WO2018123344A1 - 車両制御装置、車両制御方法、及びプログラム - Google Patents

車両制御装置、車両制御方法、及びプログラム Download PDF

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Publication number
WO2018123344A1
WO2018123344A1 PCT/JP2017/041633 JP2017041633W WO2018123344A1 WO 2018123344 A1 WO2018123344 A1 WO 2018123344A1 JP 2017041633 W JP2017041633 W JP 2017041633W WO 2018123344 A1 WO2018123344 A1 WO 2018123344A1
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WIPO (PCT)
Prior art keywords
vehicle
lane
host vehicle
traveling
driving
Prior art date
Application number
PCT/JP2017/041633
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English (en)
French (fr)
Japanese (ja)
Inventor
淳之 石岡
Original Assignee
本田技研工業株式会社
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.)
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Application filed by 本田技研工業株式会社 filed Critical 本田技研工業株式会社
Priority to CN201780079663.9A priority Critical patent/CN110114253B/zh
Priority to JP2018558900A priority patent/JP6821705B2/ja
Publication of WO2018123344A1 publication Critical patent/WO2018123344A1/ja

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10—Path keeping
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
    • G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
    • G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network

Definitions

  • the present invention relates to a vehicle control device, a vehicle control method, and a program.
  • Patent Document 1 discloses an automatic driving technique in which a host vehicle traveling in a traveling lane is changed to a passing lane and the preceding vehicle is overtaken. According to the technique described in Patent Document 1, when the own vehicle moves to the overtaking lane and overtakes the preceding vehicle, the vehicle speed of the following vehicle is estimated when the following vehicle is detected on the overtaking lane. Then, it is determined whether or not the overtaking is stopped based on whether or not the vehicle speed of the following vehicle is equal to or higher than a set threshold value.
  • control is not performed based on the presence / absence of a rolling operation by the following vehicle, and an avoidance action for this cannot be performed.
  • the conventional technology makes a determination based on a fixed criterion as to whether or not the vehicle is an overtaking lane, the relevance is small with respect to a driving technology that runs while selecting a desired lane.
  • the present invention has been made in consideration of such circumstances, and can perform avoidance actions in consideration of lanes set in advance in various circumstances for the rolling operation (rapid approach) of the following vehicle. It is an object to provide a vehicle control device, a vehicle control method, and a program.
  • a determination unit that determines whether or not a rapid approach is caused by the succeeding vehicle based on an inter-vehicle distance between the host vehicle and the following vehicle (for example, a spear driving determination unit 121A of the embodiment), and the vehicle Automatically changing the lane of the host vehicle to the recommended lane when it is determined that the vehicle is not traveling in a recommended lane set in advance and the determination unit determines that the sudden approach of the following vehicle has occurred.
  • the computer determines whether or not an abrupt approach is caused by the succeeding vehicle based on the inter-vehicle distance between the own vehicle and the following vehicle, and the own vehicle is traveling in a preset recommended lane
  • the vehicle control method changes the lane of the host vehicle to the recommended lane when it is determined that the rapid approach of the succeeding vehicle has occurred.
  • the driver can be alerted by the display screen when a sudden approach occurs during the automatic driving of the vehicle.
  • the inter-vehicle distance between the succeeding vehicle and the vehicle can be kept larger than the threshold value.
  • the vehicle when there is an overtaking lane that is adjacent to and vacant in the alternative lane when the vehicle is driving in the alternative lane during automatic driving, the vehicle has an alternative lane. It is possible to encourage the following vehicle to change the lane to the overtaking lane and perform overtaking.
  • FIG. 1 is a configuration diagram of a vehicle system (vehicle control apparatus) 1 including an automatic driving control unit 100.
  • vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheel, three-wheel, or four-wheel vehicle, and a drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof.
  • the electric motor operates using electric power generated by a generator connected to the internal combustion engine or electric discharge power of a secondary battery or a fuel cell.
  • the vehicle system 1 includes, for example, a camera 10, a radar device 12, a finder 14, a sound collecting device 15, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, an ETC (Electronic Machine Toll). Collection (system) vehicle-mounted device 40, navigation device 50, MPU (Micro-Processing Unit) 60, vehicle sensor 70, driving operator 80, vehicle interior camera 90, automatic driving control unit 100, and driving force
  • An output device 200, a brake device 210, and a steering device 220 are provided. These devices and devices are connected to each other by a multiple communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like.
  • CAN Controller Area Network
  • serial communication line a wireless communication network
  • the camera 10 is a digital camera using a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • a solid-state imaging device such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • One or a plurality of cameras 10 are attached to any part of a vehicle (hereinafter referred to as the host vehicle M) on which the vehicle system 1 is mounted.
  • the host vehicle M When imaging the front, the camera 10 is attached to the upper part of the front windshield, the rear surface of the rearview mirror, or the like.
  • the camera 10 periodically and repeatedly images the periphery of the host vehicle M.
  • the camera 10 may be a stereo camera.
  • the camera 10 images a subsequent vehicle or a rear object.
  • the radar device 12 radiates a radio wave such as a millimeter wave around the host vehicle M and detects a radio wave (reflected wave) reflected by the object to detect at least the position (distance and direction) of the object.
  • a radio wave such as a millimeter wave around the host vehicle M
  • a radio wave reflected wave
  • One or a plurality of radar devices 12 are attached to arbitrary locations of the host vehicle M.
  • the radar apparatus 12 may detect the position and velocity of the object by FM-CW (Frequency Modulated Continuous Wave) method.
  • FM-CW Frequency Modulated Continuous Wave
  • the finder 14 is a LIDAR (Light Detection and Ranging or Laser Imaging Detection and Ranging) that measures the scattered light with respect to the irradiated light and detects the distance to the target.
  • LIDAR Light Detection and Ranging or Laser Imaging Detection and Ranging
  • One or a plurality of the finders 14 are attached to arbitrary locations of the host vehicle M.
  • the sound collecting device 15 is, for example, a microphone that collects sounds around the host vehicle M.
  • the object recognition device 16 performs sensor fusion processing on the detection results of some or all of the camera 10, the radar device 12, the finder 14, and the sound collection device 15, and the position of the object (viewed from the own vehicle M). Relative distance), type, speed, etc.
  • the object recognition device 16 outputs the recognition result to the automatic driving control unit 100. Further, the object recognition device 16 may output a part of information input from the camera 10, the radar device 12, or the finder 14 to the automatic operation control unit 100 as it is.
  • the communication device 20 uses, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with other vehicles around the host vehicle M or wirelessly. It communicates with various server apparatuses via a base station.
  • a cellular network for example, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or the like to communicate with other vehicles around the host vehicle M or wirelessly. It communicates with various server apparatuses via a base station.
  • the HMI 30 presents various information to the passenger of the host vehicle M and accepts an input operation by the passenger.
  • the HMI 30 includes various display devices, speakers, buzzers, touch panels, switches, keys, and the like.
  • the ETC vehicle-mounted device 40 includes a mounting unit on which an ETC card is mounted and a wireless communication unit that communicates with an ETC roadside device provided at a gate of a toll road.
  • the wireless communication unit may be shared with the communication device 20.
  • the ETC vehicle-mounted device 40 exchanges information such as an entrance toll gate and an exit toll gate by communicating with the ETC roadside device.
  • the ETC roadside device determines a charge amount for the occupant of the host vehicle M based on these pieces of information, and proceeds with the billing process.
  • the navigation device 50 includes, for example, a GNSS (Global Navigation Satellite System) receiver 51, a navigation HMI 52, and a route determination unit 53.
  • the first map information 54 is stored in a storage device such as an HDD (Hard Disk Drive) or a flash memory. Holding.
  • the GNSS receiver specifies the position of the host vehicle M based on the signal received from the GNSS satellite. The position of the host vehicle M may be specified or supplemented by INS (Inertial Navigation System) using the output of the vehicle sensor 70.
  • the navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like. The navigation HMI 52 may be partly or wholly shared with the HMI 30 described above.
  • the route determination unit 53 determines the route from the position of the host vehicle M specified by the GNSS receiver 51 (or any input position) to the destination input by the occupant using the navigation HMI 52. This is determined with reference to one map information 54.
  • the first map information 54 is information in which a road shape is expressed by, for example, a link indicating a road and nodes connected by the link.
  • the first map information 54 may include road curvature, POI (Point Of Interest) information, and the like.
  • the route determined by the route determination unit 53 is output to the MPU 60. Further, the navigation device 50 may perform route guidance using the navigation HMI 52 based on the route determined by the route determination unit 53.
  • the navigation apparatus 50 may be implement
  • the MPU 60 functions as, for example, the recommended lane determining unit 61 and holds the second map information 62 in a storage device such as an HDD or a flash memory.
  • the recommended lane determining unit 61 divides the route provided from the navigation device 50 into a plurality of blocks (for example, every 100 [m] with respect to the vehicle traveling direction), and refers to the second map information 62 for each block. Determine the recommended lane.
  • the recommended lane determining unit 61 performs determination such as what number of lanes from the left to travel.
  • the recommended lane determining unit 61 determines a recommended lane so that the host vehicle M can travel on a reasonable route for proceeding to the branch destination when there is a branch point or a merge point in the route.
  • the second map information 62 is map information with higher accuracy than the first map information 54.
  • the second map information 62 includes, for example, information on the center of the lane or information on the boundary of the lane.
  • the second map information 62 may include road information, traffic regulation information, address information (address / postal code), facility information, telephone number information, and the like.
  • Road information includes information indicating the type of road such as expressway, toll road, national road, prefectural road, road lane number, width of each lane, road gradient, road position (longitude, latitude, height). Information including 3D coordinates), curvature of lane curves, lane merging and branch point positions, signs provided on roads, and the like.
  • the second map information 62 may be updated at any time by accessing another device using the communication device 20.
  • the vehicle sensor 70 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects angular velocity around the vertical axis, an orientation sensor that detects the direction of the host vehicle M, and the like.
  • the driving operator 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, and other operators.
  • a sensor that detects the amount of operation or the presence or absence of an operation is attached to the driving operator 80, and the detection result is the automatic driving control unit 100, or the traveling driving force output device 200, the brake device 210, and the steering device. 220 is output to one or both of 220.
  • the vehicle interior camera 90 images the upper body around the face of the occupant seated in the driver's seat. A captured image of the vehicle interior camera 90 is output to the automatic driving control unit 100.
  • the automatic operation control unit 100 includes a first control unit 120 and a second control unit 140, for example.
  • the first control unit 120 and the second control unit 140 are each realized by a processor (CPU) such as a CPU (Central Processing Unit) executing a program (software).
  • CPU Central Processing Unit
  • Some or all of the functional units of the first control unit 120 and the second control unit 140 described below are LSI (Large Scale Integration), ASIC (Application Specific Specific Integrated Circuit), FPGA (Field-Programmable Gate Gate Array). ) Or the like, or may be realized by cooperation of software and hardware.
  • the 1st control part 120 is provided with the external world recognition part 121, the own vehicle position recognition part 122, and the action plan production
  • the external recognition unit 121 Based on information input from the camera 10, the radar device 12, the finder 14, and the sound collection device 15 via the object recognition device 16, the external recognition unit 121 detects the position of the surrounding vehicle and the speed, acceleration, voice, and the like. Recognize the state.
  • the position of the surrounding vehicle may be represented by a representative point such as the center of gravity or corner of the surrounding vehicle, or may be represented by an area expressed by the outline of the surrounding vehicle.
  • the “state” of the surrounding vehicle may include acceleration and jerk of the surrounding vehicle, or “behavioral state” (for example, whether or not the lane is changed or is about to be changed).
  • the external environment recognition unit 121 may recognize the positions of guardrails, utility poles, parked vehicles, pedestrians, and other objects.
  • the external recognition unit 121 recognizes a rear object based on information input via the body recognition device 16. . Then, the external recognition unit 121 includes a rolling operation determination unit 121A that determines whether or not a subsequent vehicle among the rear objects is performing a rolling operation, and an HMI that causes the HMI 30 to output that the rolling operation has been determined. And a control unit (output control unit) 121B.
  • the rolling operation determination unit 121A and the HMI control unit 121B will be described in detail below.
  • the own vehicle position recognition unit 122 recognizes, for example, the lane (traveling lane) in which the host vehicle M is traveling, and the relative position and posture of the host vehicle M with respect to the traveling lane.
  • the own vehicle position recognition unit 122 for example, includes a road marking line pattern (for example, an arrangement of solid lines and broken lines) obtained from the second map information 62 and an area around the own vehicle M recognized from an image captured by the camera 10.
  • the traveling lane is recognized by comparing the road marking line pattern. In this recognition, the position of the host vehicle M acquired from the navigation device 50 and the processing result by INS may be taken into account.
  • FIG. 2 is a diagram illustrating a state in which the vehicle position recognition unit 122 recognizes the relative position and posture of the vehicle M with respect to the travel lane L1.
  • the own vehicle position recognizing unit 122 makes, for example, a line connecting the deviation OS of the reference point (for example, the center of gravity) of the own vehicle M from the travel lane center CL and the travel lane center CL in the traveling direction of the own vehicle M.
  • the angle ⁇ is recognized as the relative position and posture of the host vehicle M with respect to the traveling lane L1.
  • the host vehicle position recognition unit 122 recognizes the position of the reference point of the host vehicle M with respect to any side end of the host lane L1 as the relative position of the host vehicle M with respect to the traveling lane. Also good.
  • the relative position of the host vehicle M recognized by the host vehicle position recognition unit 122 is provided to the recommended lane determination unit 61 and the action plan generation unit 123.
  • the action plan generation unit 123 determines events to be sequentially executed in the automatic driving so that the recommended lane determination unit 61 determines the recommended lane and travels along the recommended lane, and can cope with the surrounding situation of the host vehicle M.
  • Events include, for example, a constant speed event that travels in the same lane at a constant speed, a follow-up event that follows the preceding vehicle, a lane change event, a merge event, a branch event, an emergency stop event, and automatic driving
  • There are a handover event for switching to manual driving a rolling response event for responding to the rolling operation of the following vehicle, and the like.
  • actions for avoidance may be planned based on the surrounding situation of the host vehicle M (the presence of surrounding vehicles and pedestrians, lane narrowing due to road construction, etc.).
  • the action plan generation unit 123 generates a target track on which the vehicle M will travel in the future.
  • the target track is expressed as a sequence of points (track points) that the host vehicle M should reach.
  • the trajectory point is a point where the host vehicle M should reach for each predetermined travel distance.
  • the target speed and target acceleration for each predetermined sampling time are the target trajectory. Generated as part of.
  • the track point may be a position to which the host vehicle M should arrive at the sampling time for each predetermined sampling time. In this case, information on the target speed and target acceleration is expressed by the interval between the trajectory points.
  • 3 and 4 are diagrams showing how recommended lanes are selected based on the target track.
  • the recommended lane is set so as to be convenient for traveling along the route to the destination.
  • the action plan generation unit 123 activates a lane change event, a branch event, a merge event, or the like when a predetermined distance before the recommended lane switching point (may be determined according to the type of event) is reached. If it becomes necessary to avoid an obstacle during the execution of each event, an avoidance trajectory is generated as shown in the figure. Similarly, when it becomes necessary to deal with the rolling operation of the following vehicle during the execution of each event, the avoidance action corresponding to the situation is performed by activating the turning event as described later.
  • the action plan generation unit 123 generates, for example, a plurality of target trajectory candidates, and selects an optimal target trajectory at that time based on the viewpoints of safety and efficiency.
  • the second control unit 140 includes a travel control unit 141.
  • the travel control unit 141 controls the travel driving force output device 200, the brake device 210, and the steering device 220 so that the host vehicle M passes the target track generated by the action plan generation unit 123 at a scheduled time. To do.
  • the driving force output device 200 outputs a driving force (torque) for driving the vehicle to driving wheels.
  • the travel driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU that controls these.
  • the ECU controls the above-described configuration in accordance with information input from the travel control unit 141 or information input from the driving operator 80.
  • the brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU.
  • the brake ECU controls the electric motor in accordance with the information input from the travel control unit 141 or the information input from the driving operation element 80 so that the brake torque corresponding to the braking operation is output to each wheel.
  • the brake device 210 may include, as a backup, a mechanism that transmits the hydraulic pressure generated by operating the brake pedal included in the driving operation element 80 to the cylinder via the master cylinder.
  • the brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to information input from the travel control unit 141 and transmits the hydraulic pressure of the master cylinder to the cylinder. May be.
  • the steering device 220 includes, for example, a steering ECU and an electric motor.
  • the electric motor changes the direction of the steered wheels by applying a force to a rack and pinion mechanism.
  • the steering ECU drives the electric motor according to the information input from the travel control unit 141 or the information input from the driving operator 80, and changes the direction of the steered wheels.
  • An alternative lane is a lane that can be temporarily set to the target track by the action plan generator 123.
  • the action plan generator 123 sets a target track and selects in principle the recommended lane (see FIG. 3).
  • the action plan generator 123 sets a target trajectory according to the following conditions. Note that the following conditions are examples, and some of the conditions may be omitted, or further conditions may be added.
  • the action plan generation unit 123 sets the target track in the lane on the leftmost side (the rightmost in the case of right-hand traffic) with respect to the traveling direction of the host vehicle M. Set and select the recommended lane. That is, the action plan generation unit 123 selects a lane so as not to travel on the overtaking lane in principle.
  • An overtaking lane is a lane that is set on the right side of a traveling lane in the case of left-hand traffic on a road with a plurality of lanes.
  • the action plan generation unit 123 sets the target track to a lane other than the traveling lane when the traveling lane decreases or branches within a predetermined distance (for example, 2 km) in front of the host vehicle M. And select the recommended lane. That is, the action plan generation unit 123 selects a recommended lane so that the lane change is performed in advance if the lane change is necessary if the host vehicle M continues to travel in the traveling lane.
  • the action plan generation unit 123 is the destination lane or the branch destination at a point a predetermined distance (for example, 1 km) before the branch point.
  • the recommended lane is selected with the lane adjacent to the target lane as the target track. That is, the action plan generation unit 123 sets a target track in a branch destination lane or a lane adjacent to the branch destination lane and selects a recommended lane so that the lane change is easily performed when the lane change is necessary.
  • the action plan generator 123 sets a target track so as to merge with the main line at the merge point, and selects a recommended lane.
  • the action plan generation unit 123 sets the target track on the recommended lane, sets a new target track on the lane adjacent to the recommended lane, and sets the target lane from the recommended lane having the set target track.
  • a new target track is set in a lane that separates one or more lanes.
  • the action plan generation unit 123 may temporarily change the lane according to the situation around the host vehicle M.
  • other lanes temporarily set to the target track from the recommended lane are referred to as alternative lanes.
  • the action plan generation unit 123 may set a plurality of event candidates for the section in which the alternative lane is set. Then, the action plan generation unit 123 selects one event based on the situation of surrounding vehicles recognized by the object recognition device 16 and the presence or absence of an object such as an obstacle from among a plurality of event candidates set for this section. Select an event.
  • the action plan generation unit 123 selects a timely event from among these candidates according to the surrounding situation based on the recognition result by the object recognition device 16, and dynamically changes the action plan. For example, when a low-speed vehicle or an obstacle is found ahead while traveling in the recommended lane, the action plan generation unit 123 selects a lane change event and sets the adjacent overtaking lane as an alternative lane.
  • the action plan generation unit 123 changes the action plan so as to change the lane to the recommended lane after avoiding or overtaking an obstacle or a low-speed vehicle after changing the lane from the recommended lane to the alternative lane (see FIG. 4).
  • the alternative lane is often an overtaking lane.
  • the following vehicle mO traveling at a high speed from behind may approach the host vehicle M in some cases.
  • the action plan generation unit 123 activates a turn-response event corresponding to a turn-over operation when the following vehicle mO approaches and makes a turn-drive while the host vehicle M is traveling in an alternative lane.
  • the action plan generator 123 performs an avoidance action according to the hitting event.
  • the whirling operation is determined by the whirling operation determination unit 121A.
  • the whirling driving determination unit 121A determines whether or not the whirling driving (rapid approach) has occurred based on the monitoring result of the succeeding rear vehicle among the recognition results of the object recognition device 16.
  • FIG. 5 is a diagram for explaining the state of the rolling operation of the following vehicle.
  • the rolling operation refers to a state in which the following vehicle is following the vehicle after a predetermined time has passed since the vehicle is closed.
  • the host vehicle M may be traveling with a lane change to an alternative lane adjacent to the recommended lane due to the occurrence of some event.
  • the following vehicle mO may approach the host vehicle M and continue to travel with a close distance.
  • the rolling driving determination unit 121 ⁇ / b> A has an inter-vehicle distance between the host vehicle M and the following vehicle mO equal to or smaller than a predetermined distance R, and the inter-vehicle distance is When the state where the distance is equal to or less than the distance R is continued for a predetermined time, it is determined that the rolling operation has occurred.
  • the overturning driving determination unit 121A may determine that overturning driving has occurred when the distance between the vehicles changes at least one of a predetermined change amount or a change rate and an approach occurs. That is, 121A of driving
  • the spear driving determination unit 121A recognizes object behavior such as a passing light, a behavior that moves left and right, blinker lighting, use of a horn, a large muffler volume, and a following vehicle mO that performs a spear driving such as a vehicle type. You may detect from the apparatus 16 and you may use for the determination element of a rolling operation. When it is determined that the rolling operation has occurred, the HMI control unit 121B controls the HMI 30 in conjunction with the determination of the rolling operation of the driving determination unit 122, and displays an image display IM indicating that the rolling operation has occurred in the HMI 30. You may make it output and notify a driver
  • object behavior such as a passing light, a behavior that moves left and right, blinker lighting, use of a horn, a large muffler volume, and a following vehicle mO that performs a spear driving such as a vehicle type. You may detect from the apparatus 16 and you may use for the determination element of a rolling operation. When it is determined that
  • FIG. 6 is a diagram illustrating an example of the image IM output to the HMI 30.
  • an image for prompting attention such as “the vehicle is approaching rapidly from behind and the lane is changed” is displayed on the HMI 30. With this display, it is possible to alert the driver that the vehicle M is driving while the host vehicle M is driving automatically.
  • the action plan generation unit 123 executes a hit response event based on the determination of the occurrence of the hit operation by the hit operation determination unit 121A.
  • the action plan generation unit 123 sets the recommended lane as the target track from the alternative lane in which the host vehicle M is currently traveling due to the turn event.
  • the action plan generation unit 123 causes the travel control unit 141 to perform an avoidance action based on the determination of the occurrence of the rolling operation by the driving operation determination unit 121A. For example, the action plan generation unit 123 causes the travel control unit 141 to change the lane from an alternative lane in which the host vehicle M is currently traveling to a recommended lane.
  • the vehicle system 1 can precede the succeeding vehicle mO performing the rolling operation.
  • the action plan generator 123 delays or cancels the lane change until the lane can be changed safely. You may change to
  • FIG. 7 is a flowchart showing a process for determining the rolling operation.
  • the whirling driving determination unit 121A determines whether or not the following vehicle mO has approached and the inter-vehicle distance has become equal to or less than a threshold value (step S10). When the inter-vehicle distance with the succeeding vehicle mO is equal to or less than the threshold value (step S10: Yes), the spear driving determination unit 121A determines whether or not the time that is equal to or less than the threshold value has continued for a predetermined time (step S11). ).
  • step S11 When the time that has become equal to or less than the threshold value continues for a predetermined time (step S11: Yes), the whirling driving determination unit 121A determines that the following vehicle mO performs the whirling operation (step S12). The action plan generation unit 123 executes the driving operation event and causes the travel control unit 141 to perform an avoidance action (step S13). When it becomes negative determination by step S10, S11, 121 A of spear driving
  • the avoidance action for the drunken driving may be provided with a plurality of patterns depending on the state in which the host vehicle M travels in addition to the above lane change.
  • the whirling driving determination unit 121A performs the whirling driving determination when the average speed of the host vehicle M is equal to or higher than a predetermined threshold, and does not perform the whirling driving determination when the average speed is lower than the predetermined threshold. You may do it. For example, when the host vehicle M is traveling at a predetermined speed or less that is set in advance, the driving operation determination unit 121A may not determine whether the driving operation has occurred. Thereby, for example, when the host vehicle M is traveling at a low speed during a traffic jam, it is possible to prevent the driving operation determination unit 121A from erroneously determining that the following vehicle mO is a vehicle driving in the driving state.
  • the action plan generation unit 123 exceeds the legal speed of the own vehicle M. You may raise in the range which does not exist (refer FIG. 5). For example, the driver may set the cruise control to 80 km / h while traveling in a section where the speed is limited to 80 km / h. Thereafter, the speed limit is released and the host vehicle M may travel in a speed limit section of 100 km / h.
  • the own vehicle M and the following vehicle The inter-vehicle distance with mO can be increased.
  • the action plan generation unit 123 controls the traveling control unit 141 to increase the speed of the host vehicle M within a range not exceeding the legal speed. Thereby, the inter-vehicle distance between the following vehicle mO and the host vehicle M can be kept larger than the threshold value.
  • increasing the speed is limited to a case where a sufficient distance from the vehicle traveling ahead is ensured.
  • the HMI control unit 121B may control the HMI 30 in conjunction with the determination of the rolling operation of the driving determination unit 122 to notify the driver to increase the speed. At this time, the HMI control unit 121B may control the HMI 30 to output an image display IM such as Yes / No that allows the driver to select to increase the speed.
  • FIG. 8 is a diagram illustrating an example in which an alternative lane is changed to a recommended lane. As shown in the figure, when the host vehicle M is traveling in the alternative lane as it is, the alternative lane may be changed to the recommended lane in order to change the lane to the branch lane.
  • the action plan generation unit 123 sets the action plan so that the host vehicle M travels as it is in the alternative lane. Good. That is, the action plan generation unit 123 sets a new target track that travels as it is in the alternative lane. Thereby, it can suppress that the own vehicle M changes a lane frequently.
  • the determination of the spear driving determination unit 121A may be stopped at a predetermined time.
  • FIG. 9 is a diagram illustrating an example in which a rolling operation occurs when traveling in the center lane of three lanes.
  • an overtaking lane (alternate lane) adjacent to the alternative lane may be vacant.
  • the action plan generating unit 123 sets the action plan so as to maintain the traveling alternative lane for a predetermined time. Good.
  • the following vehicle mO is adjacent to the rightmost side (leftmost in the case of right-hand traffic). It is expected to overtake by changing lanes to the overtaking lane. For this reason, it is expected that the running operation will be eliminated even if the vehicle travels in the central traffic zone. Thereby, it can suppress that the own vehicle M changes a lane frequently.
  • the vehicle system 1 when the following vehicle mO approaches while the host vehicle M is traveling in the alternative lane, it is determined whether or not the following vehicle mO is driving and avoiding behavior. It can be performed.
  • the vehicle system 1 can perform avoidance actions such as lane change, speed adjustment, action plan change, and the like on the following vehicle mO that is performing a scooping operation.
  • SYMBOLS 1 ... Vehicle system, 10 Camera, 12 Radar device, 14 Finder, 15 Sound collecting device, 16 Object recognition device, 20 Communication device, 30 HMI40 ETC on-board device, 50 Navigation device, 51 GPS receiver, 53 ... route determination unit, 54 ... first map information, 60 ... MPU, 61 ... recommended lane determination unit, 62 ... second map information, 70 ... vehicle sensor, 80 ... driving operator, 90 ... cabin Camera 100 Automatic driving control unit 120 First control unit 121 External recognition unit 121A Rolling operation determination unit 121B HMI control unit 122 Vehicle position recognition unit 123 Action plan generation unit 140 ... 2nd control part, 141 ... travel control part, 200 ... travel drive force output device, 210 ... brake device, 220 ... steering device, HMI52 ... navigation, M ... own vehicle, mO The following vehicle
PCT/JP2017/041633 2016-12-27 2017-11-20 車両制御装置、車両制御方法、及びプログラム WO2018123344A1 (ja)

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