by the surrounding information acquisition function.
- step S103 the planned travel route of the host vehicle is searched by the route search function.
- the route search function searches, based on map information stored in the database 140, as a lane level route on which the host vehicle travels as a planned travel route. To do.
- the first pedestrian crossing is specified by the first pedestrian crossing specifying function. For example, when the planned travel route searched in step S103 and the pedestrian crossing area included in the map information stored in the database 140 intersect by the first pedestrian crossing specifying function, the control device 160 crosses the crossing.
- the sidewalk can be specified as the first pedestrian crossing.
- step S105 the position on the first pedestrian crossing through which the vehicle passes is predicted as the crossing position in the length direction of the first pedestrian crossing by the intersection position prediction function.
- the control device 160 predicts a position where the link of the first pedestrian crossing included in the road information stored in the database 140 intersects the planned travel route of the host vehicle as the intersection position by the intersection position prediction function. be able to.
- the first distance is calculated by the first distance calculation function.
- the control device 160 calculates the predicted arrival time until the host vehicle reaches the intersection position based on the vehicle speed information and the position information of the host vehicle acquired in step S101 by the first distance calculation function.
- the control apparatus 160 acquires the information of the moving speed (for example, average moving speed of a pedestrian) of a moving object from ROM of the control apparatus 160 by a 1st distance calculation function. Then, the control device 160 can calculate the first distance by multiplying the calculated predicted arrival time of the host vehicle and the moving speed of the moving object by the first distance calculating function.
- step S107 the second pedestrian crossing close to the first pedestrian crossing is specified as the second pedestrian crossing based on the intersection position predicted in step S105 and the first distance calculated in step S106 by the second pedestrian crossing specifying function.
- the control device 160 uses the second pedestrian crossing specifying function to select a pedestrian crossing that is less than or equal to the first distance from the intersection position in the length direction of the first pedestrian crossing in the length direction of the first pedestrian crossing. It can be specified as the second pedestrian crossing.
- step S108 it is determined whether or not the second pedestrian crossing has been specified in step S107 by the second pedestrian crossing specifying function. If the second pedestrian crossing has been identified, the process proceeds to step S109. If the second pedestrian crossing has not been identified, the process proceeds to step S111. In step S111, only the area of the first pedestrian crossing is set as the detection area by the detection area setting function.
- step S109 an area that combines the first pedestrian crossing specified in step S104 and the second pedestrian crossing specified in step S107 is set as an interpolation area by the interpolation area setting function. Further, as shown in FIG. 5, the control device 160 uses the interpolation area setting function to determine the width direction length WB1 of the first pedestrian crossing B1 included in the map information of the database 140 and the width direction of the second pedestrian crossing B2. The width WM of the interpolation region RM is set based on the information on the length WB2.
- step S110 the detection area setting function detects a moving object from the first pedestrian crossing specified in step S104, the second pedestrian crossing specified in step S107, and the interpolation area set in step S109. It is set as a detection area for
- step S112 the moving object is detected in the detection area set in step S110 or step S111 by the moving object detection function.
- the traveling control of the host vehicle is performed based on the detection result of the moving object in step S112 by the traveling control function. For example, in the present embodiment, when a moving object is detected in the detection area, control is performed to stop the host vehicle in front of the first pedestrian crossing.
- the pedestrian crossing that the host vehicle is to pass is specified as the first pedestrian crossing, and on the first pedestrian crossing through which the host vehicle passes in the length direction of the first pedestrian crossing. Predict the position as an intersection position. Moreover, the pedestrian crossing which is below 1st distance from the crossing position among the pedestrian crossing close to the 1st pedestrian crossing is specified as a 2nd pedestrian crossing. Then, an area including the first pedestrian crossing and the second pedestrian crossing is set as a moving object detection area, and the moving object is detected in the detection area. Thereby, in 1st Embodiment, a moving object can be detected not only in the 1st pedestrian crossing by which the own vehicle passes but in the 2nd pedestrian crossing close to the 1st pedestrian crossing.
- a moving object that may approach the host vehicle can be detected before the host vehicle reaches the first pedestrian crossing.
- a travel plan for the host vehicle can be created at a faster timing, so that it is possible to perform automatic driving with more margin.
- the first distance is calculated based on the moving speed of the moving object. Specifically, a distance obtained by multiplying the time until the host vehicle reaches the intersection position and the moving speed of the moving object is calculated as the first distance. And the pedestrian crossing which is below 1st distance from an intersection position among the pedestrian crossing close to a 1st pedestrian crossing is specified as a 2nd pedestrian crossing.
- the detection area in consideration of the vehicle speed of the host vehicle and the moving speed of the moving object, the moving object approaching the host vehicle is appropriately detected when the host vehicle reaches the first pedestrian crossing. can do.
- the own vehicle approaches a moving object in a 1st pedestrian crossing by estimating the intersection of the planned driving
- the position can be appropriately predicted as the intersection position.
- the moving object moves by specifying the pedestrian crossing on the moving path of the moving object as the second pedestrian crossing among the pedestrian crossing close to the first pedestrian crossing.
- An area can be set as a detection area, and detection accuracy of a moving object can be improved.
- an area connecting the first pedestrian crossing and the second pedestrian crossing is set as an interpolation area.
- the vehicle currently stands by or moves through the median between the first pedestrian crossing and the second pedestrian crossing, and when the vehicle approaches the first pedestrian crossing, the vehicle approaches the vehicle. Possible moving objects can also be detected appropriately.
- the width WM of the interpolation region RM is set according to the width WB1 of the first pedestrian crossing B1 and the width WB2 of the second pedestrian crossing B2.
- an area where the moving object is likely to move in the central separation band M can be set as the interpolation area.
- the moving object is compared with the case where the entire central separation band M is set as the detection area. The detection accuracy can be improved.
- the travel control apparatus 100 according to the second embodiment has the same configuration as the travel control apparatus 100 according to the first embodiment, and operates in the same manner as the first embodiment except that it operates as described below. To do.
- control device 160 has a second distance calculation function that calculates a second distance different from the first distance, and a second pedestrian crossing set as a detection area.
- the second distance calculation function of the control device 160 will be described.
- the second distance calculation function is the same as the first distance calculated by the first distance calculation function, the predicted arrival time T until the host vehicle reaches the first pedestrian crossing, the moving speed V2 of the moving object,
- control device 160 uses the second distance calculation function to indicate that there is an obstacle on the second pedestrian crossing when the other vehicle is stopped on the second pedestrian crossing and the moving object is in the second crossing.
- the control device 160 predicts the planned travel route of the surrounding vehicle traveling around the host vehicle by the second distance calculation function, and determines whether the planned travel route of the surrounding vehicle intersects with the second pedestrian crossing. Judgment can be made. Then, when the control device 160 determines that the planned travel route of the surrounding vehicle intersects the second pedestrian crossing by the second distance calculation function, the moving object cannot cross the second pedestrian crossing due to the travel of the surrounding vehicle.
- the distance from the intersection position P where the host vehicle intersects the first pedestrian crossing to the position where the surrounding vehicle intersects the second pedestrian crossing can be calculated as the second distance.
- the target area determination function is a function that can determine a partial area of the second pedestrian crossing set as the detection area as the target area.
- the control device 160 refers to the map information stored in the database 140 by the target area determination function, and crosses the area corresponding to the second pedestrian crossing in the length direction of the first pedestrian crossing. An area within the second distance from the position P is determined as a partial area (target area) of the second pedestrian crossing set as the detection area.
- the detection area setting function according to the second embodiment sets, as a detection area, an area composed of the first pedestrian crossing area, the interpolation area, and the target area of the second pedestrian crossing determined by the target area determination function. It is a function that can.
- the detection area setting method according to the second embodiment will be described below.
- FIG. 8 is a diagram illustrating an example of a detection area setting method according to the second embodiment.
- the pedestrian crossing B1 is specified as the first pedestrian crossing
- the pedestrian crossing B2 is specified as the second pedestrian crossing.
- an area RM that connects the first pedestrian crossing B1 and the second pedestrian crossing B2 is set as an interpolation area.
- the control device 160 calculates the second distance D2 by the second distance calculation function based on the moving speed of the moving object and the predicted arrival time until the host vehicle V1 reaches the intersection position P.
- control apparatus 160 is the distance from the crossing position P below 2nd distance D2 in the length direction (X direction) of 1st pedestrian crossing B1 among the area
- the region RB2 ′ to be is determined as the target region of the second pedestrian crossing set as the detection region.
- a region RT including the region RB1 of the first pedestrian crossing B1, the target region RB2 'of the second pedestrian crossing B2, and the interpolation region RM is set as the detection region of the moving object.
- FIG. 10 is a flowchart illustrating an example of a travel control process according to the second embodiment. Note that the travel control process described below is executed by the control device 160.
- steps S201 to S207 processing similar to that in steps S101 to S107 of the first embodiment is performed. That is, own vehicle information including vehicle speed information and position information is acquired (step S201), the detection result of the surrounding detection sensor 110 is acquired as surrounding information (step S202), and the planned travel route of the own vehicle is searched ( In step S203), the first pedestrian crossing is identified (step S204), the position on the first pedestrian crossing where the host vehicle passes through the first pedestrian crossing is predicted as the intersection position (step S205), and the first distance is calculated. (Step S206), a second pedestrian crossing is identified based on the intersection position and the first distance (Step S207).
- step S208 as in step S108 of the first embodiment, it is determined whether or not the second pedestrian crossing has been specified in step S207. If the second pedestrian crossing has been identified, the process proceeds to step S209. If the second pedestrian crossing has not been identified, the process proceeds to step S213. In step S213, as in step S111 of the first embodiment, only the first pedestrian crossing area is set as the detection area.
- step S209 the second distance is calculated by the second distance calculation function.
- the control device 160 can calculate the second distance D2 by multiplying the predicted arrival time T of the host vehicle and the moving speed Vp of the moving object by the second distance calculating function.
- the control device 160 uses the second distance calculation function to detect the intersection position P when there is an obstacle on the second pedestrian crossing or when a moving object cannot cross the second pedestrian crossing due to traveling of the surrounding vehicle. The distance from the vehicle to the obstacle or the distance from the intersection position P to the position where the surrounding vehicle passes the second pedestrian crossing can be calculated as the second distance D2.
- step S210 the target area of the second pedestrian crossing is determined by the target area determination function.
- the control device 160 determines, as the target region, a region that is not more than the second distance from the intersection position in the length direction of the first pedestrian crossing in the length direction of the first pedestrian crossing by the target region determination function. Can do.
- step S211 an interpolation region is set as in step S109 of the first embodiment.
- step S212 the detection area is set by the detection area setting function.
- the control device 160 uses the detection area setting function, as shown in FIG. 10, to target the area RB1 of the first pedestrian crossing B1 identified in step S204 and the second pedestrian crossing B2 determined in step S210.
- a region RT including the region RB2 ′ and the interpolation region RM set in step S211 is set as a detection region.
- steps S214 and S215 similarly to steps S112 and S113 of the first embodiment, the moving object is detected in the detection region set in step S212 or step S213 (step S214), and the detection result of the moving object in step S214. Based on the above, the travel plan of the host vehicle is determined (step S215).
- the distance that the moving object can move to the crossing position before the host vehicle reaches the first pedestrian crossing is calculated as the second distance, and the intersection of the areas of the second pedestrian crossing is calculated.
- An area that is less than or equal to the second distance from the position P is determined as a partial area of the second pedestrian crossing set as the detection area, that is, a target area.
- a region RT including a first pedestrian crossing region RB1, a second pedestrian crossing target region RB2 ', and an interpolation region RM is set as a moving object detection region.
- an area where there is a high possibility that a moving object that may approach the host vehicle at the first pedestrian crossing is present in the first pedestrian crossing can be set as the detection area.
- the distance from the intersection position P to the obstacle is calculated as the second distance.
- the travel control apparatus 100 according to the third embodiment has the same configuration as the travel control apparatus 100 according to the first embodiment, and operates in the same manner as in the first embodiment except that it operates as described below. To do.
- the control device 160 has a crossing possibility determination function for determining whether or not the moving object can cross the second pedestrian crossing.
- the crossing possibility determination function is a function capable of acquiring a captured image of a pedestrian traffic light on the second pedestrian crossing from a camera attached to the host vehicle.
- the control apparatus 160 can discriminate
- the control device 160 can determine whether or not the moving object can cross the second pedestrian crossing based on the signal display of the determined pedestrian traffic light of the second pedestrian crossing by the crossing possibility determination function. .
- control device 160 displays the signal of the pedestrian traffic light on the second pedestrian crossing based on the signal display (red, yellow, blue, etc.) of the traffic signal for the vehicle in front of the second pedestrian crossing by the crossing possibility determination function. Can also be estimated. For example, the control device 160 displays the signal display of the traffic signal for the vehicle in front of the second pedestrian crossing and the signal display of the traffic signal for the pedestrian on the second pedestrian crossing from the ROM of the control device 160 or an external server by the crossing possibility determination function. And the signal display of the traffic signal for the pedestrian on the second pedestrian crossing can be estimated from the signal display of the traffic signal for the vehicle in front of the second pedestrian crossing.
- the control device 160 estimates the signal display of the pedestrian traffic light from the signal display of the vehicle traffic light by the crossing possibility determination function. Can do. Further, the control device 160 receives the probe information including the signal display information of the traffic signal for the pedestrian traffic light on the second pedestrian crossing by using the crossing possibility determination function, thereby walking the second pedestrian crossing. It can also be set as the structure which discriminate
- control device 160 uses the crossing permission / inhibition determination function to cause a moving object to cross the second pedestrian crossing when there is an obstacle on the second pedestrian crossing or because a surrounding vehicle passes the second pedestrian crossing. Even if it cannot, it can be determined that the moving object cannot cross the second pedestrian crossing.
- the second pedestrian crossing specifying function is a function that can estimate the moving path of a moving object that crosses the first pedestrian crossing.
- the control device 160 detects the road configuration around the first pedestrian crossing (such as a sidewalk, a roadside belt, a median strip, and a pedestrian crossing) by the second pedestrian crossing specifying function, and moves toward the first pedestrian crossing.
- the moving path of the moving object to be estimated is estimated.
- the second pedestrian crossing specifying function can estimate the moving paths S1 to S4 of the moving object moving from the first pedestrian crossing based on the road configuration around the first pedestrian crossing. it can.
- control apparatus 160 can estimate the pedestrian crossing in which the distance along the moving path
- a 2nd pedestrian crossing specific function as a 2nd pedestrian crossing.
- the control device 160 uses the second pedestrian crossing specifying function as pedestrian crossings B2 and B3 where the distance along the moving paths S1 and S2 of the moving object from the intersection position P is equal to or less than the first distance as the second pedestrian crossing. Can be estimated.
- the detection area setting function is a function that can set the detection area based on the determination result by the crossing possibility determination function. Specifically, when it is determined by the detection area setting function that the second pedestrian crossing can be crossed by the detection area setting function, the control device 160 can cross the area of the first pedestrian crossing and the moving object. A region including the second pedestrian crossing region and the interpolation region is set as a detection region. On the other hand, when it is determined by the detection area setting function that the second pedestrian crossing cannot be crossed by the detection area setting function, the control device 160 sets only the area of the first pedestrian crossing as the detection area.
- FIG. 12 is a diagram for explaining an example of a detection area setting method in the third embodiment.
- the pedestrian crossing B1 is specified as the first pedestrian crossing that the vehicle V1 is scheduled to pass, and the pedestrian crossing B2 and the pedestrian crossing B3 are the second within the first distance from the intersection position P. Estimated as a pedestrian crossing.
- the pedestrian traffic light TL1 of the second pedestrian crossing B2 displays a signal indicating that the moving object can cross, and the pedestrian traffic light TL2 of the second pedestrian crossing B3. Displays a signal indicating that the moving object cannot cross.
- the control device 160 can determine that the second pedestrian crossing B2 can cross and the second pedestrian crossing B3 cannot cross by the pedestrian crossing possibility determination function.
- control device 160 uses the detection area setting function to set the area RT including the area RB1 of the first pedestrian crossing B1, the area RB2 of the second pedestrian crossing B2 that can be crossed, and the interpolation area RM as the detection area of the moving object. Can be set.
- FIG. 13 is a diagram showing a scene different from FIG. 12, and is a diagram for explaining an example of a detection area setting method in the third embodiment.
- the pedestrian traffic light TL1 of the second pedestrian crossing B2 displays a signal indicating that the moving object cannot cross
- the pedestrian traffic light TL2 of the second pedestrian crossing B3 is the moving object.
- a signal indicating that can be crossed is displayed.
- the control device 160 can determine that the second pedestrian crossing B2 is not crossable and the second pedestrian crossing B3 is crossable by the crossing possibility determination function.
- control device 160 uses the detection area setting function to convert the area RT including the area RB1 of the first pedestrian crossing B1, the area RB3 of the second pedestrian crossing B3 that can be crossed, and the interpolation area RM into the detection area of the moving object.
- FIG. 14 is a flowchart illustrating an example of a travel control process according to the third embodiment. Note that the travel control process described below is executed by the control device 160.
- step S307 the second pedestrian crossing whose distance from the intersection position P along the moving path of the moving object is equal to or less than the first distance is estimated as the second pedestrian crossing by the second pedestrian crossing specifying function.
- FIG. 11 is a diagram for explaining an example of a moving path of a moving object.
- the control device 160 uses the second pedestrian crossing specifying function to cause the pedestrian crossings B2 and B3 where the distance from the intersection position P along the movement paths S1 to S4 of the moving object is equal to or less than the first distance. Can be estimated as the second pedestrian crossing.
- step S308 the crossing possibility determination function determines whether there is a second pedestrian crossing where the moving object can cross.
- the control device 160 determines the signal display of the traffic light for the pedestrian on the second pedestrian crossing from the captured image captured by the camera using the crossing possibility determination function, so that there is a second pedestrian crossing on which the moving object can cross. It can be determined whether or not. If there is a second pedestrian crossing on which the moving object can cross, the process proceeds to step S309. On the other hand, if there is no second pedestrian crossing on which the moving object can cross, the process proceeds to step S311. In step S311, only the area of the first pedestrian crossing is set as the detection area by the detection area setting function.
- step S308 If it is determined in step S308 that there is a second pedestrian crossing where the moving object can cross, the process proceeds to step S309, and an interpolation area is set in step S309 as in step S109 of the first embodiment. Is done.
- step S310 the detection area is set by the detection area setting.
- step S310 since it is determined that there is a second pedestrian crossing where the moving object can cross, the control device 160 uses the detection area setting function to determine the first pedestrian crossing area and the crossable second pedestrian crossing area. And an area composed of interpolation areas is set as a detection area.
- the region RT including the region RB1 of the first pedestrian crossing B1, the region RB2 of the second pedestrian crossing B2 that can be crossed, and the interpolation region RM is set as the detection region.
- a region RT including the region RB1 of the pedestrian crossing B1, the region RB3 of the second pedestrian crossing B3 that can be crossed, and the interpolation region RM is set as the detection region.
- the third embodiment it is determined whether or not there is a second pedestrian crossing on which a moving object can cross, and when there is a second pedestrian crossing capable of crossing, the area and movement of the first pedestrian crossing A region including a second pedestrian crossing area where an object can cross and an interpolation area is set as a detection area. Conversely, when there is a second pedestrian crossing that cannot be crossed, such a second pedestrian crossing is not set as a detection area.
- the second pedestrian crossing where the moving object can cross is targeted (excluding the second pedestrian crossing where the moving object cannot cross). Since a moving object can be detected, the detection accuracy of a moving object that may approach the host vehicle when the host vehicle approaches the first pedestrian crossing can be further improved.
- the travel control device 100 includes the database 140
- the travel control device 100 may be configured to receive map information from a server installed outside the vehicle.
- the moving distance of the moving object is calculated by acquiring the moving speed of the moving object stored in advance in the ROM of the control device 160 until the host vehicle reaches the first pedestrian crossing.
- the configuration is exemplified, the present invention is not limited to this configuration, and the actual moving speed of the moving object is calculated by repeatedly detecting the moving object. It can be set as the structure which calculates the movement distance to which a moving object moves before it reaches one pedestrian crossing.
- a pedestrian crossing in which the distance from the intersection position to the pedestrian crossing is equal to or less than the first distance in the length direction of the first pedestrian crossing is specified as the second pedestrian crossing.
- the configuration is not limited to this configuration, and the moving path of the moving object is estimated, and the distance from the intersection position along the moving path of the moving object is equal to or less than the first distance, as in the third embodiment. It can be set as the structure which specifies a pedestrian crossing as a 2nd pedestrian crossing.
- the configuration is exemplified in which the position of the intersection P between the link LA2 of the lane A2 indicating the planned travel route of the host vehicle V1 and the link LB1 of the first pedestrian crossing B1 is predicted as the intersection position.
- the configuration is not limited to this.
- the map information stored in the database 140 includes area information for each lane, the map information stored in the database 140 is referred to and the host vehicle V1 travels.
- the center position of the area where the area of the lane A2 to be overlapped with the area RB1 of the first pedestrian crossing B1 can be predicted as the intersection position.
- the ambient detection sensor 110 corresponds to the detector of the present invention
- the control device 160 corresponds to the controller of the present invention.
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Abstract
Description
図1は、本発明の実施形態に係る車両の走行制御装置100の構成を示す図である。図1に示すように、本実施形態に係る車両の走行制御装置100は、周囲検出センサ110と、車速センサ120と、自車位置検出装置130と、データベース140と、駆動制御装置150と、制御装置160と、を有する。これらの装置は、相互に情報の授受を行うためにCAN(Controller Area Network)その他の車載LANによって接続されている。
続いて、本発明の第2実施形態に係る車両の走行制御装置について説明する。第2実施形態に係る走行制御装置100は、第1実施形態に係る走行制御装置100と同様の構成を有し、以下に説明するように動作すること以外は、第1実施形態と同様に動作する。
続いて、本発明の第3実施形態に係る車両の走行制御装置について説明する。第3実施形態に係る走行制御装置100は、第1実施形態に係る走行制御装置100と同様の構成を有し、以下に説明するように動作すること以外は、第1実施形態と同様に動作する。
110…周囲検出センサ
120…車速センサ
130…自車位置検出装置
140…データベース
150…駆動制御装置
160…制御装置
Claims (13)
- 自車両が通過する予定の横断歩道を第1横断歩道として特定し、
前記第1横断歩道の長さ方向において、自車両が通過する前記第1横断歩道上の位置を交差位置として予測し、
前記第1横断歩道に近接する横断歩道のうち、前記交差位置から所定の第1距離以下にある横断歩道を第2横断歩道として特定し、
前記第1横断歩道および前記第2横断歩道を含む領域を、前記自車両の周囲の対象物を検出する検出器の検出領域として設定し、
前記検出領域において前記検出器により移動物体を検出し、
前記検出器の検出結果に基づいて、前記自車両の走行を制御する車両の走行制御方法。 - 請求項1に記載の車両の走行制御方法であって、
移動物体の移動速度に基づいて、前記第1距離を算出する車両の走行制御方法。 - 請求項1または2に記載の車両の走行制御方法であって、
自車両の走行予定経路と前記第1横断歩道における前記移動物体の移動経路との交点を前記交差位置として予測する車両の走行制御方法。 - 請求項3に記載の車両の走行制御方法であって、
前記第1横断歩道に近接する横断歩道のうち、前記移動物体の移動経路に沿う、前記交差位置からの距離が前記第1距離以下となる横断歩道を前記第2横断歩道として特定する車両の走行制御方法。 - 請求項1~4のいずれか一項に記載の車両の走行制御方法であって、
前記第1横断歩道と前記第2横断歩道とを結合する領域を補間領域として設定し、
前記補間領域を含む領域を前記検出領域として設定する車両の走行制御方法。 - 請求項5に記載の車両の走行制御方法であって、
前記第1横断歩道の幅および/または前記第2横断歩道の幅に基づいて、前記補間領域の幅を設定する車両の走行制御方法。 - 請求項1~6のいずれか一項に記載の車両の走行制御方法であって、
前記第2横断歩道の一部の領域を対象領域として決定し、前記対象領域を含む領域を前記検出領域として設定し、
前記対象領域は、前記第2横断歩道の領域のうち前記交差位置から所定の第2距離以下にある領域である車両の走行制御方法。 - 請求項7に記載の車両の走行制御方法であって、
前記移動物体の移動速度に基づいて、前記第2距離を算出する車両の走行制御方法。 - 請求項7に記載の車両の走行制御方法であって、
前記第2横断歩道上に障害物がある場合、前記交差位置から前記障害物の位置までの距離を、前記第2距離として算出する車両の走行制御方法。 - 請求項7に記載の車両の走行制御方法であって、
周囲車両が前記第2横断歩道を通過するために前記移動物体が前記第2横断歩道を横断できないと判断した場合に、前記交差位置から前記周囲車両が通過する前記第2横断歩道上の位置までの距離を前記第2距離として算出する車両の走行制御方法。 - 請求項1~10のいずれか一項に記載の車両の走行制御方法であって、
前記第2横断歩道の歩行者用信号機の信号表示に基づいて、前記移動物体が前記第2横断歩道を横断できるか否かを判断し、
前記移動物体が前記第2横断歩道を横断できないと判断した場合には、前記第2横断歩道を前記検出領域に含めない車両の走行制御方法。 - 請求項11に記載の車両の走行制御方法であって、
前記第2横断歩道の歩行者用信号機の信号表示と前記第2横断歩道の手前の車両用信号機の信号表示との対応関係に基づいて、前記第2横断歩道の手前の前記車両用信号機の信号表示から、前記第2横断歩道の歩行者用信号機の信号表示を推定する車両の走行制御方法。 - 自車両の周囲の対象物を検出する検出器と、前記検出器の検出結果に基づいて、前記自車両の走行を制御する制御器と、を備える車両の走行制御装置であって、
前記制御器は、
前記自車両が通過する予定の横断歩道を第1横断歩道として特定し、
前記第1横断歩道の長さ方向において、自車両が通過する前記第1横断歩道上の位置を交差位置として予測し、
前記第1横断歩道に近接する横断歩道のうち、前記交差位置から所定の第1距離以下にある横断歩道を第2横断歩道として特定し、
前記第1横断歩道および前記第2横断歩道を含む領域を、前記検出器の検出領域として設定し、
前記検出領域において移動物体を検出する車両の走行制御装置。
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