WO2018163288A1 - 走行支援方法及び運転制御装置 - Google Patents
走行支援方法及び運転制御装置 Download PDFInfo
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- WO2018163288A1 WO2018163288A1 PCT/JP2017/009021 JP2017009021W WO2018163288A1 WO 2018163288 A1 WO2018163288 A1 WO 2018163288A1 JP 2017009021 W JP2017009021 W JP 2017009021W WO 2018163288 A1 WO2018163288 A1 WO 2018163288A1
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- vehicle
- driving
- braking distance
- support method
- traveling
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Definitions
- the present invention relates to a driving support method for learning driving data during manual driving of a driver in a vehicle that can be switched between manual driving and automatic driving by the driver, and driving control that applies the learning result to the driving characteristics of the automatic driving. Relates to the device.
- Patent Document 1 is disclosed as a driving control device that learns driving operation by a driver during manual driving in order to enable automatic driving while suppressing a driver's uncomfortable feeling.
- the driving control device disclosed in Patent Document 1 sets environmental items such as the number of lanes and weather, specifies the driving environment from the environmental items during manual driving, and learns the driving operation of the driver in association with the driving environment. It was.
- the present invention has been proposed in view of the above-described circumstances, and an object thereof is to provide a driving support method and a driving control device that can accurately learn a braking distance that captures a driver's feeling. To do.
- a driving support method and a driving control device learn a braking distance when stopping at an intersection during a driver's manual driving, and a preceding vehicle ahead of the vehicle. Learning by giving priority to the braking distance when the is absent.
- the braking distance that captures the driver's feeling can be learned with high accuracy.
- FIG. 1 is a block diagram showing a configuration of an operation control system including an operation control apparatus according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a processing procedure of a travel characteristic learning process by the operation control apparatus according to the embodiment of the present invention.
- FIG. 3 is a diagram illustrating an example of data input in the travel characteristic learning process according to the embodiment of the present invention.
- FIG. 4 is a diagram for explaining a deceleration start speed and a braking distance when the vehicle stops at an intersection.
- FIG. 5 is a diagram for explaining the coefficients of the multiple regression analysis executed in the running characteristic learning process according to the embodiment of the present invention.
- FIG. 1 is a block diagram showing a configuration of an operation control system including an operation control apparatus according to an embodiment of the present invention.
- FIG. 2 is a flowchart showing a processing procedure of a travel characteristic learning process by the operation control apparatus according to the embodiment of the present invention.
- FIG. 3 is a diagram illustrating an example of data input in
- FIG. 6 is a diagram illustrating an example of data indicating a relationship between the deceleration start speed and the braking distance when the preceding vehicle is absent.
- FIG. 7 is a diagram illustrating an example of data indicating a relationship between the deceleration start speed and the braking distance not only when the preceding vehicle is absent but in all cases.
- FIG. 8 is a diagram illustrating an example of data indicating the relationship between the deceleration start speed and the braking distance in the case of a driver that starts braking so that the average deceleration is constant.
- FIG. 9 is a diagram illustrating an example of data indicating a relationship between a deceleration start speed and a braking distance in the case of a driver of a type that starts braking so that TTI (Time to intersection) is constant.
- FIG. 10 is a diagram for explaining a method for determining the degree of prudence by the travel characteristic learning process according to the embodiment of the present invention.
- FIG. 11 is a diagram for explaining a method of determining the degree of prudence by the travel characteristic learning process according to an embodiment of the present invention.
- FIG. 12 is a diagram for explaining a method for determining the degree of carefulness by the running characteristic learning process according to the embodiment of the present invention.
- FIG. 13 is a flowchart showing a processing procedure of automatic driving control processing by the driving control apparatus according to the embodiment of the present invention.
- FIG. 1 is a block diagram illustrating a configuration of an operation control system including an operation control device according to the present embodiment.
- the driving control system 100 includes a driving control device 1, a driving state detection unit 3, a driving environment detection unit 5, a driving changeover switch 7, and a control state presenting unit 9. It has. Furthermore, the operation control system 100 is connected to an actuator 11 mounted on the vehicle.
- the driving control device 1 learns driving data during manual driving by the driver in a vehicle that can be switched between manual driving and automatic driving by the driver, and executes processing for applying the learning result to the driving characteristics of the automatic driving. Controller.
- the driving control device 1 executes driving characteristic learning processing for learning the braking distance when the vehicle stops at an intersection by preferentially using the driving data when there is no preceding vehicle traveling in front of the vehicle. To do.
- travel characteristic learning process travel data when the preceding vehicle is absent is selected from the travel data during manual operation, and learning is performed using the selected travel data when the preceding vehicle is absent. That is, learning is performed using only the traveling data when the preceding vehicle is absent.
- the driving control device 1 includes a learning data storage unit 21, a travel characteristic learning unit 23, and an automatic driving control execution unit 25.
- this embodiment demonstrates the case where the driving control apparatus 1 is mounted in a vehicle, a communication apparatus is installed in a vehicle, a part of the driving control apparatus 1 is installed in an external server, and a running characteristic learning process is performed. You may let them.
- the driving control device 1 is mounted on a vehicle, the driving characteristics of the driver who owns or uses the vehicle can be learned. And the driving
- the driving data of other drivers can be utilized to reflect the average driving characteristics of the driver in the area in automatic driving.
- the traveling state detection unit 3 detects traveling data indicating the traveling state of the vehicle such as the vehicle speed and acceleration, the presence / absence of a preceding vehicle, the current position, the direction indicator display state, the headlight lighting state, and the wiper operating state.
- traveling data indicating the traveling state of the vehicle such as the vehicle speed and acceleration, the presence / absence of a preceding vehicle, the current position, the direction indicator display state, the headlight lighting state, and the wiper operating state.
- an in-vehicle network such as CAN (Controller Area Network), a navigation device, a laser radar, a camera, and the like.
- the running state detection unit 3 detects the operation amount of the brake pedal and the accelerator pedal of the vehicle, the speed and deceleration of the vehicle, as data for detecting the start and stop of deceleration of the vehicle.
- the travel environment detection unit 5 includes the number of lanes of the road on which the vehicle travels, the speed limit, the road gradient, the road curvature, the display state of the traffic signal in front of the vehicle, the distance to the intersection in front of the vehicle, the planned course of the intersection in front of the vehicle, Environmental information representing the environment in which the vehicle is traveling, such as whether there is a stop restriction, is detected.
- the planned course at the intersection in front of the vehicle is obtained from the display state of the navigation device or the direction indicator.
- the illuminance, temperature, and weather conditions around the vehicle are acquired from the illuminance sensor, the outside temperature sensor, and the wiper switch, respectively.
- the illuminance may be obtained from a headlight switch.
- the operation changeover switch 7 is a switch that is mounted on the vehicle and is switched between automatic operation and manual operation when operated by a vehicle occupant.
- a switch installed on the steering of the vehicle.
- the control state presentation unit 9 displays whether the current control state is manual operation or automatic operation on a meter display unit, a display screen of a navigation device, a head-up display, or the like. In addition, a notification sound that informs the start and end of automatic driving is also output to indicate whether or not learning of driving characteristics has ended.
- Actuator 11 receives an execution command from operation control device 1 and drives each part such as an accelerator, a brake, and a steering of the vehicle.
- the learning data storage unit 21 acquires travel data related to the travel state of the vehicle and environmental information related to the travel environment around the vehicle from the travel state detection unit 3 and the travel environment detection unit 5, and stores data necessary for the travel characteristic learning process. To do. In particular, the learning data storage unit 21 stores travel data when there is no preceding vehicle used for learning the braking distance when stopping at an intersection during manual driving. At this time, the learning data storage unit 21 stores the traveling data when the preceding vehicle is absent in association with the traveling state and traveling environment of the vehicle.
- the travel data to be stored are data such as a deceleration start speed when the vehicle stops at the intersection when the preceding vehicle is absent and a braking distance when the vehicle stops at the intersection when the preceding vehicle is absent.
- data such as the operation amount of the brake pedal and the accelerator pedal of the vehicle, the speed and deceleration of the vehicle, and the distance to the stop line at the intersection are stored.
- environmental information is stored. Environmental information includes the number of lanes on the road on which the vehicle is traveling, road curvature, speed limit, road slope, presence / absence of suspension restrictions or traffic light display status, direction indicator display status, weather around the vehicle, temperature or illuminance Etc.
- the driving characteristic learning unit 23 reads the driving data stored in the learning data storage unit 21 and learns the driving characteristic of the vehicle in consideration of the influence state from the driving state and the driving environment.
- the driving data when there is no preceding vehicle traveling in front of the vehicle is preferentially used to learn the braking distance when stopping at an intersection among the traveling characteristics of the vehicle.
- the travel characteristic learning unit 23 selects travel data when the preceding vehicle is absent from travel data during manual operation, and learns using the selected travel data when the preceding vehicle is absent. That is, the braking distance when the vehicle stops at the intersection is learned using only the traveling data when the preceding vehicle is absent.
- the travel characteristic learning unit 23 learns in consideration of environment information of the environment in which the vehicle is traveling, and learns for each trip of the vehicle. Furthermore, the driving style of the driver may be determined based on the learning result of the braking distance when stopping at the intersection. The learning result calculated in this way is stored in the running characteristic learning unit 23 as needed.
- the automatic operation control execution unit 25 executes automatic operation control when an automatic operation section is entered or when the driver selects automatic operation using the operation changeover switch 7. At this time, the automatic driving control execution unit 25 applies the learning result learned by the driving characteristic learning unit 23 to the driving characteristic of automatic driving. In particular, the learning result of the braking distance when stopping at an intersection is applied to the braking distance during automatic driving.
- the operation control device 1 includes a general-purpose electronic circuit including a microcomputer, a microprocessor, and a CPU, and peripheral devices such as a memory. And by operating a specific program, it operates as the above-described learning data storage unit 21, travel characteristic learning unit 23, and automatic driving control execution unit 25.
- Each function of the operation control apparatus 1 can be implemented by one or a plurality of processing circuits.
- the processing circuit includes a programmed processing device such as, for example, a processing device including an electrical circuit, and an application specific integrated circuit (ASIC) or conventional circuit arranged to perform the functions described in the embodiments. It also includes devices such as parts.
- step S ⁇ b> 101 the learning data storage unit 21 determines whether or not the vehicle is in manual operation according to the state of the operation changeover switch 7. If the vehicle is in manual driving, the process proceeds to step S103. If the vehicle is in automatic driving, the driving characteristic learning process is terminated and automatic driving control is executed.
- the learning data storage unit 21 detects travel data related to the travel state of the vehicle and environmental information related to the travel environment around the vehicle from the travel state detection unit 3 and the travel environment detection unit 5.
- the detected travel data includes vehicle speed, steering angle, acceleration, deceleration, inter-vehicle distance from the preceding vehicle, relative speed with the preceding vehicle, current position, planned route at the front intersection, brake pedal and accelerator pedal operation amount, Detects the lighting state of the headlight, the operating state of the wiper, etc.
- the environmental information includes the number of lanes of the road on which the vehicle travels, road curvature, speed limit, road gradient, presence / absence of suspension regulation or traffic light display status, distance from the vehicle to the stop line at the intersection, and direction indication of the vehicle
- the display state of the device, weather around the vehicle, temperature or illuminance, etc. are detected.
- step S105 the learning data storage unit 21 determines whether or not a preceding vehicle traveling in front of the vehicle is absent.
- the inter-vehicle distance between the vehicle and the preceding vehicle is a predetermined value (for example, when it is equal to or greater than 50 m), it may be determined that the preceding vehicle is absent.
- it determines with a preceding vehicle being absent it progresses to step S107, and when it determines with a preceding vehicle not being absent, it returns to step S103.
- step S107 the learning data storage unit 21 determines whether or not the current running state of the vehicle matches the exclusion factor.
- An exclusion factor specifies a case in which it is not appropriate to acquire data used for learning driving characteristics.
- Exclusion factors include (A) that the maximum deceleration is greater than or equal to a predetermined value (eg, 0.3 G) when the vehicle stops at an intersection, and (B) the deceleration start speed is a predetermined value when the vehicle stops at the intersection. (For example, 10 km / h) or less.
- the learning data storage unit 21 proceeds to step S109 if it does not match these exclusion factors, and returns to step S103 if they match.
- exclusion factor (A) it is possible to exclude the data in the case of sudden braking that is not intended, and by applying the exclusion factor (B), after the start of the creep Very slow data can be excluded. Therefore, by setting these exclusion factors (A) and (B), it is possible to obtain travel data when in a normal deceleration state.
- exclusion factors are not necessarily applied, and may not be applied depending on the situation.
- step S109 the learning data storage unit 21 stores the travel data and environment information detected in step S103 and selected in the processes in steps S105 and 107 as learning data.
- the data is stored after being selected in advance has been described. However, after all the data during manual operation is stored once, the above-described steps S105 and 107 may be performed for selection. Good.
- the learning data includes data of braking distance Db, deceleration start speed Vb, and x1 to x6.
- the braking distance Db is a braking distance when the vehicle stops at the intersection when there is no preceding vehicle, and is a traveling distance from the time t1 when deceleration is started until the speed becomes zero as shown in FIG.
- the deceleration start speed Vb is a deceleration start speed when the vehicle stops at an intersection when there is no preceding vehicle. As shown in FIG.
- the deceleration start is time t1 when the acceleration of the vehicle becomes ⁇ 0.1 G or less (deceleration is 0.1 G or more) after the brake switch is turned on by the start of braking. Is the deceleration start speed Vb.
- the acceleration may be obtained by filtering the output value of the acceleration sensor, or may be obtained by a differential value of speed.
- the speed may be approximated by a sigmoid function or a logistic function, and the inflection point of the speed may be set as the deceleration start point.
- X1 to x6 are data set based on the environment information, and 0 or 1 is set according to the setting method shown in FIG.
- x1 is set to 1 when the data of the braking distance Db and the deceleration start speed Vb shown in FIG. 3 is acquired, and the curvature of the road on which the vehicle is traveling is equal to or greater than a predetermined value. If it is less than the value, 0 is set.
- a speed limit may be used instead of the road curvature.
- 1 is set when the speed limit of the road on which the vehicle is traveling is equal to or higher than a predetermined value (40 or 50 km / h), and 0 is set when the speed limit is less than the predetermined value.
- x2 is set to 1 when the vehicle is traveling on a downhill, 0 is set otherwise (flat road and uphill), and x3 is set when the traffic light ahead of the vehicle is a red signal. Is set to 1; otherwise, 0 is set (blue light or no traffic light). However, a yellow signal may be included in the red signal.
- x4 is set to 1 when it is nighttime, and is set to 0 otherwise. Whether or not it is nighttime may be determined by the lighting state of the headlight.
- x5 is set to 1 when the weather around the vehicle is bad, and is set to 0 when the weather is not bad.
- the wiper of the vehicle when the wiper of the vehicle is set to OFF or intermittent, it is determined that the weather is not bad, and when it is ON, it is determined that the weather is bad.
- conditions such as temperature and illuminance may be added.
- the temperature is set to 1 when the outside air temperature sensor is negative, and is set to 0 when it is positive. Thereby, it can respond to the difference in the characteristic by road surface freezing.
- the illuminance may be set to 1 when the illuminance sensor is bright and 0 when it is dark. You may set according to the presence or absence of lighting of a headlight instead of an illuminance sensor.
- x6 is set to 1 when the turn indicator is ON for turning right and left of the vehicle, and 0 when OFF.
- FIG. 6 shows an example of data indicating the relationship between the deceleration start speed and the braking distance when the preceding vehicle is absent.
- FIG. 7 shows an example of data indicating the relationship between the deceleration start speed and the braking distance when the process of step S105 is not performed, that is, not only when the preceding vehicle is absent but also when there is a preceding vehicle. Is shown. As can be seen from FIG. 7, when the vehicle is not limited to when the preceding vehicle is not present, the driver depends on the deceleration of the preceding vehicle, so the data varies widely.
- step S111 the learning data storage unit 21 determines whether or not a predetermined amount of learning data has been stored. If the predetermined amount is not reached, the process returns to step S103. Proceed to step S113.
- the travel characteristic learning unit 23 learns the travel characteristics of the vehicle. In particular, by using travel data when there is no preceding vehicle traveling in front of the vehicle, a braking distance when the vehicle stops at an intersection among the travel characteristics is learned.
- a multiple regression model shown in the following equation (1) is created and learned using a data set as shown in FIG. [Equation 1]
- Db (c0 + c1x1 + c2x2 + c3x3 + c4x4 + c5x5 + c6x6) Vb 2 + dVb (1)
- Vb is the deceleration start speed
- Db is the braking distance calculated from the model.
- x1 to x6 are environmental factors
- c0 to c6 and d are coefficients obtained by learning.
- the multiple regression model shown in Expression (1) indicates that the braking distance when the vehicle stops at the intersection varies due to environmental factors.
- Formula (1) can be expressed as Formula (2), and can be expressed as Formula (3) from Formula (1) and Formula (2).
- Db Vb 2 / 2a + dVb (2)
- a 1/2 (c0 + c1x1 + c2x2 + c3x3 + c4x4 + c5x5 + c6x6) (3)
- a is an average deceleration (m / s 2 )
- d is assumed to proceed as it is at a TTI (Time to intersection) speed. The arrival time to the intersection in the case of
- the type of deceleration start action differs depending on the driver. For example, as shown in FIG. 8, the type that starts braking so that the average deceleration becomes almost constant regardless of the speed, and the TTI as shown in FIG. 9. There is a type in which braking is started so as to be substantially constant (that is, the deceleration becomes higher as the speed becomes higher).
- the former type coefficients Vb 2 is large in Equation (1)
- the latter type is the coefficient of Vb is greater.
- the former type tends to have a smaller average deceleration and a longer braking distance than the latter type.
- FIG. 8 and FIG. 9 show extreme examples, there are drivers who take this intermediate action.
- the multiple regression model of Equation (1) is a coefficient of Vb 2 and Vb, and is a model that can cope with the difference between the environmental factors and the type of personal deceleration action.
- c0 and d are reference values set for each individual.
- c0 is an average value of deceleration when the values of x1 to x6 are 0, and d is a dependence on TTI (that is, a degree of change in deceleration according to the speed).
- d becomes a value closer to 1 as the degree of dependence on TTI increases.
- the running characteristic learning unit 23 performs multiple regression analysis using learning data as shown in FIG. 3 and calculates coefficients c0 to c6 of the equation (1). Since the learning data used here is only the traveling data in the absence of the preceding vehicle as shown in FIG. 6, the variation is suppressed, and as a result, the braking distance Db at the time of the intersection stop calculated from the equation (1). Is the quadratic curve F of FIG. As described above, in the present embodiment, the braking distance when stopping at the intersection using only the traveling data when the preceding vehicle is absent is learned from the quadratic curve, so the braking distance that captures the driver's feeling can be learned accurately. can do.
- learning can be performed in consideration of environmental information of the environment in which the vehicle is traveling by terms of c1x1 to c6x6. That is, the braking distance can be corrected based on the environmental information.
- the terms c1x1 to c6x6 are the coefficients of Vb 2 in this embodiment, but may be the coefficients of Vb.
- the learning data may use a plurality of trip data, or may use only one trip data.
- environmental factor data is not available with just one trip
- environmental factor coefficients are calculated using learning data for a plurality of trips, and the learning data in the trip is used for the reference c0 coefficient. May be calculated. In this case, it is possible to provide a learning result with no sense of incongruity even when the trip of the day is more cautious or rushed than other trips.
- the braking distance may have different characteristics for each trip. For example, when there is a passenger or when there is a load, driving may be careful due to consideration of the passenger or the load, and the braking distance may be increased while suppressing deceleration. In addition, when driving to the destination, the vehicle tends to be aggressive, and the braking distance may be shortened to allow high deceleration. There are cases where the deceleration and the braking distance permitted by the mood and conditions during driving differ. Therefore, the characteristic of the braking distance for each trip can be obtained by performing multiple regression analysis for each trip. Furthermore, by controlling the braking distance during automatic driving with the characteristics of the braking distance learned for each trip, it is possible to provide automatic driving control that matches the mood and conditions of the driver during the trip.
- x1 in Expression (1) is 1, so that the braking distance Db in Expression (1) is a larger value than in the case where the vehicle is not curved. Become. Therefore, when the road on which the vehicle is traveling is curved, the braking distance Db is corrected to be longer than when the road is not curved.
- a case where the speed limit is high may be used instead of the case where the road is curved. Therefore, when the speed limit of the road on which the vehicle is traveling is equal to or higher than a predetermined value, the speed limit is a predetermined value. The braking distance Db is corrected to be longer than when it is lower.
- the braking distance Db in the equation (1) is a larger value than in the case other than the red signal. Therefore, when the traffic light ahead of the vehicle is a red signal, the braking distance Db is corrected to be longer than when the signal is not a red signal.
- the braking distance Db in the equation (1) is larger than that in the case where the weather is not bad. Therefore, when the surroundings of the vehicle are in bad weather, the braking distance Db is corrected to be longer than in the case of no bad weather.
- the braking distance Db in Equation (1) is greater than that in the case where the turn indicator is OFF and the vehicle does not turn right or left. Large value. Therefore, when the vehicle turns right or left, the braking distance Db may be corrected to be longer than when the vehicle does not turn right or left.
- the driving characteristic learning unit 23 may determine the driving style of the driver based on the learning result of the braking distance.
- the characteristic of the braking distance may show a tendency to match the individual driving style of the driver.
- the coefficient c0 of Vb 2 in Expression (1) reflects the driver's prudent degree, and as shown in FIG. 10, the higher the value of c0, the higher the prudent degree. That is, a driver with a high c0 (a high degree of prudentness) has a low average deceleration and a long braking distance, and therefore can start decelerating early at the intersection and be determined to be cautious.
- FIG. 10 shows that the cautiousness increases as the coefficient c0 increases.
- the coefficient d of Vb tends to be smaller as c0 is higher, it may be determined that the cautiousness is higher as the value of d is smaller as shown in FIG.
- the coefficient of determination is a value indicating the degree of fit of the multiple regression model, and the closer to 1, the smaller the data variation, and the better the model. That is, as the determination coefficient is higher, the braking distance is always considered to be constant, and it can be determined that the driver is on the surface.
- the personal driving style determined in this way may be provided to the driver himself, or by comparing with other drivers using an external server, how much of the overall driving tendency is in the overall And providing information to the driver or the administrator.
- step S115 the travel characteristic learning unit 23 stores the calculated coefficients c0 to c6 of the equation (1) as a learning result, and ends the travel characteristic learning process according to the present embodiment.
- step S ⁇ b> 201 the automatic driving control execution unit 25 determines whether or not learning of the braking distance when stopping at an intersection is completed by the travel characteristic learning process shown in FIG. 2. If learning has been completed, the process proceeds to step S203, and if learning has not been completed, the process proceeds to step S211.
- step S ⁇ b> 203 the automatic driving control execution unit 25 detects travel data regarding the travel state of the vehicle and environment information regarding the travel environment around the vehicle from the travel state detection unit 3 and the travel environment detection unit 5.
- step S205 the automatic driving control execution unit 25 sets a braking distance when stopping at the intersection based on the learning result. Specifically, by setting the coefficients of c0 to c6, which are learning results, in equations (1) and (2) and inputting the detected deceleration start speed into equation (1), braking when stopping at an intersection The distance Db is calculated. Then, the automatic driving control execution unit 25 sets the calculated braking distance Db as a braking distance to be applied to the automatic driving. That is, the learning result of the braking distance is applied to the braking distance at the time of automatic driving.
- step S207 the automatic driving control execution unit 25 executes the automatic driving control using the set braking distance. Specifically, the automatic driving control execution unit 25 transmits a control execution command to the actuator 11 and executes operations such as an accelerator, a brake, and a steering necessary for automatic driving.
- step S209 the automatic operation control execution unit 25 determines whether or not the automatic operation has ended. If not, the automatic operation control execution unit 25 returns to step S203 and continues the automatic operation. On the other hand, when the automatic operation is switched to the manual operation and the automatic operation is finished, the automatic operation control process according to the present embodiment is finished.
- step S ⁇ b> 211 the automatic driving control execution unit 25 detects traveling data related to the traveling state of the vehicle and environmental information related to the traveling environment around the vehicle from the traveling state detection unit 3 and the traveling environment detection unit 5.
- step S213 the automatic operation control execution unit 25 sets a predetermined value set in advance as a braking distance when stopping at an intersection.
- the predetermined value may be a general braking distance value or average value.
- step S215 the automatic driving control execution unit 25 executes the automatic driving control using the set braking distance. Specifically, the automatic driving control execution unit 25 transmits a control execution command to the actuator 11 and executes operations such as an accelerator, a brake, and a steering necessary for automatic driving.
- step S217 the automatic operation control execution unit 25 determines whether or not the automatic operation has ended. If not, the automatic operation control execution unit 25 returns to step S211 and continues the automatic operation. On the other hand, when the automatic operation is switched to the manual operation and the automatic operation is finished, the automatic operation control process according to the present embodiment is finished.
- the deceleration start speed when the vehicle stops at the intersection when the preceding vehicle is absent and the braking distance when the vehicle stops at the intersection when the preceding vehicle is absent Use to learn. This eliminates the use of travel data in a situation that depends on the deceleration of the preceding vehicle, so that the braking distance that captures the driver's feeling can be learned accurately.
- the deceleration start speed when the vehicle stops at the intersection when the preceding vehicle is absent, and the braking distance when the vehicle stops at the intersection when the preceding vehicle is absent Is modeled by a quadratic curve.
- the vehicle deceleration start is detected from at least one of the brake pedal operation, the accelerator pedal operation, and the vehicle deceleration.
- traveling data when the driver starts deceleration can be acquired with certainty.
- the brake pedal is operated, it is a clear deceleration operation, so that traveling data with the least variation can be acquired.
- travel data when the accelerator pedal is not operated is acquired, it is possible to acquire data including deceleration preparation behavior data.
- it is determined that the deceleration starts when the deceleration becomes equal to or greater than a predetermined value the deceleration operation in any scene can be detected.
- the stop of the vehicle is detected when the vehicle speed is equal to or lower than a predetermined value. Therefore, the stop of a vehicle can be detected reliably and a braking distance can be learned accurately.
- the distance from the start of deceleration of the vehicle to the stop line at the intersection is set as the braking distance.
- the braking distance can be obtained without being influenced by the position where the vehicle actually stops.
- the preceding vehicle is absent when the preceding vehicle is not detected and when the inter-vehicle distance between the vehicle and the preceding vehicle is equal to or greater than a predetermined value. . Thereby, traveling data when the preceding vehicle is absent can be reliably acquired.
- the braking distance at which the maximum deceleration becomes a predetermined value or more when the vehicle stops at the intersection is not used.
- the traveling data when the unintended sudden braking is applied can be excluded, so that it is possible to learn accurately using the traveling data in a stable state.
- the braking distance at which the deceleration start speed becomes a predetermined value or less when the vehicle stops at the intersection is not used.
- extremely low-speed driving data such as after a start in creep can be excluded, so that it is possible to learn accurately using the driving data in a stable state.
- learning is performed in association with the environment in which the vehicle is traveling and the braking distance.
- the braking distance when stopping at an intersection has different characteristics depending on environmental conditions. Therefore, by performing a multiple regression analysis in consideration of the environment in which the vehicle is traveling, it is possible to learn the braking distance reflecting the environmental conditions.
- the driving support method as the environment in which the vehicle is traveling, the number of lanes of the road on which the vehicle is traveling, the road curvature, the speed limit, the road gradient, the presence / absence of suspension regulation, or the display state of the traffic light is displayed. Use. Further, the display state of the direction indicator of the vehicle, the weather around the vehicle, the temperature or the illuminance are used. Thereby, it is possible to learn the braking distance by individually reflecting different environmental conditions.
- the driving support method when the learning result is applied to the driving characteristics of automatic driving, it is determined whether or not the vehicle is traveling downhill, and the vehicle is traveling downhill. In such a case, the travel characteristics are set so that the braking distance becomes longer than when traveling uphill. As a result, safety can be improved on a downhill where braking is difficult, so that a sense of security can be given to the driver.
- the learning result when the learning result is applied to the driving characteristics of automatic driving, it is determined whether or not the vehicle turns right and left, and when the vehicle turns right and left, it does not turn right or left.
- the running characteristics are set so that the braking distance becomes longer than the case. As a result, safety can be improved when making a right or left turn, so that a sense of security can be given to the driver.
- the driving support method when the learning result is applied to the driving characteristics of automatic driving, it is determined whether or not the traffic light in front of the vehicle is a red signal, and the traffic light in front of the vehicle is red.
- the running characteristics are set so that the braking distance becomes longer than in cases other than the red signal.
- safety can be improved in the case of a red signal that needs to be stopped, so that a sense of security can be given to the driver.
- the learning result is applied to the driving characteristics of the automatic driving, it is determined whether the road on which the vehicle is driving is curved, and the vehicle is driving.
- the running characteristics are set so that the braking distance is longer than when the road is not curved.
- the learning result when the learning result is applied to the driving characteristics of the automatic driving, it is determined whether the vehicle is driving at night, and the vehicle is driving at night. Sets the running characteristics so that the braking distance is longer than when it is not at night. As a result, safety can be improved in the dark night when the visibility is poor, so that the driver can be given a sense of security.
- the driving support method when the learning result is applied to the driving characteristics of the automatic driving, it is determined whether or not the weather around the vehicle is bad, and the weather around the vehicle is bad.
- the running characteristics are set so that the braking distance is longer than in the case of bad weather.
- the learning result is applied to the driving characteristics of the automatic driving, it is determined whether or not the speed limit of the road on which the vehicle is traveling is equal to or higher than a predetermined value.
- the speed limit of the road on which the vehicle is traveling is greater than or equal to a predetermined value, the travel characteristics are set so that the braking distance becomes longer than when the speed limit is lower than the predetermined value.
- the driving style of the driver is determined based on the learning result of the braking distance. Therefore, since a qualitative tendency of the driver can be known, safety can be improved by referring to the manual driving.
- an external server is provided outside the vehicle, and the braking distance is learned by the external server. Thereby, the processing load in the vehicle can be reduced.
- the learning result of the braking distance is applied to the braking distance during automatic driving of the vehicle.
- the braking distance learned using the travel data when the preceding vehicle is absent can be applied to automatic driving, so that automatic driving that captures the driver's feeling can be provided.
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Abstract
Description
図1は、本実施形態に係る運転制御装置を含む運転制御システムの構成を示すブロック図である。図1に示すように、本実施形態に係る運転制御システム100は、運転制御装置1と、走行状態検出部3と、走行環境検出部5と、運転切替スイッチ7と、制御状態呈示部9とを備えている。さらに、運転制御システム100は、車両に搭載されたアクチュエータ11に接続されている。
次に、本実施形態に係る運転制御装置1による走行特性学習処理の手順を図2のフローチャートを参照して説明する。図2に示す走行特性学習処理は、車両のイグニッションがオンされると開始する。
[数1]
Db=(c0+c1x1+c2x2+c3x3+c4x4+c5x5+c6x6)Vb2+dVb (1)
式(1)において、Vbは減速開始速度、Dbはモデルから計算された制動距離である。x1~x6は環境要因であり、c0~c6、dは学習によって得られた係数である。このように式(1)に示す重回帰モデルは、環境要因によって車両が交差点で停止する場合の制動距離が変動することを示している。
[数2]
Db=Vb2/2a+dVb (2)
[数3]
a=1/2(c0+c1x1+c2x2+c3x3+c4x4+c5x5+c6x6) (3)
式(2)、(3)において、aは平均減速度(m/s2)、式(1)、(2)において、dはTTI(Time to intersection:制動開始時の速度でそのまま進むと仮定した場合の交差点までの到達時間)を示す。
次に、本実施形態に係る運転制御装置1による自動運転制御処理の手順を図13のフローチャートを参照して説明する。
以上詳細に説明したように、本実施形態に係る走行支援方法では、運転者による手動運転と自動運転とを切り替え可能な車両において、車両の前方の先行車が不在のときの制動距離を優先して学習する。これにより、先行車の減速に依存してしまう状況で制動距離を学習することがなくなり、運転者の感覚を捉えた制動距離を精度よく学習することができる。
3 走行状態検出部
5 走行環境検出部
7 運転切替スイッチ
9 制御状態呈示部
11 アクチュエータ
21 学習用データ記憶部
23 走行特性学習部
25 自動運転制御実行部
100 運転制御システム
Claims (23)
- 運転者による手動運転と自動運転とを切り替え可能な車両において、運転者の手動運転中における交差点で停止する場合の制動距離を学習し、この学習結果を自動運転の走行特性に適用する運転制御装置の走行支援方法であって、
前記車両の前方の先行車が不在のときの制動距離を優先して学習することを特徴とする走行支援方法。 - 前記車両の前方の先行車が不在のときの制動距離のみを学習することを特徴とする請求項1に記載の走行支援方法。
- 前記車両の前方の先行車が不在のときに前記車両が交差点で停止する場合の減速開始速度と、前記車両の前方の先行車が不在のときに前記車両が交差点で停止する場合の制動距離とを使用して学習することを特徴とする請求項1に記載の走行支援方法。
- 前記車両の前方の先行車が不在のときに前記車両が交差点で停止する場合の減速開始速度と、前記車両の前方の先行車が不在のときに前記車両が交差点で停止する場合の制動距離との関係を2次曲線でモデル化することを特徴とする請求項1~3のいずれか1項に記載の走行支援方法。
- ブレーキペダルの操作、アクセルペダルの操作、前記車両の減速度のうちの少なくとも1つから前記車両の減速開始を検出することを特徴とする請求項1~4のいずれか1項に記載の走行支援方法。
- 前記車両の速度が所定値以下となる場合に前記車両の停止を検出することを特徴とする請求項1~5のいずれか1項に記載の走行支援方法。
- 前記車両の減速開始から交差点の停止線までの距離を、前記制動距離とすることを特徴とする請求項1~6のいずれか1項に記載の走行支援方法。
- 前記車両の前方の先行車が未検出である場合と、前記車両と先行車との間の車間距離が所定値以上である場合に、先行車が不在であると判断することを特徴とする請求項1~7のいずれか1項に記載の走行支援方法。
- 前記車両が交差点で停止するときに最大減速度が所定値以上となる制動距離を使用しないことを特徴とする請求項1~8のいずれか1項に記載の走行支援方法。
- 前記車両が交差点で停止するときに減速開始速度が所定値以下となる制動距離を使用しないことを特徴とする請求項1~9のいずれか1項に記載の走行支援方法。
- 前記車両が走行している環境と前記制動距離を対応させて学習することを特徴とする請求項1~10のいずれか1項に記載の走行支援方法。
- 前記車両が走行している環境は、前記車両が走行する道路の車線数、道路曲率、制限速度、道路勾配、一時停止規制の有無または信号機の表示状態、前記車両の方向指示器の表示状態、前記車両の周辺の天候、気温または照度のうちの少なくとも1つであることを特徴とする請求項11に記載の走行支援方法。
- 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両が下り坂を走行しているか否かを判定し、
前記車両が下り坂を走行している場合には、上り坂を走行している場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~12のいずれか1項に記載の走行支援方法。 - 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両が右左折するか否かを判定し、
前記車両が右左折する場合には、右左折しない場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~13のいずれか1項に記載の走行支援方法。 - 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両の前方の信号機が赤信号であるか否かを判定し、
前記車両の前方の信号機が赤信号である場合には、赤信号以外の場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~14のいずれか1項に記載の走行支援方法。 - 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両が走行している道路がカーブしているか否かを判定し、
前記車両が走行している道路がカーブしている場合には、カーブしていない場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~15のいずれか1項に記載の走行支援方法。 - 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両が夜間を走行しているか否かを判定し、
前記車両が夜間を走行している場合には、夜間でない場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~16のいずれか1項に記載の走行支援方法。 - 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両の周辺の天候が悪天候であるか否かを判定し、
前記車両の周辺の天候が悪天候である場合には、悪天候でない場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~17のいずれか1項に記載の走行支援方法。 - 前記学習結果を自動運転の走行特性に適用する場合において、
前記車両が走行している道路の制限速度が所定値以上であるか否かを判定し、
前記車両が走行している道路の制限速度が所定値以上である場合には、前記制限速度が所定値より低い場合より、前記制動距離が長くなるように走行特性を設定することを特徴とする請求項1~18のいずれか1項に記載の走行支援方法。 - 前記制動距離の学習結果に基づいて、運転者の運転スタイルを判定することを特徴とする請求項1~19のいずれか1項に記載の走行支援方法。
- 前記車両の外部に外部サーバを備え、前記外部サーバで前記制動距離を学習することを特徴とする請求項1~20のいずれか1項に記載の走行支援方法。
- 前記制動距離の学習結果を、前記車両の自動運転時の制動距離に適用することを特徴とする請求項1~21のいずれか1項に記載の走行支援方法。
- 運転者による手動運転と自動運転とを切り替え可能な車両において、運転者の手動運転中における交差点で停止する場合の制動距離を学習し、この学習結果を自動運転の走行特性に適用する運転制御装置であって、
前記車両の前方の先行車が不在のときの制動距離を優先して学習することを特徴とする運転制御装置。
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EP3594077A4 (en) | 2020-04-08 |
KR102075328B1 (ko) | 2020-02-10 |
US20200122724A1 (en) | 2020-04-23 |
CA3055702A1 (en) | 2018-09-13 |
CN110382319A (zh) | 2019-10-25 |
US10787173B2 (en) | 2020-09-29 |
CN110382319B (zh) | 2020-10-16 |
MX2019010512A (es) | 2019-10-15 |
RU2720862C1 (ru) | 2020-05-13 |
BR112019018405A2 (pt) | 2020-04-07 |
KR20190112315A (ko) | 2019-10-04 |
EP3594077A1 (en) | 2020-01-15 |
JP6773210B2 (ja) | 2020-10-28 |
JPWO2018163288A1 (ja) | 2020-02-20 |
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