WO2017159792A1 - 走行支援装置 - Google Patents

走行支援装置 Download PDF

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Publication number
WO2017159792A1
WO2017159792A1 PCT/JP2017/010692 JP2017010692W WO2017159792A1 WO 2017159792 A1 WO2017159792 A1 WO 2017159792A1 JP 2017010692 W JP2017010692 W JP 2017010692W WO 2017159792 A1 WO2017159792 A1 WO 2017159792A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
lane
lane change
support device
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2017/010692
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English (en)
French (fr)
Japanese (ja)
Inventor
正悦 大石
浩二 藤木
洋章 新野
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to US16/084,779 priority Critical patent/US10689005B2/en
Priority to CN201780017111.5A priority patent/CN108778886B/zh
Priority to DE112017001351.8T priority patent/DE112017001351B4/de
Publication of WO2017159792A1 publication Critical patent/WO2017159792A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/12—Limiting control by the driver depending on vehicle state, e.g. interlocking means for the control input for preventing unsafe operation
    • 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
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/50—Context or environment of the image
    • G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
    • G06V20/588—Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/0205—Diagnosing or detecting failures; Failure detection models
    • B60W2050/0215—Sensor drifts or sensor failures
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
    • B60W50/029—Adapting to failures or work around with other constraints, e.g. circumvention by avoiding use of failed parts
    • B60W2050/0292—Fail-safe or redundant systems, e.g. limp-home or backup systems
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • This disclosure relates to a technique for controlling a lane change of a vehicle.
  • a technology is known in which a road lane on which a vehicle is traveling is detected by a surrounding detection sensor such as a camera, and the road lane is recognized based on detection information acquired from the surrounding detection sensor.
  • the driving support device described in Patent Literature 1 below recognizes a traveling lane on which a vehicle travels based on detection information acquired from a camera and an adjacent lane on the side where the lane is changed from the traveling lane, and changes the lane of the vehicle. Control.
  • the driving support device controls the lane change of the vehicle, it is necessary to detect an object around the vehicle in addition to the road lane.
  • a problem has been found that if at least one of the surrounding detection sensors for detecting objects and lanes around the vehicle becomes abnormal, the lane change of the vehicle may not be appropriately controlled. It was.
  • Patent Document 1 does not consider whether the surrounding detection sensor that detects an object around the vehicle and a road lane is normal or abnormal.
  • One aspect of the present disclosure can provide a technique for appropriately controlling a lane change of a vehicle in consideration of whether a surrounding detection sensor that detects an object around the vehicle and a road lane is normal or abnormal. desirable.
  • the travel support apparatus includes a recognition unit, a travel control unit, a sensor determination unit, and a control determination unit.
  • the recognition unit is configured to detect an object around the vehicle and a lane of the road on which the vehicle travels based on detection information acquired from one or more surrounding detection sensors that detect an object around the vehicle and a lane of the road on which the vehicle travels. Recognize The travel control unit controls the lane change of the vehicle based on at least the recognition result by the recognition unit.
  • the sensor determination unit determines whether the surrounding detection sensor is normal or abnormal.
  • the control determination unit determines whether or not the travel control unit controls the lane change based on the determination result of the sensor determination unit.
  • the block diagram which shows the driving assistance device by this embodiment.
  • the in-vehicle driving support system 2 shown in FIG. 1 includes a camera 10, a millimeter wave radar 12, a steering angle sensor 14, a vehicle speed sensor 16, a winker switch 18, a support switch 20, a driving support device 30, a power A train system 50, a brake system 52, a steering system 54, and a notification system 56 are provided.
  • the driving support system 2 is mounted on the vehicle 100 shown in FIG.
  • the camera 10 is attached to each of the front side and the rear side of the vehicle 100 and outputs image data obtained by imaging the periphery of the vehicle 100 to the driving support device 30 as detection information.
  • the millimeter wave radar 12 is attached to each of the front side and the rear side of the vehicle 100, for example, and receives the reflected waves in which the transmitted millimeter waves are reflected by other vehicles 110 and pedestrians around the vehicle 100. The distance to the object is calculated based on the time until. Furthermore, the azimuth, that is, the angle of the object with respect to the vehicle 100 is determined by the reception direction of the reflected wave. The millimeter wave radar 12 outputs the calculated distance and angle to the driving support device 30 as detection information.
  • the steering angle sensor 14 detects the steering angle of the vehicle 100.
  • the vehicle speed sensor 16 detects the vehicle speed of the vehicle 100.
  • the blinker switch 18 is a switch that blinks the blinker on the traveling direction side when the driver who is a passenger of the vehicle 100 makes a right or left turn or when the vehicle 100 changes lanes.
  • the winker switch 18 may be a lever type switch such as a winker lever or a push button type switch.
  • the blinker switch 18 is not limited to a mechanical switch, and may be a switch displayed on a display. Further, the direction of travel of the vehicle 100 may be input by voice without being limited to the switch, and the blinker on the direction of travel may be blinked.
  • the driving support device 30 includes a microcomputer that includes a CPU and a semiconductor memory such as a RAM, a ROM, and a flash memory.
  • the driving support device 30 may be equipped with one microcomputer or a plurality of microcomputers.
  • Each function of the driving support device 30 is realized by the CPU executing a program stored in a non-transitional physical recording medium such as a ROM or a flash memory. By executing this program, a method corresponding to the program is executed.
  • the driving support device 30 includes a recognition unit 32, a sensor determination unit 34, a control determination unit 36, a trajectory setting unit 38, and a driving control unit 40 as the configuration of functions realized by the CPU executing the program. And a notification unit 42.
  • the method of realizing these elements constituting the driving support device 30 is not limited to software, and some or all of the elements are realized using hardware that combines logic circuits, analog circuits, and the like. Also good.
  • the recognizing unit 32 recognizes the objects around the vehicle 100 and the vehicle 100 based on detection information acquired from the camera 10 and the millimeter wave radar 12 that detect the objects around the vehicle 100 and the lane of the road on which the vehicle 100 travels. Recognizes the lane of the road on which the car runs.
  • the recognizing unit 32 determines the positions of the white lines 202, 204, and 206 of the road 200 on which the vehicle 100 travels based on the image data of the front and rear of the vehicle 100 acquired from the camera 10, the white line Calculate the lane width, the curvature of the white line, etc. indicated by the distance between each other.
  • the recognition unit 32 recognizes the lanes 210 and 212 of the road 200 on which the vehicle 100 travels by recognizing the white lines 202, 204, and 206.
  • vehicles 100, 102, and 104 represent the same vehicle that is changing lanes.
  • the recognition unit 32 is adjacent to the travel lane 210 in which the vehicle 100 is traveling and the travel lane 210 out of the lanes 210 and 212 based on the positions of the white lines 202, 204, and 206 and the position of the vehicle 100.
  • the adjacent lane 212 is recognized.
  • the recognizing unit 32 acquires the position of the vehicle 100 from a GPS device (not shown).
  • the recognition unit 32 recognizes the other vehicle 110 traveling in the adjacent lane 212 adjacent to the traveling lane 210 based on the detection information of the front and rear of the vehicle 100 acquired from the camera 10 and the millimeter wave radar 12. In FIG. 2, the other vehicle 110 travels behind the vehicle 100.
  • the recognition unit 32 calculates the position of the other vehicle 110 and the vehicle speed of the other vehicle 110 from the amount of change in the position of the other vehicle 110 based on the front and rear image data of the vehicle 100 acquired from the camera 10. Further, the recognition unit 32 calculates the position of the other vehicle 110 and the relative speed of the other vehicle 110 with respect to the vehicle 100 based on the detection information of the front, side, and rear of the vehicle 100 acquired from the millimeter wave radar 12. To do.
  • the sensor determination unit 34 determines whether the camera 10 and the millimeter wave radar 12 are abnormal as a surrounding detection sensor that acquires information for the driving support device 30 to control the lane change of the vehicle 100.
  • the sensor determination unit 34 determines that the camera 10 is abnormal when the image data of each frame acquired from the camera 10 does not change. Further, the sensor determination unit 34 determines that the signal is abnormal when the level of the signal input from the camera 10 and the millimeter wave radar 12 does not change at a constant level or exceeds the normal range. .
  • the control determination unit 36 determines whether or not the driving support device 30 controls the lane change of the vehicle based on whether the camera 10 and the millimeter wave radar 12 are normal or abnormal.
  • the trajectory setting unit 38 sets a travel trajectory so as to avoid a collision with another vehicle 110 when the vehicle 100 changes lanes based on the recognition result by the recognition unit 32 and the output of the vehicle speed sensor 16.
  • the trajectory setting unit 38 may newly set a travel trajectory when the vehicle speed of the other vehicle 110 traveling in the adjacent lane changes during the lane change.
  • the travel locus when changing the lane is set such that the lateral acceleration applied to the vehicle 100 during the lane change is equal to or less than a value that does not cause discomfort to the passengers of the vehicle 100.
  • the traveling control unit 40 controls the powertrain system 50, the brake system 52, and the steering system 54 so that the vehicle 100 travels on the traveling locus set by the locus setting unit 38 while the lane is changed. That is, the traveling control unit 40 controls the vehicle speed and the steering angle of the vehicle 100 during the lane change.
  • the notification unit 42 instructs the notification system 56 to notify the passenger of the vehicle 100 of the abnormality of the surrounding detection sensor.
  • the powertrain system 50 controls the opening degree of the throttle device and the fuel injection amount according to the drive output commanded from the travel control unit 40, and the motor is used as the drive source. If it is installed, the power supplied to the motor is controlled.
  • the brake system 52 controls an actuator provided in a hydraulic circuit of the hydraulic brake according to the braking force commanded from the traveling control unit 40.
  • the brake system 52 When the vehicle 100 is equipped with a motor as a drive source, the brake system 52 generates a braking force by regenerative braking by controlling the power supplied to the motor according to the braking force commanded by the travel control unit 40. May be.
  • the steering system 54 drives the steering handle according to the torque commanded from the travel control unit 40 and steers the vehicle 100.
  • the notification system 56 operates a speaker, a display, a lamp, a vibrator, and the like according to an instruction from the notification unit 42.
  • control determination unit 36 determines whether or not the output of the support switch 20 is on. If the determination in S400 is No and the support switch 20 is off, the control of the lane change is prohibited, and the process ends.
  • the control determination unit 36 determines whether or not an event that causes the travel control unit 40 to control the lane change has occurred. For example, the following (1) to (3) can be considered as events that cause the travel control unit 40 to control the lane change.
  • the control determination unit 36 causes the travel control unit 40 to turn on the blinker on the lane change side.
  • a lane change is instructed by the occupant of the vehicle 100.
  • An occupant of the vehicle 100 operates a switch such as the blinker switch 18 or instructs the lane change of the vehicle 100 by voice input or the like.
  • the sensor determination unit 34 acquires from the camera 10 and the millimeter wave radar 12 in S406 as described above. Based on the content of the detection information and the signal level of the detection information, it is determined whether at least one of the camera 10 and the millimeter wave radar 12 is abnormal.
  • the control determination unit 36 performs the traveling control based on information acquired from various sensors including the surrounding detection sensor. It is determined to cause the unit 40 to control the lane change. As a result, the process proceeds to S408.
  • the trajectory setting unit 38 sets a travel trajectory when the vehicle 100 changes lanes based on the recognition result by the recognition unit 32 and the vehicle speed of the vehicle 100 acquired from the vehicle speed sensor 16.
  • step S408 the travel control unit 40 determines that the power train system 50 and the brake system 52 change the lanes of the vehicles 102 and 104 without causing the positions of the vehicles 102 and 104 to deviate from the travel trajectory set by the trajectory setting unit 38. And the steering system 54 are controlled.
  • the notification unit 42 instructs the notification system 56 in S410, and the surrounding detection sensor is detected by voice, image, light, vibration, or the like. Announce the abnormality.
  • the control determination unit 36 determines whether or not a lane change has been started as in the vehicles 102 and 104 shown in FIG. When the determination in S412 is No and the lane change is not started as in the vehicle 100, the control determination unit 36 determines that the travel control unit 40 is in the lane because at least one of the camera 10 and the millimeter wave radar 12 is abnormal. It is determined that appropriate detection information for controlling the change cannot be acquired. In this case, the process proceeds to S418.
  • the control determination unit 36 determines that the adjacent lane 212 is in S414. It is determined whether at least a part of the vehicles 102 and 104 has entered.
  • control determination unit 36 causes the travel control unit 40 to continue control of lane change because the surrounding detection sensor is abnormal. It is determined that the detection information cannot be acquired, and the process proceeds to S418.
  • the control determination unit 36 travels based on the detection information acquired before the surrounding detection sensor becomes abnormal. It determines to make the control part 40 control a lane change. Thereby, in S416, the traveling control unit 40 controls the lane change along the traveling locus set by the locus setting unit 38 based on the detection information acquired before the surrounding detection sensor becomes abnormal.
  • the detection information acquired before the surrounding detection sensor becomes abnormal is the distance and relative speed between the other vehicle 110 and the vehicle 104 traveling behind the vehicle 104 in the adjacent lane 212, white lines 202, 204, 206 and so on.
  • the traveling control unit 40 ends the lane change as soon as possible by increasing the vehicle speed of the vehicle 104 or increasing the steering angle than before the surrounding detection sensor becomes abnormal.
  • control determination unit 36 causes the travel control unit 40 to stop controlling the lane change. Thereby, the traveling control unit 40 stops the control of the lane change. [3. effect] In the embodiment described above, the following effects can be obtained.
  • the control determination unit 36 Determines whether or not the traveling control unit 40 controls the lane change of the vehicle. Therefore, the lane change of the vehicle can be appropriately controlled in consideration of whether the surrounding detection sensor that outputs detection information for appropriately changing the lane of the vehicle is normal or abnormal.
  • the control determination unit 36 determines that the vehicle travels if at least one of the surrounding detection sensors is abnormal. In consideration of safety, the lane change of the vehicle is canceled.
  • the control determination unit 36 may check before the surrounding detection sensor becomes abnormal. Based on the detection information acquired from the surrounding detection sensor, the travel control unit 40 continues to control the lane change. This is because it is already determined that the lane change can be completed based on the detection information acquired from the surrounding detection sensor before the surrounding detection sensor becomes abnormal.
  • the abnormality of the sensor is notified by voice, image, light, vibration or the like. Thereby, for example, when the lane change is not executed even though the driver operates the blinker lever to instruct the lane change, the driver can understand the reason why the lane change is not executed.
  • the camera 10 and the millimeter wave radar 12 correspond to the surrounding detection sensor
  • the other vehicle 110 corresponds to an object around the vehicle
  • the blinker switch 18 corresponds to the input device.
  • S400, S404, S412, S414, and S418 correspond to the process of the control determination unit 36
  • S402 corresponds to the process of the recognition unit 32
  • S406 corresponds to the process of the sensor determination unit 34
  • S410 corresponds to the process of the notification unit 42
  • S408 and S416 correspond to the process of the travel control unit 40.
  • the driving assistance device 30 may control the lane change.
  • the driving support device 30 may control the lane change of the vehicle even when the vehicle has not entered the adjacent lane.
  • the driving information is supported until the detection information acquired from the surrounding detection sensor before it becomes abnormal cannot be applied to the lane change control.
  • Device 30 may control lane changes. For example, if the detection range of the surrounding detection sensor before becoming abnormal is up to 100 m ahead of the vehicle, the driving support device 30 may control the lane change until the vehicle travels 100 m forward in the traveling direction. .
  • the driving support device 30 Stops lane change control. In this case, it is desirable that the notification unit 42 notifies that the control of the lane change is to be stopped.
  • the vehicles 100 and 102 in FIG. , 104 may continue the lane change regardless of the position of 104.
  • the driving support device 30 stops the lane change.
  • the camera 10 and the millimeter wave radar 12 are used as surrounding detection sensors.
  • the ambient detection sensor may be only one of the camera 10 or the millimeter wave radar 12, for example.
  • another sensor may be added to the camera 10 and the millimeter wave radar 12, or another sensor other than the camera 10 and the millimeter wave radar 12 may be used.
  • a plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements.
  • a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or a single function realized by a plurality of constituent elements may be realized by one constituent element.
  • at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment.
  • all the aspects contained in the technical thought specified only by the wording described in the claim are embodiment of this indication.
  • a driving support system 2 including the driving support device 30 as a constituent element, a driving support program for causing a computer to function as the driving support device 30, and the driving support program are recorded.
  • the present disclosure can also be realized in various forms such as a recording medium and a driving support method.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Theoretical Computer Science (AREA)
  • Multimedia (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
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  • Power Engineering (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Regulating Braking Force (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)
PCT/JP2017/010692 2016-03-17 2017-03-16 走行支援装置 Ceased WO2017159792A1 (ja)

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DE112017001351B4 (de) 2023-05-25
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CN108778886A (zh) 2018-11-09
CN108778886B (zh) 2021-04-27
US20190077411A1 (en) 2019-03-14
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