WO2018199075A1 - Vehicle control device and vehicle control method - Google Patents

Vehicle control device and vehicle control method Download PDF

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Publication number
WO2018199075A1
WO2018199075A1 PCT/JP2018/016571 JP2018016571W WO2018199075A1 WO 2018199075 A1 WO2018199075 A1 WO 2018199075A1 JP 2018016571 W JP2018016571 W JP 2018016571W WO 2018199075 A1 WO2018199075 A1 WO 2018199075A1
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WIPO (PCT)
Prior art keywords
vehicle
host vehicle
intersection
blue
traffic light
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PCT/JP2018/016571
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French (fr)
Japanese (ja)
Inventor
康司 杉浦
Original Assignee
いすゞ自動車株式会社
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Application filed by いすゞ自動車株式会社 filed Critical いすゞ自動車株式会社
Priority to CN201880026450.4A priority Critical patent/CN110536818A/en
Publication of WO2018199075A1 publication Critical patent/WO2018199075A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT 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
    • B60W30/00Purposes 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
    • B60W30/14Adaptive cruise control
    • B60W30/16Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • GPHYSICS
    • G08SIGNALLING
    • G08GTRAFFIC CONTROL SYSTEMS
    • G08G1/00Traffic control systems for road vehicles
    • G08G1/16Anti-collision systems

Definitions

  • the present disclosure relates to a vehicle control device and a vehicle control method, and more particularly, to a vehicle control device and a vehicle control method for executing an automatic driving traveling in which a host vehicle follows a preceding vehicle to travel.
  • Patent Document 2 can be cited as another prior art document related to the present disclosure.
  • the traffic light for the pedestrian at the intersection in front of the host vehicle blinks in blue.
  • a driver assistance device that forcibly stops the vehicle when it is determined that the vehicle cannot be stopped before the intersection as a result of the driver's braking operation receiving a warning to the vehicle driver. It is disclosed.
  • the present disclosure has been made in view of the above, and the purpose of the present disclosure is to respond to the fact that the vehicle traffic signal is displayed in yellow at the time of execution of the automatic driving traveling in which the preceding vehicle travels following the host vehicle.
  • a vehicle control device is provided that can slowly decelerate the host vehicle and stop it before the intersection.
  • a vehicle control device for a vehicle at an intersection in front of the host vehicle during execution of automatic driving that causes the host vehicle to travel by following the host vehicle.
  • a vehicle traffic signal determination unit that determines whether or not the traffic signal is displayed in blue, and a pedestrian crossing the intersection in the traveling direction of the host vehicle when the vehicle traffic signal is determined to be in the blue display
  • a pedestrian traffic light determining unit for determining whether or not the pedestrian traffic signal is blue flashing display or red display, and the pedestrian traffic signal is determined to be blue flashing display or red display.
  • a vehicle control method is a vehicle control method for a vehicle including a control device, wherein the method causes the control device to cause a preceding vehicle to follow the host vehicle.
  • the step of determining whether or not the vehicle traffic signal at the intersection in front of the host vehicle is displayed in blue, and when it is determined that the vehicle traffic signal is displayed in blue Determining whether the pedestrian traffic light for crossing the intersection in the traveling direction of the host vehicle is blinking blue or red, and the pedestrian traffic light is blinking blue or red. If it is determined that the vehicle is not accelerated based on the distance between the intersection and the host vehicle and the speed of the host vehicle, the vehicle traffic signal is displayed in yellow until the vehicle signal is displayed in yellow.
  • the pedestrian traffic signal is displayed in blue blinking or red (that is, When the vehicle traffic signal is predicted to turn yellow)
  • the vehicle traffic signal cannot be crossed until the vehicle traffic signal turns yellow, the vehicle will start decelerating.
  • the host vehicle can be stopped before the intersection.
  • the preceding vehicle starts decelerating and then the host vehicle starts decelerating earlier than the prior art.
  • the deceleration of the host vehicle can be started. As a result, the host vehicle can be slowly decelerated and stopped before the intersection.
  • FIG. 1A is a schematic diagram illustrating a schematic configuration of the host vehicle according to the embodiment.
  • FIG. 1B is a schematic diagram for explaining the state of the vehicle during automatic driving.
  • FIG. 2 is a functional block diagram of the host vehicle.
  • FIG. 3A is a schematic diagram for explaining a method for determining the signal state of the traffic signal for a vehicle and the traffic signal for a pedestrian, and schematically illustrates an image captured by the camera when the distance between the own vehicle and the intersection is relatively far.
  • Shown in FIG. 3B is a schematic diagram for explaining a method for determining the signal state of the traffic signal for the vehicle and the traffic signal for the pedestrian, and schematically shows an image taken by the camera when the distance between the own vehicle and the intersection is relatively close.
  • FIG. 4 is an example of a flowchart executed by the vehicle control device during automatic driving.
  • FIG. 1A is a schematic diagram illustrating a schematic configuration of a host vehicle 1 having a vehicle control device 10 according to the present embodiment.
  • FIG. 1A right-handed XYZ orthogonal coordinates are shown for reference.
  • the X direction corresponds to the front of the host vehicle 1
  • the Z direction corresponds to the upper side.
  • the host vehicle 1 according to the present embodiment is, as an example, a commercial vehicle (specifically, a truck) having a cab 2 and a loading platform 3 disposed on the rear side of the cab 2.
  • the specific type of the host vehicle 1 is not limited to such a commercial vehicle.
  • FIG. 1B is a schematic diagram for explaining a state when the host vehicle 1 is traveling in an automatic driving mode.
  • FIG. 1B shows a first road 100 and a second road 105 as examples of roads.
  • the first road 100 has a travel lane 101 and an opposite lane 102.
  • the first road 100 and the second road 105 intersect at an intersection 110.
  • the road which concerns on this embodiment should just be a road which has the intersection 110, and is not limited to the road as illustrated in this FIG. 1B.
  • the own vehicle 1 is traveling on the traveling lane 101.
  • a preceding vehicle 5 is traveling ahead of the host vehicle 1.
  • the host vehicle 1 is traveling automatically so as to follow the preceding vehicle 5.
  • a pedestrian crossing 120 a for a pedestrian to cross the first road 100 is provided at the intersection 110 of the first road 100.
  • the pedestrian crossing 120a is located on the first road 100 at a location in front of the traveling direction of the host vehicle 1 relative to the location where the second road 105 of the first road 100 intersects. It is provided so as to cross in a direction perpendicular to.
  • a pedestrian crossing 120 b for a pedestrian to cross the second road 105 is also provided at the intersection 110 of the second road 105.
  • the pedestrian crossing 120b when viewed in the ⁇ Y direction, places the second road 105 at a location before the location where the first road 100 of the second road 105 intersects. 1 is provided so as to cross in the direction of travel.
  • a stop line 130 for the vehicle is provided at a location in front of the pedestrian crossing 120a in the travel lane 101 of the first road 100.
  • a vehicle traffic signal 140 and a pedestrian traffic signal 150 are provided at the intersection 110 of the road.
  • the vehicle traffic signal 140 is a traffic signal for a vehicle (the host vehicle 1 and the preceding vehicle 5) traveling on the traveling lane 101 to cross the intersection 110.
  • the pedestrian traffic light 150 is a traffic signal for a pedestrian to cross the intersection 110 (specifically, the pedestrian crossing 120b of the intersection 110) in the traveling direction of the host vehicle 1.
  • the vehicle traffic signal 140 has a blue signal 141, a yellow signal 142, and a red signal 143, a state where only the blue signal 141 is lit (blue display), a state where only the yellow signal 142 is lit (yellow display), The state in which only the red signal 143 is lit (displayed in red) is sequentially switched.
  • the blue display of the vehicle traffic signal 140 corresponds to a display that permits the vehicle to travel through the intersection 110
  • the yellow signal 142 and the red signal 143 correspond to a display that prohibits the vehicle from traveling through the intersection 110.
  • the yellow signal 142 basically prohibits the vehicle from progressing, but may proceed exceptionally when the vehicle cannot stop safely at the intersection 110 (for example, when it must stop suddenly). Means.
  • the pedestrian traffic light 150 has a green signal 151 and a red signal 152. Only the blue signal 151 is lit (blue display), the blue signal 151 is blinking (blue blinking display), and only the red signal 152 is displayed. The lighted state (displayed in red) switches in order.
  • the blue display of the pedestrian traffic light 150 corresponds to a display that allows the pedestrian to cross the pedestrian crossing 120b, and the red display corresponds to a display that prohibits the pedestrian from crossing the pedestrian crossing 120b.
  • the blue blinking display is a display indicating that the display is switched from blue display to red display after a few seconds.
  • FIG. 2 is a functional block diagram showing each function of the host vehicle 1 in a block diagram.
  • the host vehicle 1 includes a camera 20, a radar sensor 30, sensors 40, a navigation system 50, and a vehicle travel system 60.
  • the camera 20 is a camera that can photograph the front of the host vehicle 1 with a predetermined angle of view.
  • the angle of view of the camera 20 is set to a value that allows the camera 20 to photograph the road lane (white line), the preceding vehicle 5, the pedestrian crossing 120a, the pedestrian crossing 120b, the traffic signal 140 for the vehicle, and the traffic signal 150 for the pedestrian.
  • An image detected by the camera 20 is transmitted to the vehicle control device 10.
  • the vehicle control device 10 identifies the lane (white line) from the image detected by the camera 20 using an image processing technique, and the presence / absence of the preceding vehicle 5, the presence / absence of the pedestrian crossing 120a and the pedestrian crossing 120b, the traffic signal for the vehicle 140 and the signal display state of the pedestrian traffic light 150 are identified.
  • the frame rate of the camera 20 is, for example, 10 fps or more, it is sufficient to accurately identify the blinking blue display.
  • the radar sensor 30 detects a distance between the preceding vehicle 5 and the host vehicle 1 by sensing a predetermined area in front of the host vehicle 1. The detection result of the radar sensor 30 is transmitted to the vehicle control device 10.
  • a radar sensor using millimeter wave radar is used as an example of the radar sensor 30.
  • Sensors 40 are sensors other than the radar sensor 30. Examples of the sensors 40 include a speed sensor that detects the speed of the host vehicle 1.
  • the navigation system 50 stores map information and is configured to detect the position of the host vehicle 1 using an in-vehicle GPS. The detection result of the navigation system 50 is transmitted to the vehicle control device 10.
  • the vehicle traveling system 60 is a system for traveling the host vehicle 1.
  • the vehicle travel system 60 includes a vehicle drive system that is a system that drives the host vehicle 1 such as an engine and a transmission, a brake system that is a system that performs brake braking of the host vehicle 1, and the like.
  • a diesel engine is used as an example of the engine.
  • AMT Automatic Manual Transmission
  • the vehicle control device 10 includes a microcomputer having a CPU 11 (an example of a processor) that executes various control processes, and a storage device 12 that stores programs and various data used for the operation of the CPU 11. Note that a ROM, a RAM, or the like can be used as the storage device 12.
  • FIG. 3A and FIG. 3B are schematic diagrams for explaining a method of determining the signal states of the vehicle traffic signal 140 and the pedestrian traffic signal 150.
  • FIG. 3A schematically shows an image 21 taken by the camera 20 when the distance between the host vehicle 1 and the intersection 110 is relatively long
  • FIG. 3B shows a distance between the host vehicle 1 and the intersection 110.
  • An image 21 photographed by the camera 20 when is relatively close is schematically shown.
  • the vehicle control device 10 performs image processing on a predetermined determination area 22 in the image 21 in front of the host vehicle 1 captured by the camera 20, thereby displaying signals of the vehicle traffic light 140 and the pedestrian traffic light 150. Determine.
  • the vehicle control device 10 acquires the distance between the host vehicle 1 and the intersection 110 based on the detection result of the navigation system 50, and as the distance between the host vehicle 1 and the intersection 110 acquired in this way becomes shorter.
  • the determination area 22 is enlarged. For this reason, the determination area 22 in FIG. 3B is larger than the determination area 22 in FIG. 3A.
  • the vehicle control device 10 performs an automatic driving traveling in which the preceding vehicle 5 travels following the host vehicle 1. Specifically, the vehicle control device 10 according to the present embodiment controls the vehicle traveling system 60 based on the detection results of the camera 20, the radar sensor 30, and the sensors 40, whereby the preceding vehicle 5 and the host vehicle 1 are controlled. The vehicle 1 is caused to travel within a preset range of the vehicle speed 1 while maintaining a certain distance between the vehicle and the vehicle.
  • working can apply a well-known automatic driving
  • the vehicle control apparatus 10 performs the above-described automatic driving traveling when receiving a request for starting automatic driving traveling from the driver of the host vehicle 1.
  • the driver's seat of the own vehicle 1 is provided with a switch for transmitting the start and stop of the automatic driving travel to the vehicle control device 10.
  • the driver desires to start the automatic driving travel, the driver turns on this switch to notify the vehicle control device 10 of the start request for the automatic driving traveling.
  • the vehicle control device 10 that has received the signal for requesting the start of automatic driving travel starts execution of automatic driving.
  • the driver desires to end the automatic driving travel, the driver turns off this switch to notify the vehicle control device 10 of the end request for the automatic driving travel.
  • the vehicle control device 10 that has received the automatic driving travel end request signal ends execution of the automatic driving travel.
  • the vehicle control device 10 is connected to a setting device (not shown) for the driver to set a vehicle speed range (for example, an upper limit speed is 100 km / h, etc.) during automatic driving.
  • the vehicle control device 10 executes automatic driving within the vehicle speed range set in the setting device.
  • the vehicle control device 10 executes a flowchart shown in FIG. 4 described below during automatic driving. Specifically, the vehicle control device 10 starts the execution of the flowchart in FIG. 4 together with the start of the automatic driving travel. Note that each step of FIG. 4 is specifically executed by the CPU 11 of the vehicle control device 10.
  • the vehicle control device 10 determines whether or not the vehicle traffic signal 140 is displayed in blue when the automatic driving travel is being performed (that is, while the automatic driving travel is being performed). judge. Specifically, the vehicle control device 10 acquires an image 21 in front of the host vehicle 1 detected by the camera 20, and performs image processing on a predetermined determination area 22 in the acquired image 21, so that the vehicle traffic signal 140 color indications are acquired.
  • the vehicle control device 10 determines whether or not the obtained color display of the vehicle traffic signal 140 is blue display, and if it is determined that the vehicle traffic signal 140 is blue display as a result of the determination, the vehicle control device 10 performs a step. It determines with YES by S10.
  • step S10 when it is determined that the vehicle traffic signal 140 is displayed in blue), the vehicle control device 10 determines whether the pedestrian traffic signal 150 is displayed in blue blinking or red. Is determined (step S20). Specifically, the vehicle control device 10 acquires an image 21 in front of the host vehicle 1 detected by the camera 20, and performs image processing on a predetermined determination region 22 in the acquired image 21, so that the pedestrian is used. The color display of the traffic light 150 is acquired. And the vehicle control apparatus 10 determines whether the color display of this acquired pedestrian traffic light 150 is a blue blink display or a red display. The vehicle control apparatus 10 determines YES when it is determined that the pedestrian traffic light 150 is blue blinking display or red display.
  • the vehicle control device 10 expands the determination region 22 as the distance between the host vehicle 1 and the intersection 110 becomes shorter as described above with reference to FIG. Thereby, the color display of the traffic signal 140 for vehicles and the traffic signal 150 for pedestrians can be determined with sufficient accuracy.
  • the vehicle control apparatus 10 may execute the following processing when acquiring the color display of the pedestrian traffic light 150 in step S20. Specifically, the vehicle control device 10 estimates the position of the intersection 110 based on the detection result of the navigation system 50 when it is determined YES in step S10. Next, when the vehicle control device 10 recognizes the intersection 110 based on the detection result of the camera 20, the vehicle control device 10 is drawn on a road (second road 105) in a direction orthogonal to the travel lane 101 of the host vehicle 1. "Zebra pattern" is acquired by image processing. And the vehicle control apparatus 10 recognizes this acquired zebra pattern as the pedestrian crossing 120b.
  • the vehicle control device 10 recognizes the traffic light above the pedestrian crossing 120b recognized in this way by image processing, and recognizes this as a traffic light 150 for pedestrians. And the vehicle control apparatus 10 acquires the color display of the pedestrian traffic light 150 recognized in this way by image processing. Through the above processing, the vehicle control device 10 may obtain the color display of the pedestrian traffic light 150.
  • step S20 when it is determined that the pedestrian traffic light 150 is blinking blue or red), the vehicle control device 10 determines that the intersection 110 is based on the detection result of the navigation system 50. While acquiring the distance with the own vehicle 1, the speed of the own vehicle 1 is acquired based on the detection result of the vehicle speed sensor (sensors 40), and the distance between the intersection 110 and the own vehicle 1 and the speed of the own vehicle 1 are obtained. Based on this, it is determined whether or not the vehicle 110 cannot pass through the intersection 110 until the vehicle traffic signal 140 becomes yellow unless the vehicle 1 accelerates (step S30).
  • the first signal change prediction time and the second signal change prediction time are, for example, about several seconds.
  • the first signal change prediction time is longer than the second signal change prediction time.
  • an appropriate numerical value this is strictly accurate time in advance by experiments or the like. (It is not necessary to be present) and stored in the storage device 12.
  • step S30 determines in step S30 that the pedestrian traffic light 150 is blinking blue. Whether or not the vehicle cannot pass through the intersection 110 at the current speed of the host vehicle 1 (that is, while keeping the current speed of the host vehicle 1 without acceleration) within the time until the first signal change prediction time elapses. Is calculated. On the other hand, when it is determined in step S20 that the pedestrian traffic light 150 is displayed in red, the vehicle control device 10 determines in step S30 the second time after it is determined in step S20 that the pedestrian traffic signal 150 is displayed in red.
  • step S30 It is calculated whether or not it is not possible to pass the intersection 110 at the current speed of the host vehicle 1 within the time until the predicted signal change time elapses. If the vehicle control device 10 determines that it cannot pass through the intersection 110 at the current speed of the host vehicle 1 as a result of this calculation, it determines YES in step S30.
  • step S30 When it is determined YES in step S30 (that is, when it is determined that the vehicle 1 cannot accelerate until the vehicle traffic signal 140 turns yellow until the vehicle traffic light 140 is displayed in yellow), the vehicle control device 10 is The host vehicle 1 is started to decelerate, and the host vehicle 1 is controlled so that the host vehicle 1 stops before the intersection 110 (step S40).
  • the vehicle control device 10 controls the vehicle travel system 60 of the host vehicle 1 to start deceleration of the host vehicle 1 and stop the host vehicle 1 before the intersection 110. Further, the vehicle control device 10 stops the host vehicle 1 in front of the stop line 130 in front of the intersection 110.
  • step S40 the vehicle control device 10 executes the flowchart from the start (return). Moreover, also when it determines with NO by step S10, step S20, and step S30, the vehicle control apparatus 10 performs a flowchart from a start (return).
  • CPU11 of the vehicle control apparatus 10 which determines whether the vehicle signal apparatus 140 is blue display in step S10 is corresponded to the member which has a function as a "vehicle signal determination part.”
  • step S20 the CPU 11 of the vehicle control device 10 that determines whether or not the pedestrian traffic light 150 is blinking blue or red is equivalent to a member having a function as a “pedestrian traffic light determination unit”.
  • CPU11 of the vehicle control apparatus 10 which performs step S30 and step S40 is corresponded to the member which has a function as a "own vehicle stop control part.”
  • the operational effects of the present embodiment are as follows.
  • the vehicle traffic signal 140 is displayed in blue (YES in step S10) during execution of automatic driving in which the host vehicle 1 follows the preceding vehicle 5 to travel, the pedestrian traffic signal 150 is displayed. Is flashing blue or red (YES in step S20), that is, when the vehicle traffic signal 140 is predicted to change to yellow, the vehicle traffic signal 140 will be yellow unless acceleration is performed. If it is determined that the vehicle cannot pass through the intersection 110 before the display is made (YES in step S30), the host vehicle 1 can be decelerated and the host vehicle 1 can be stopped before the intersection 110 (step S40). ).
  • the preceding vehicle 5 starts decelerating, and then the host vehicle 1 starts decelerating.
  • the deceleration of the host vehicle 1 can be started at an earlier time.
  • the host vehicle 1 can be slowly decelerated and stopped before the intersection 110.
  • the own vehicle 1 can be gently decelerated and stopped before the intersection 110 as described above, the energy loss of the own vehicle 1 can be reduced to improve fuel efficiency. it can. Further, since the host vehicle 1 can be slowly decelerated, the mental burden on the driver can be reduced. Moreover, the load added to the load of the own vehicle 1 can also be reduced.
  • the predetermined determination area 22 is enlarged as the distance between the host vehicle 1 and the intersection 110 becomes shorter, so the vehicle traffic signal 140 and the pedestrian traffic signal 150. Can be accurately determined. As a result, the host vehicle 1 can be slowly decelerated and stopped before the intersection 110 with high accuracy.
  • the present invention has an effect that the host vehicle can be slowly decelerated and stopped before an intersection, and is useful for a vehicle control device, a vehicle control method, and the like.

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Abstract

The vehicle control device (10) is provided with a host vehicle stop control unit (11). When automatic driving is being executed wherein the host vehicle (1) travels by following a preceding vehicle (5) and, at an intersection (110) ahead of the host vehicle, a vehicle traffic light (140) is green and a pedestrian traffic light (150) is flashing green or is red, the host vehicle stop control unit (11) determines whether or not the host vehicle must accelerate in order to clear the intersection prior to the vehicle traffic light turning amber, and if the determination is that the host vehicle must accelerate in order to clear the intersection prior to the vehicle traffic light turning amber, controls the host vehicle to begin vehicle deceleration and causes said vehicle to come to a stop before the intersection.

Description

車両制御装置および車両制御方法Vehicle control apparatus and vehicle control method
 本開示は、車両制御装置および車両制御方法に関し、詳しくは、先行車両に自車両を追従させて走行させる自動運転走行を実行する車両制御装置および車両制御方法に関する。 The present disclosure relates to a vehicle control device and a vehicle control method, and more particularly, to a vehicle control device and a vehicle control method for executing an automatic driving traveling in which a host vehicle follows a preceding vehicle to travel.
 従来、先行車両に自車両を追従させて走行させる自動運転走行を実行する車両制御装置が知られている(例えば特許文献1参照)。このような自動運転走行の実行時においては、自車両の前方の交差点の車両用信号機が黄表示になった場合、先行車両が交差点の手前で停止するために減速するのに追従して、自車両も減速して交差点の手前で停止することができる。 Conventionally, there has been known a vehicle control device that performs an automatic driving run in which a preceding vehicle runs following a preceding vehicle (see, for example, Patent Document 1). During the execution of such automatic driving, if the traffic signal at the intersection in front of the host vehicle turns yellow, the preceding vehicle follows the deceleration to stop before the intersection. The vehicle can also decelerate and stop before the intersection.
 なお、本開示に関連する他の先行技術文献として、特許文献2が挙げられる。この特許文献2には、自車両の通常走行時(自動運転走行ではなく、ドライバーによる通常の走行時)において、自車両の前方の交差点の歩行者用信号機が青点滅表示になった場合に自車両のドライバーに対して警告を行い、この警告を受けたドライバーのブレーキ操作の結果、自車両が交差点の手前で停止できないと判断された場合に、自車両を強制的に停止させる運転支援装置が開示されている。 In addition, Patent Document 2 can be cited as another prior art document related to the present disclosure. In this Patent Document 2, when the host vehicle is traveling normally (during normal driving by the driver, not automatically driving), the traffic light for the pedestrian at the intersection in front of the host vehicle blinks in blue. A driver assistance device that forcibly stops the vehicle when it is determined that the vehicle cannot be stopped before the intersection as a result of the driver's braking operation receiving a warning to the vehicle driver. It is disclosed.
日本国特開2011-175367号公報Japanese Unexamined Patent Publication No. 2011-175367 日本国特開2006-224754号公報Japanese Unexamined Patent Publication No. 2006-224754
 従来の技術では、自動運転走行の実行時に車両用信号機が黄表示になったことに対応させて自車両を交差点の手前に停止させるにあたり、自車両を緩やかに減速させて交差点の手前に停止させることは困難であった。 In the conventional technology, in order to stop the vehicle in front of the intersection in response to the fact that the traffic signal for the vehicle turns yellow when the automatic driving is executed, the host vehicle is slowly decelerated and stopped in front of the intersection. It was difficult.
 本開示は、上記のことを鑑みてなされたものであり、その目的は、先行車両に自車両を追従させて走行させる自動運転走行の実行時に、車両用信号機が黄表示になったことに対応させて自車両を交差点の手前に停止させるにあたり、自車両を緩やかに減速させて交差点の手前に停止させることができる車両制御装置を提供することである。 The present disclosure has been made in view of the above, and the purpose of the present disclosure is to respond to the fact that the vehicle traffic signal is displayed in yellow at the time of execution of the automatic driving traveling in which the preceding vehicle travels following the host vehicle. Thus, in order to stop the host vehicle before the intersection, a vehicle control device is provided that can slowly decelerate the host vehicle and stop it before the intersection.
 上記目的を達成するため、本開示の第1の態様に係る車両制御装置は、先行車両に自車両を追従させて走行させる自動運転走行の実行時に、前記自車両の前方の交差点にある車両用信号機が青表示であるか否かを判定する車両用信号機判定部と、前記車両用信号機が前記青表示であると判定された場合において、歩行者が前記交差点を前記自車両の進行方向に横断するための歩行者用信号機が青点滅表示又は赤表示であるか否かを判定する歩行者用信号機判定部と、前記歩行者用信号機が前記青点滅表示又は前記赤表示であると判定された場合において、前記交差点と前記自車両との距離及び前記自車両の速度に基づいて、前記自車両が加速をしないと前記車両用信号機が黄表示になるまでの間に前記交差点を通過できないか否かを判定するとともに、加速をしないと前記車両用信号機が前記黄表示になるまでの間に前記交差点を通過できないと判定されたときに、前記自車両の減速を開始させるとともに前記交差点の手前で前記自車両が停止するように前記自車両を制御する自車両停止制御部と、を備える。 In order to achieve the above object, a vehicle control device according to a first aspect of the present disclosure is provided for a vehicle at an intersection in front of the host vehicle during execution of automatic driving that causes the host vehicle to travel by following the host vehicle. A vehicle traffic signal determination unit that determines whether or not the traffic signal is displayed in blue, and a pedestrian crossing the intersection in the traveling direction of the host vehicle when the vehicle traffic signal is determined to be in the blue display A pedestrian traffic light determining unit for determining whether or not the pedestrian traffic signal is blue flashing display or red display, and the pedestrian traffic signal is determined to be blue flashing display or red display In this case, based on the distance between the intersection and the host vehicle and the speed of the host vehicle, whether or not the vehicle cannot pass through the intersection until the vehicle traffic light turns yellow unless the host vehicle accelerates. Determine whether In addition, when it is determined that the vehicle traffic signal cannot pass through the intersection until the vehicle traffic signal becomes yellow, the host vehicle starts to decelerate and the host vehicle is in front of the intersection. A host vehicle stop control unit that controls the host vehicle to stop.
 本開示の第2の態様に係る車両制御方法は、制御装置を備えた車両の車両制御方法であって、前記方法は前記制御装置に、先行車両に自車両を追従させて走行させる自動運転走行の実行時に、前記自車両の前方の交差点にある車両用信号機が青表示であるか否かを判定するステップと、前記車両用信号機が前記青表示であると判定された場合において、歩行者が前記交差点を前記自車両の進行方向に横断するための歩行者用信号機が青点滅表示又は赤表示であるか否かを判定するステップと、前記歩行者用信号機が前記青点滅表示又は前記赤表示であると判定された場合において、前記交差点と前記自車両との距離及び前記自車両の速度に基づいて、前記自車両が加速をしないと前記車両用信号機が黄表示になるまでの間に前記交差点を通過できないか否かを判定するステップと、加速をしないと前記車両用信号機が前記黄表示になるまでの間に前記交差点を通過できないと判定されたときに、前記自車両の減速を開始させるとともに前記交差点の手前で前記自車両が停止するように前記自車両を制御するステップと、を実行させる。 A vehicle control method according to a second aspect of the present disclosure is a vehicle control method for a vehicle including a control device, wherein the method causes the control device to cause a preceding vehicle to follow the host vehicle. In the step of determining whether or not the vehicle traffic signal at the intersection in front of the host vehicle is displayed in blue, and when it is determined that the vehicle traffic signal is displayed in blue, Determining whether the pedestrian traffic light for crossing the intersection in the traveling direction of the host vehicle is blinking blue or red, and the pedestrian traffic light is blinking blue or red. If it is determined that the vehicle is not accelerated based on the distance between the intersection and the host vehicle and the speed of the host vehicle, the vehicle traffic signal is displayed in yellow until the vehicle signal is displayed in yellow. Through the intersection Determining whether or not it is possible, and when it is determined that the vehicle traffic light cannot pass through the intersection until the vehicle traffic signal is displayed in yellow unless acceleration is performed, the vehicle starts decelerating and And controlling the host vehicle so that the host vehicle stops before an intersection.
 本開示によれば、先行車両に自車両を追従させて走行させる自動運転走行の実行時に、車両用信号機が青表示である場合において、歩行者用信号機が青点滅表示又は赤表示のとき(すなわち、もうじき車両用信号機が黄表示になることが予測される状況のとき)に、加速をしないと車両用信号機が黄表示になるまでの間に交差点を通過できないときには、自車両の減速を開始させて交差点の手前で自車両を停止させることができる。これにより、自動運転走行の実行時において車両用信号機が黄表示になった結果、先行車両が減速を開始し、その後に自車両が減速を開始する、といった従来技術に比較して、より早い時期に、自車両の減速を開始することができる。この結果、自車両を緩やかに減速させて、交差点の手前に停止させることができる。 According to the present disclosure, when the vehicle traffic signal is displayed in blue at the time of execution of automatic driving traveling in which the host vehicle follows the preceding vehicle, the pedestrian traffic signal is displayed in blue blinking or red (that is, When the vehicle traffic signal is predicted to turn yellow), if the vehicle traffic signal cannot be crossed until the vehicle traffic signal turns yellow, the vehicle will start decelerating. The host vehicle can be stopped before the intersection. As a result, as a result of the vehicle traffic light becoming yellow during execution of automatic driving, the preceding vehicle starts decelerating and then the host vehicle starts decelerating earlier than the prior art. In addition, the deceleration of the host vehicle can be started. As a result, the host vehicle can be slowly decelerated and stopped before the intersection.
図1Aは実施形態に係る自車両の概略構成を示す模式図である。FIG. 1A is a schematic diagram illustrating a schematic configuration of the host vehicle according to the embodiment. 図1Bは自車両の自動運転走行時の状態を説明するための模式図である。FIG. 1B is a schematic diagram for explaining the state of the vehicle during automatic driving. 図2は、自車両の機能ブロック図である。FIG. 2 is a functional block diagram of the host vehicle. 図3Aは車両用信号機及び歩行者用信号機の信号状態の判定手法を説明するための模式図であり、自車両と交差点との距離が相対的に遠い場合にカメラで撮影された画像を模式的に示す。FIG. 3A is a schematic diagram for explaining a method for determining the signal state of the traffic signal for a vehicle and the traffic signal for a pedestrian, and schematically illustrates an image captured by the camera when the distance between the own vehicle and the intersection is relatively far. Shown in 図3Bは車両用信号機及び歩行者用信号機の信号状態の判定手法を説明するための模式図であり、自車両と交差点の距離が相対的に近い場合にカメラで撮影された画像を模式的に示す。FIG. 3B is a schematic diagram for explaining a method for determining the signal state of the traffic signal for the vehicle and the traffic signal for the pedestrian, and schematically shows an image taken by the camera when the distance between the own vehicle and the intersection is relatively close. Show. 図4は、自動運転走行時において車両制御装置が実行するフローチャートの一例である。FIG. 4 is an example of a flowchart executed by the vehicle control device during automatic driving.
 以下、本開示の実施形態に係る車両制御装置10について図面を用いて説明する。図1Aは、本実施形態に係る車両制御装置10を有する自車両1の概略構成を示す模式図である。なお、図1Aには、参考用として、右手系のX-Y-Zの直交座標が図示されている。この直交座標においてX方向が自車両1の前方に相当し、Z方向は上方に相当する。本実施形態に係る自車両1は、一例として、キャブ2と、このキャブ2の後方側に配置された荷台3とを有する商用車両(具体的にはトラック)である。但し、自車両1の具体的な種類はこのような商用車両に限定されるものではない。 Hereinafter, the vehicle control device 10 according to an embodiment of the present disclosure will be described with reference to the drawings. FIG. 1A is a schematic diagram illustrating a schematic configuration of a host vehicle 1 having a vehicle control device 10 according to the present embodiment. In FIG. 1A, right-handed XYZ orthogonal coordinates are shown for reference. In this orthogonal coordinate, the X direction corresponds to the front of the host vehicle 1, and the Z direction corresponds to the upper side. The host vehicle 1 according to the present embodiment is, as an example, a commercial vehicle (specifically, a truck) having a cab 2 and a loading platform 3 disposed on the rear side of the cab 2. However, the specific type of the host vehicle 1 is not limited to such a commercial vehicle.
 図1Bは、自車両1の自動運転走行時の状態を説明するための模式図である。図1Bには、道路の一例として、第1道路100及び第2道路105が図示されている。第1道路100は、走行車線101及び対向車線102を有している。第1道路100及び第2道路105は、交差点110で交差している。なお、本実施形態に係る道路は、交差点110を有する道路であればよく、この図1Bに図示されているような道路に限定されるものではない。 FIG. 1B is a schematic diagram for explaining a state when the host vehicle 1 is traveling in an automatic driving mode. FIG. 1B shows a first road 100 and a second road 105 as examples of roads. The first road 100 has a travel lane 101 and an opposite lane 102. The first road 100 and the second road 105 intersect at an intersection 110. In addition, the road which concerns on this embodiment should just be a road which has the intersection 110, and is not limited to the road as illustrated in this FIG. 1B.
 自車両1は走行車線101を走行している。自車両1の前方には、先行車両5が走行している。図1Bにおいて、自車両1は、先行車両5に追従するように自動運転走行している。 The own vehicle 1 is traveling on the traveling lane 101. A preceding vehicle 5 is traveling ahead of the host vehicle 1. In FIG. 1B, the host vehicle 1 is traveling automatically so as to follow the preceding vehicle 5.
 また、第1道路100の交差点110の部分には、歩行者が第1道路100を横断するための横断歩道120aが設けられている。具体的には、横断歩道120aは、第1道路100の第2道路105が交差している箇所よりも自車両1の進行方向で手前の箇所に、第1道路100を自車両1の進行方向とは直角な方向に横切るように設けられている。第2道路105の交差点110の部分にも、歩行者が第2道路105を横断するための横断歩道120bが設けられている。具体的には、横断歩道120bは、-Y方向に向かって見た場合に、第2道路105の第1道路100が交差している箇所よりも手前の箇所に、第2道路105を自車両1の進行方向に横切るように設けられている。また、第1道路100の走行車線101において、横断歩道120aよりも手前の箇所には、車両用の停止ライン130が設けられている。 Further, a pedestrian crossing 120 a for a pedestrian to cross the first road 100 is provided at the intersection 110 of the first road 100. Specifically, the pedestrian crossing 120a is located on the first road 100 at a location in front of the traveling direction of the host vehicle 1 relative to the location where the second road 105 of the first road 100 intersects. It is provided so as to cross in a direction perpendicular to. A pedestrian crossing 120 b for a pedestrian to cross the second road 105 is also provided at the intersection 110 of the second road 105. Specifically, the pedestrian crossing 120b, when viewed in the −Y direction, places the second road 105 at a location before the location where the first road 100 of the second road 105 intersects. 1 is provided so as to cross in the direction of travel. Further, a stop line 130 for the vehicle is provided at a location in front of the pedestrian crossing 120a in the travel lane 101 of the first road 100.
 また、道路の交差点110の部分には、車両用信号機140及び歩行者用信号機150が設けられている。車両用信号機140は、走行車線101を走行する車両(自車両1及び先行車両5)が交差点110を横断するための信号機である。歩行者用信号機150は、歩行者が交差点110(具体的には交差点110の横断歩道120b)を自車両1の進行方向に横断するための信号機である。 In addition, a vehicle traffic signal 140 and a pedestrian traffic signal 150 are provided at the intersection 110 of the road. The vehicle traffic signal 140 is a traffic signal for a vehicle (the host vehicle 1 and the preceding vehicle 5) traveling on the traveling lane 101 to cross the intersection 110. The pedestrian traffic light 150 is a traffic signal for a pedestrian to cross the intersection 110 (specifically, the pedestrian crossing 120b of the intersection 110) in the traveling direction of the host vehicle 1.
 車両用信号機140は、青信号141、黄信号142、及び赤信号143を有しており、青信号141のみが点灯した状態(青表示)と、黄信号142のみが点灯した状態(黄表示)と、赤信号143のみが点灯した状態(赤表示)とが順に切り替わる。なお、車両用信号機140の青表示は車両が交差点110を進行することを許可する表示に相当し、黄信号142及び赤信号143は車両が交差点110を進行することを禁止する表示に相当する。なお、黄信号142は、基本的には車両の進行を禁止するが、車両が交差点110で安全に停止できない場合(例えば急停車しなければならないような場合)には例外的に進行してよいことを意味している。 The vehicle traffic signal 140 has a blue signal 141, a yellow signal 142, and a red signal 143, a state where only the blue signal 141 is lit (blue display), a state where only the yellow signal 142 is lit (yellow display), The state in which only the red signal 143 is lit (displayed in red) is sequentially switched. The blue display of the vehicle traffic signal 140 corresponds to a display that permits the vehicle to travel through the intersection 110, and the yellow signal 142 and the red signal 143 correspond to a display that prohibits the vehicle from traveling through the intersection 110. The yellow signal 142 basically prohibits the vehicle from progressing, but may proceed exceptionally when the vehicle cannot stop safely at the intersection 110 (for example, when it must stop suddenly). Means.
 歩行者用信号機150は、青信号151及び赤信号152を有しており、青信号151のみが点灯した状態(青表示)と、青信号151が点滅した状態(青点滅表示)と、赤信号152のみが点灯した状態(赤表示)とが順に切り替わる。なお、歩行者用信号機150の青表示は、歩行者が横断歩道120bを横断することを許可する表示に相当し、赤表示は歩行者が横断歩道120bを横断することを禁止する表示に相当する。また、青点滅表示は、青表示から赤表示に数秒後に切り替わることを示す表示である。 The pedestrian traffic light 150 has a green signal 151 and a red signal 152. Only the blue signal 151 is lit (blue display), the blue signal 151 is blinking (blue blinking display), and only the red signal 152 is displayed. The lighted state (displayed in red) switches in order. The blue display of the pedestrian traffic light 150 corresponds to a display that allows the pedestrian to cross the pedestrian crossing 120b, and the red display corresponds to a display that prohibits the pedestrian from crossing the pedestrian crossing 120b. . The blue blinking display is a display indicating that the display is switched from blue display to red display after a few seconds.
 図2は、自車両1の各機能をブロック図で表示した機能ブロック図である。自車両1は、車両制御装置10に加えて、カメラ20、レーダーセンサ30、センサ類40、ナビゲーションシステム50、及び車両走行システム60を備えている。 FIG. 2 is a functional block diagram showing each function of the host vehicle 1 in a block diagram. In addition to the vehicle control device 10, the host vehicle 1 includes a camera 20, a radar sensor 30, sensors 40, a navigation system 50, and a vehicle travel system 60.
 カメラ20は、自車両1の前方を所定の画角で撮影できるカメラである。このカメラ20の画角は、カメラ20によって、道路の車線(白線)、先行車両5、横断歩道120a、横断歩道120b、車両用信号機140、及び歩行者用信号機150を撮影できるような値に設定されている。カメラ20の検出した画像は車両制御装置10に伝えられる。車両制御装置10は、カメラ20の検出した画像から、画像処理技術を用いて、車線(白線)を識別するとともに、先行車両5の有無や、横断歩道120a及び横断歩道120bの有無、車両用信号機140及び歩行者用信号機150の信号の表示状態等を識別する。 The camera 20 is a camera that can photograph the front of the host vehicle 1 with a predetermined angle of view. The angle of view of the camera 20 is set to a value that allows the camera 20 to photograph the road lane (white line), the preceding vehicle 5, the pedestrian crossing 120a, the pedestrian crossing 120b, the traffic signal 140 for the vehicle, and the traffic signal 150 for the pedestrian. Has been. An image detected by the camera 20 is transmitted to the vehicle control device 10. The vehicle control device 10 identifies the lane (white line) from the image detected by the camera 20 using an image processing technique, and the presence / absence of the preceding vehicle 5, the presence / absence of the pedestrian crossing 120a and the pedestrian crossing 120b, the traffic signal for the vehicle 140 and the signal display state of the pedestrian traffic light 150 are identified.
 なお、カメラ20のフレームレートは、例えば10fps以上あれば、青点滅表示を精度良く識別するのに十分である。 If the frame rate of the camera 20 is, for example, 10 fps or more, it is sufficient to accurately identify the blinking blue display.
 レーダーセンサ30は、自車両1の前方の所定の領域をセンシングすることで、先行車両5と自車両1との距離を検出する。レーダーセンサ30の検出結果は車両制御装置10に伝えられる。なお、本実施形態においては、レーダーセンサ30の一例として、ミリ波レーダーを利用したレーダーセンサを用いている。 The radar sensor 30 detects a distance between the preceding vehicle 5 and the host vehicle 1 by sensing a predetermined area in front of the host vehicle 1. The detection result of the radar sensor 30 is transmitted to the vehicle control device 10. In the present embodiment, a radar sensor using millimeter wave radar is used as an example of the radar sensor 30.
 センサ類40は、レーダーセンサ30以外のセンサ類である。センサ類40としては、例えば、自車両1の速度を検出する速度センサ等が挙げられる。 Sensors 40 are sensors other than the radar sensor 30. Examples of the sensors 40 include a speed sensor that detects the speed of the host vehicle 1.
 ナビゲーションシステム50は、地図情報を記憶しているとともに、車載GPSを用いて自車両1の位置を検出できるように構成されている。ナビゲーションシステム50の検出結果は車両制御装置10に伝えられる。 The navigation system 50 stores map information and is configured to detect the position of the host vehicle 1 using an in-vehicle GPS. The detection result of the navigation system 50 is transmitted to the vehicle control device 10.
 車両走行システム60は、自車両1を走行させるシステムである。具体的には、車両走行システム60は、エンジン、トランスミッション等の自車両1を駆動させるシステムである車両駆動システムや、自車両1のブレーキ制動を行うシステムであるブレーキシステム等を含んでいる。なお、本実施形態では、エンジンの一例としてディーゼルエンジンを用いている。また、トランスミッションの一例として、AMT(Automated Manual Transmission)を用いている。 The vehicle traveling system 60 is a system for traveling the host vehicle 1. Specifically, the vehicle travel system 60 includes a vehicle drive system that is a system that drives the host vehicle 1 such as an engine and a transmission, a brake system that is a system that performs brake braking of the host vehicle 1, and the like. In this embodiment, a diesel engine is used as an example of the engine. As an example of the transmission, AMT (Automated Manual Transmission) is used.
 車両制御装置10は、各種の制御処理を実行するCPU11(プロセッサの一例)や、このCPU11の動作に用いられるプログラムや各種データ類を記憶する記憶装置12を有するマイクロコンピュータによって構成されている。なお、記憶装置12としては、ROM、RAM等を用いることができる。 The vehicle control device 10 includes a microcomputer having a CPU 11 (an example of a processor) that executes various control processes, and a storage device 12 that stores programs and various data used for the operation of the CPU 11. Note that a ROM, a RAM, or the like can be used as the storage device 12.
 図3A及び図3Bは、車両用信号機140及び歩行者用信号機150の信号の状態の判定手法を説明するための模式図である。具体的には、図3Aは自車両1と交差点110との距離が相対的に遠い場合にカメラ20で撮影された画像21を模式的に示し、図3Bは自車両1と交差点110との距離が相対的に近い場合にカメラ20で撮影された画像21を模式的に示している。 FIG. 3A and FIG. 3B are schematic diagrams for explaining a method of determining the signal states of the vehicle traffic signal 140 and the pedestrian traffic signal 150. Specifically, FIG. 3A schematically shows an image 21 taken by the camera 20 when the distance between the host vehicle 1 and the intersection 110 is relatively long, and FIG. 3B shows a distance between the host vehicle 1 and the intersection 110. An image 21 photographed by the camera 20 when is relatively close is schematically shown.
 車両制御装置10は、カメラ20によって撮影された自車両1の前方の画像21のうち、所定の判定領域22を画像処理することによって、車両用信号機140及び歩行者用信号機150の信号の表示状態を判定する。 The vehicle control device 10 performs image processing on a predetermined determination area 22 in the image 21 in front of the host vehicle 1 captured by the camera 20, thereby displaying signals of the vehicle traffic light 140 and the pedestrian traffic light 150. Determine.
 ここで、自車両1の進行方向で見た場合に、自車両1と交差点110との距離が短くなるにつれて、車両用信号機140や歩行者用信号機150は大きく見える。そこで、車両制御装置10は、ナビゲーションシステム50の検出結果に基づいて自車両1と交差点110との距離を取得し、このように取得された自車両1と交差点110との距離が短くなるにつれて、判定領域22を拡大している。このため、図3Aの判定領域22よりも図3Bの判定領域22の方が拡大している。 Here, when viewed in the traveling direction of the host vehicle 1, the traffic signal 140 for the vehicle and the traffic signal 150 for the pedestrian appear larger as the distance between the host vehicle 1 and the intersection 110 becomes shorter. Therefore, the vehicle control device 10 acquires the distance between the host vehicle 1 and the intersection 110 based on the detection result of the navigation system 50, and as the distance between the host vehicle 1 and the intersection 110 acquired in this way becomes shorter. The determination area 22 is enlarged. For this reason, the determination area 22 in FIG. 3B is larger than the determination area 22 in FIG. 3A.
 続いて、車両制御装置10の制御処理の詳細について説明する。まず、車両制御装置10は、先行車両5に自車両1を追従して走行させる自動運転走行を実行する。具体的には、本実施形態に係る車両制御装置10は、カメラ20、レーダーセンサ30、及びセンサ類40の検出結果に基づいて車両走行システム60を制御することで、先行車両5と自車両1との間に一定範囲の車間距離を保ちながら、予め設定された自車両1の車速の範囲内で自車両1を走行させる。なお、この自動運転走行自体は公知の自動運転走行技術を適用することができるので、これ以上詳細な説明は省略する。 Subsequently, details of the control processing of the vehicle control device 10 will be described. First, the vehicle control device 10 performs an automatic driving traveling in which the preceding vehicle 5 travels following the host vehicle 1. Specifically, the vehicle control device 10 according to the present embodiment controls the vehicle traveling system 60 based on the detection results of the camera 20, the radar sensor 30, and the sensors 40, whereby the preceding vehicle 5 and the host vehicle 1 are controlled. The vehicle 1 is caused to travel within a preset range of the vehicle speed 1 while maintaining a certain distance between the vehicle and the vehicle. In addition, since this automatic driving | running | working itself can apply a well-known automatic driving | running | working technique, further detailed description is abbreviate | omitted.
 なお、車両制御装置10は、自車両1のドライバーからの自動運転走行の開始要求を受信した場合に、上述した自動運転走行を実行する。具体的には、自車両1の運転席には、自動運転走行の開始及び停止を車両制御装置10に伝えるためのスイッチが設けられている。そして、ドライバーは、自動運転走行の開始を希望する場合には、このスイッチをオンにすることで、車両制御装置10に自動運転走行の開始要求を伝える。この自動運転走行開始要求の信号を受けた車両制御装置10は自動運転走行の実行を開始する。また、ドライバーは、自動運転走行の終了を希望する場合には、このスイッチをオフにすることで、車両制御装置10に自動運転走行の終了要求を伝える。この自動運転走行終了要求の信号を受けた車両制御装置10は自動運転走行の実行を終了する。 In addition, the vehicle control apparatus 10 performs the above-described automatic driving traveling when receiving a request for starting automatic driving traveling from the driver of the host vehicle 1. Specifically, the driver's seat of the own vehicle 1 is provided with a switch for transmitting the start and stop of the automatic driving travel to the vehicle control device 10. When the driver desires to start the automatic driving travel, the driver turns on this switch to notify the vehicle control device 10 of the start request for the automatic driving traveling. The vehicle control device 10 that has received the signal for requesting the start of automatic driving travel starts execution of automatic driving. In addition, when the driver desires to end the automatic driving travel, the driver turns off this switch to notify the vehicle control device 10 of the end request for the automatic driving travel. The vehicle control device 10 that has received the automatic driving travel end request signal ends execution of the automatic driving travel.
 また、車両制御装置10には、ドライバーが自動運転走行時の車速範囲(例えば上限速度が100km/h等)を設定するための設定装置(図示せず)が接続されている。車両制御装置10は、この設定装置に設定された車速範囲内で自動運転走行を実行する。 Further, the vehicle control device 10 is connected to a setting device (not shown) for the driver to set a vehicle speed range (for example, an upper limit speed is 100 km / h, etc.) during automatic driving. The vehicle control device 10 executes automatic driving within the vehicle speed range set in the setting device.
 また、車両制御装置10は、自動運転走行時において、以下に説明する図4に示すフローチャートを実行する。具体的には、車両制御装置10は、自動運転走行の実行開始とともに図4フローチャートの実行を開始する。なお、図4の各ステップは、車両制御装置10の具体的にはCPU11が実行する。まず、図4のステップS10において、車両制御装置10は、自動運転走行の実行時(すなわち、自動運転走行が実行されている最中)において、車両用信号機140が青表示であるか否かを判定する。具体的には車両制御装置10は、カメラ20の検出した自車両1の前方の画像21を取得し、この取得された画像21のうち所定の判定領域22を画像処理することで、車両用信号機140の色表示を取得する。そして、車両制御装置10は、この取得された車両用信号機140の色表示が青表示であるか否を判定し、この判定の結果、車両用信号機140が青表示であると判定した場合にステップS10でYESと判定する。 Further, the vehicle control device 10 executes a flowchart shown in FIG. 4 described below during automatic driving. Specifically, the vehicle control device 10 starts the execution of the flowchart in FIG. 4 together with the start of the automatic driving travel. Note that each step of FIG. 4 is specifically executed by the CPU 11 of the vehicle control device 10. First, in step S10 of FIG. 4, the vehicle control device 10 determines whether or not the vehicle traffic signal 140 is displayed in blue when the automatic driving travel is being performed (that is, while the automatic driving travel is being performed). judge. Specifically, the vehicle control device 10 acquires an image 21 in front of the host vehicle 1 detected by the camera 20, and performs image processing on a predetermined determination area 22 in the acquired image 21, so that the vehicle traffic signal 140 color indications are acquired. Then, the vehicle control device 10 determines whether or not the obtained color display of the vehicle traffic signal 140 is blue display, and if it is determined that the vehicle traffic signal 140 is blue display as a result of the determination, the vehicle control device 10 performs a step. It determines with YES by S10.
 ステップS10でYESと判定された場合(車両用信号機140が青表示であることが判定された場合)、車両制御装置10は、歩行者用信号機150が青点滅表示又は赤表示であるか否かを判定する(ステップS20)。具体的には車両制御装置10は、カメラ20の検出した自車両1の前方の画像21を取得し、この取得された画像21のうち所定の判定領域22を画像処理することで、歩行者用信号機150の色表示を取得する。そして、車両制御装置10は、この取得された歩行者用信号機150の色表示が青点滅表示又は赤表示であるか否かを判定する。車両制御装置10は、歩行者用信号機150が青点滅表示又は赤表示であると判定した場合にYESと判定する。 When it is determined YES in step S10 (when it is determined that the vehicle traffic signal 140 is displayed in blue), the vehicle control device 10 determines whether the pedestrian traffic signal 150 is displayed in blue blinking or red. Is determined (step S20). Specifically, the vehicle control device 10 acquires an image 21 in front of the host vehicle 1 detected by the camera 20, and performs image processing on a predetermined determination region 22 in the acquired image 21, so that the pedestrian is used. The color display of the traffic light 150 is acquired. And the vehicle control apparatus 10 determines whether the color display of this acquired pedestrian traffic light 150 is a blue blink display or a red display. The vehicle control apparatus 10 determines YES when it is determined that the pedestrian traffic light 150 is blue blinking display or red display.
 また、ステップS10及びステップS20を実行するにあたり、車両制御装置10は、図3で前述したように、自車両1と交差点110との距離が短くなるにつれて、判定領域22を拡大する。これにより、車両用信号機140及び歩行者用信号機150の色表示を精度良く判定することができる。 Further, when executing Step S10 and Step S20, the vehicle control device 10 expands the determination region 22 as the distance between the host vehicle 1 and the intersection 110 becomes shorter as described above with reference to FIG. Thereby, the color display of the traffic signal 140 for vehicles and the traffic signal 150 for pedestrians can be determined with sufficient accuracy.
 なお、車両制御装置10は、ステップS20において歩行者用信号機150の色表示を取得するにあたり、以下の処理を実行してもよい。具体的には、車両制御装置10は、ステップS10でYESと判定された場合に、ナビゲーションシステム50の検出結果に基づいて、交差点110の位置を推定する。次いで、車両制御装置10は、カメラ20の検出結果に基づいて交差点110を認識した場合、自車両1の走行車線101に対して直交する方向の道路(第2道路105)に描かれている「ゼブラ模様」を画像処理によって取得する。そして、車両制御装置10は、この取得されたゼブラ模様を横断歩道120bと認識する。次いで、車両制御装置10は、このように認識された横断歩道120bの上方にある信号機を画像処理によって認識し、これを歩行者用信号機150と認識する。そして、車両制御装置10は、このように認識された歩行者用信号機150の色表示を画像処理によって取得する。以上の処理によって、車両制御装置10は歩行者用信号機150の色表示を取得してもよい。 In addition, the vehicle control apparatus 10 may execute the following processing when acquiring the color display of the pedestrian traffic light 150 in step S20. Specifically, the vehicle control device 10 estimates the position of the intersection 110 based on the detection result of the navigation system 50 when it is determined YES in step S10. Next, when the vehicle control device 10 recognizes the intersection 110 based on the detection result of the camera 20, the vehicle control device 10 is drawn on a road (second road 105) in a direction orthogonal to the travel lane 101 of the host vehicle 1. "Zebra pattern" is acquired by image processing. And the vehicle control apparatus 10 recognizes this acquired zebra pattern as the pedestrian crossing 120b. Next, the vehicle control device 10 recognizes the traffic light above the pedestrian crossing 120b recognized in this way by image processing, and recognizes this as a traffic light 150 for pedestrians. And the vehicle control apparatus 10 acquires the color display of the pedestrian traffic light 150 recognized in this way by image processing. Through the above processing, the vehicle control device 10 may obtain the color display of the pedestrian traffic light 150.
 ステップS20でYESと判定された場合(歩行者用信号機150が青点滅表示又は赤表示であることが判定された場合)、車両制御装置10は、ナビゲーションシステム50の検出結果に基づいて交差点110と自車両1との距離を取得するとともに、車速センサ(センサ類40)の検出結果に基づいて自車両1の速度を取得し、この交差点110と自車両1との距離及び自車両1の速度に基づいて、自車両1が加速をしないと車両用信号機140が黄表示になるまでの間に交差点110を通過できないか否かを判定する(ステップS30)。 When it is determined YES in step S20 (when it is determined that the pedestrian traffic light 150 is blinking blue or red), the vehicle control device 10 determines that the intersection 110 is based on the detection result of the navigation system 50. While acquiring the distance with the own vehicle 1, the speed of the own vehicle 1 is acquired based on the detection result of the vehicle speed sensor (sensors 40), and the distance between the intersection 110 and the own vehicle 1 and the speed of the own vehicle 1 are obtained. Based on this, it is determined whether or not the vehicle 110 cannot pass through the intersection 110 until the vehicle traffic signal 140 becomes yellow unless the vehicle 1 accelerates (step S30).
 具体的には、まず、車両制御装置10の記憶装置12には、歩行者用信号機150が青点滅表示になってから車両用信号機140が黄表示になるまでに要する時間の予測値(「第1信号変化予測時間」と称する)、及び、歩行者用信号機150が赤表示になってから車両用信号機140が黄表示になるまでに要する時間の予測値(「第2信号変化予測時間」と称する)が予め記憶されている。なお、この第1信号変化予測時間及び第2信号変化予測時間は、例えば数秒程度の時間である。また、第1信号変化予測時間は第2信号変化予測時間よりも長い時間になっている。また、この第1信号変化予測時間及び第2信号変化予測時間は、厳密に正確な時間を設定することが容易でないため、例えば、予め実験等によって適当な数値(これは厳密に正確な時間である必要はない)を求めておき、記憶装置12に記憶させておけばよい。 Specifically, first, in the storage device 12 of the vehicle control device 10, a predicted value of the time required for the pedestrian traffic light 150 to be displayed in yellow after the pedestrian traffic light 150 is displayed in blue blinking (“No. 1) and a predicted value of the time required for the pedestrian traffic light 150 to be displayed in red until the vehicle traffic signal 140 is displayed in yellow ("second signal change predicted time"). Is stored in advance. The first signal change prediction time and the second signal change prediction time are, for example, about several seconds. In addition, the first signal change prediction time is longer than the second signal change prediction time. In addition, since it is not easy to set strictly accurate times for the first signal change prediction time and the second signal change prediction time, for example, an appropriate numerical value (this is strictly accurate time) in advance by experiments or the like. (It is not necessary to be present) and stored in the storage device 12.
 そして、ステップS20で歩行者用信号機150が青点滅表示であると判定された場合、ステップS30において車両制御装置10は、ステップS20で歩行者用信号機150が青点滅表示であると判定されてから第1信号変化予測時間が経過するまでの時間内に現在の自車両1の速度で(すなわち加速をせずに現在の自車両1の速度をキープした状態で)交差点110を通過できないか否かを演算する。一方、ステップS20で歩行者用信号機150が赤表示であると判定された場合、ステップS30において車両制御装置10は、ステップS20で歩行者用信号機150が赤表示であると判定されてから第2信号変化予測時間が経過するまでの時間内に現在の自車両1の速度で交差点110を通過することができないか否かを演算する。そして、車両制御装置10は、この演算の結果、現在の自車両1の速度で交差点110を通過できないと判断した場合には、ステップS30でYESと判定する。 If it is determined in step S20 that the pedestrian traffic light 150 is blinking blue, the vehicle control device 10 determines in step S30 that the pedestrian traffic light 150 is blinking blue. Whether or not the vehicle cannot pass through the intersection 110 at the current speed of the host vehicle 1 (that is, while keeping the current speed of the host vehicle 1 without acceleration) within the time until the first signal change prediction time elapses. Is calculated. On the other hand, when it is determined in step S20 that the pedestrian traffic light 150 is displayed in red, the vehicle control device 10 determines in step S30 the second time after it is determined in step S20 that the pedestrian traffic signal 150 is displayed in red. It is calculated whether or not it is not possible to pass the intersection 110 at the current speed of the host vehicle 1 within the time until the predicted signal change time elapses. If the vehicle control device 10 determines that it cannot pass through the intersection 110 at the current speed of the host vehicle 1 as a result of this calculation, it determines YES in step S30.
 ステップS30でYESと判定された場合(すなわち、自車両1が加速をしないと車両用信号機140が黄表示になるまでの間に交差点110を通過できないと判定された場合)、車両制御装置10は、自車両1の減速を開始させるとともに、交差点110の手前で自車両1が停止するように自車両1を制御する(ステップS40)。なお、車両制御装置10は、自車両1の車両走行システム60を制御することで、自車両1の減速の開始と、交差点110の手前での自車両1の停止を実行する。また、車両制御装置10は、交差点110の手前にある停止ライン130の手前で自車両1を停止させる。 When it is determined YES in step S30 (that is, when it is determined that the vehicle 1 cannot accelerate until the vehicle traffic signal 140 turns yellow until the vehicle traffic light 140 is displayed in yellow), the vehicle control device 10 is The host vehicle 1 is started to decelerate, and the host vehicle 1 is controlled so that the host vehicle 1 stops before the intersection 110 (step S40). The vehicle control device 10 controls the vehicle travel system 60 of the host vehicle 1 to start deceleration of the host vehicle 1 and stop the host vehicle 1 before the intersection 110. Further, the vehicle control device 10 stops the host vehicle 1 in front of the stop line 130 in front of the intersection 110.
 ステップS40の後に車両制御装置10は、フローチャートをスタートから実行する(リターン)。また、ステップS10、ステップS20、ステップS30でNOと判定された場合にも、車両制御装置10はフローチャートをスタートから実行する(リターン)。 After step S40, the vehicle control device 10 executes the flowchart from the start (return). Moreover, also when it determines with NO by step S10, step S20, and step S30, the vehicle control apparatus 10 performs a flowchart from a start (return).
 なお、ステップS10において車両用信号機140が青表示であるか否かを判定する車両制御装置10のCPU11は、「車両用信号機判定部」としての機能を有する部材に相当する。ステップS20において歩行者用信号機150が青点滅表示又は赤表示であるか否かを判定する車両制御装置10のCPU11は、「歩行者用信号機判定部」としての機能を有する部材に相当する。ステップS30及びステップS40を実行する車両制御装置10のCPU11は、「自車両停止制御部」としての機能を有する部材に相当する。 In addition, CPU11 of the vehicle control apparatus 10 which determines whether the vehicle signal apparatus 140 is blue display in step S10 is corresponded to the member which has a function as a "vehicle signal determination part." In step S20, the CPU 11 of the vehicle control device 10 that determines whether or not the pedestrian traffic light 150 is blinking blue or red is equivalent to a member having a function as a “pedestrian traffic light determination unit”. CPU11 of the vehicle control apparatus 10 which performs step S30 and step S40 is corresponded to the member which has a function as a "own vehicle stop control part."
 本実施形態の作用効果は以下のとおりである。本実施形態によれば、先行車両5に自車両1を追従させて走行させる自動運転走行の実行時に、車両用信号機140が青表示である場合において(ステップS10でYES)、歩行者用信号機150が青点滅表示又は赤表示のとき(ステップS20でYES)、すなわち、もうじき車両用信号機140が黄表示に変化することが予測される状況のときに、加速をしないと車両用信号機140が黄表示になるまでの間に交差点110を通過できないと判定されたときには(ステップS30でYES)、自車両1の減速を開始させて交差点110の手前で自車両1を停止させることができる(ステップS40)。これにより、自動運転走行の実行時において車両用信号機140が黄表示になった結果、先行車両5が減速を開始し、その後に自車両1が減速を開始する、といった従来技術に比較して、より早い時期に、自車両1の減速を開始することができる。この結果、自車両1を緩やかに減速させて、交差点110の手前に停止させることができる。 The operational effects of the present embodiment are as follows. According to the present embodiment, when the vehicle traffic signal 140 is displayed in blue (YES in step S10) during execution of automatic driving in which the host vehicle 1 follows the preceding vehicle 5 to travel, the pedestrian traffic signal 150 is displayed. Is flashing blue or red (YES in step S20), that is, when the vehicle traffic signal 140 is predicted to change to yellow, the vehicle traffic signal 140 will be yellow unless acceleration is performed. If it is determined that the vehicle cannot pass through the intersection 110 before the display is made (YES in step S30), the host vehicle 1 can be decelerated and the host vehicle 1 can be stopped before the intersection 110 (step S40). ). As a result, as a result of the vehicle traffic signal 140 becoming yellow when automatic driving traveling is executed, the preceding vehicle 5 starts decelerating, and then the host vehicle 1 starts decelerating. The deceleration of the host vehicle 1 can be started at an earlier time. As a result, the host vehicle 1 can be slowly decelerated and stopped before the intersection 110.
 また、本実施形態によれば、上記のように自車両1を緩やかに減速させて交差点110の手前に停止させることができるので、自車両1のエネルギーロスを減少させて燃費を向上させることもできる。また、自車両1を緩やかに減速させることができるので、ドライバーの精神的な負担を軽減させることもできる。また、自車両1の積荷に加わる負荷を低減させることもできる。 Moreover, according to this embodiment, since the own vehicle 1 can be gently decelerated and stopped before the intersection 110 as described above, the energy loss of the own vehicle 1 can be reduced to improve fuel efficiency. it can. Further, since the host vehicle 1 can be slowly decelerated, the mental burden on the driver can be reduced. Moreover, the load added to the load of the own vehicle 1 can also be reduced.
 また、本実施形態によれば、図3で説明したように、自車両1と交差点110との距離が短くなるにつれて所定の判定領域22を拡大するので、車両用信号機140及び歩行者用信号機150の色表示を精度よく判定することができる。これにより、自車両1を緩やかに減速させて交差点110の手前に停止させることを精度良く実行することができる。 In addition, according to the present embodiment, as described with reference to FIG. 3, the predetermined determination area 22 is enlarged as the distance between the host vehicle 1 and the intersection 110 becomes shorter, so the vehicle traffic signal 140 and the pedestrian traffic signal 150. Can be accurately determined. As a result, the host vehicle 1 can be slowly decelerated and stopped before the intersection 110 with high accuracy.
 以上本開示の好ましい実施形態について説明したが、本開示はかかる特定の実施形態に限定されるものではなく、特許請求の範囲に記載された本開示の要旨の範囲内において、種々の変形・変更が可能である。 Although the preferred embodiments of the present disclosure have been described above, the present disclosure is not limited to such specific embodiments, and various modifications and changes can be made within the scope of the gist of the present disclosure described in the claims. Is possible.
 本出願は、2017年4月28日付で出願された日本国特許出願(特願2017-089966)に基づくものであり、その内容はここに参照として取り込まれる。 This application is based on a Japanese patent application filed on April 28, 2017 (Japanese Patent Application No. 2017-089966), the contents of which are incorporated herein by reference.
 本発明は、自車両を緩やかに減速させて、交差点の手前に停止させることができるという効果を有し、車両制御装置および車両制御方法等に有用である。 The present invention has an effect that the host vehicle can be slowly decelerated and stopped before an intersection, and is useful for a vehicle control device, a vehicle control method, and the like.
1 自車両
5 先行車両
10 車両制御装置
11 CPU
21 画像
22 判定領域
110 交差点
120a,120b 横断歩道
130 停止ライン
140 車両用信号機
141 青信号
142 黄信号
143 赤信号
150 歩行者用信号機
151 青信号
152 赤信号
1 own vehicle 5 preceding vehicle 10 vehicle control device 11 CPU
21 Image 22 Judgment area 110 Intersection 120a, 120b Crosswalk 130 Stop line 140 Traffic light for vehicle 141 Green signal 142 Yellow signal 143 Red signal 150 Pedestrian traffic light 151 Green signal 152 Red signal

Claims (6)

  1.  先行車両に自車両を追従させて走行させる自動運転走行の実行時に、前記自車両の前方の交差点にある車両用信号機が青表示であるか否かを判定する車両用信号機判定部と、
     前記車両用信号機が前記青表示であると判定された場合において、歩行者が前記交差点を前記自車両の進行方向に横断するための歩行者用信号機が青点滅表示又は赤表示であるか否かを判定する歩行者用信号機判定部と、
     前記歩行者用信号機が前記青点滅表示又は前記赤表示であると判定された場合において、前記交差点と前記自車両との距離及び前記自車両の速度に基づいて、前記自車両が加速をしないと前記車両用信号機が黄表示になるまでの間に前記交差点を通過できないか否かを判定するとともに、加速をしないと前記車両用信号機が前記黄表示になるまでの間に前記交差点を通過できないと判定されたときに、前記自車両の減速を開始させるとともに前記交差点の手前で前記自車両が停止するように前記自車両を制御する自車両停止制御部と、を備える、車両制御装置。
    A vehicle traffic signal determination unit that determines whether or not a vehicle traffic signal at an intersection ahead of the host vehicle is displayed in blue when performing an automatic driving run in which the host vehicle follows the host vehicle and travels;
    Whether or not the pedestrian traffic light for the pedestrian to cross the intersection in the traveling direction of the own vehicle is blinking blue or red when the vehicle traffic signal is determined to be the blue display. A pedestrian traffic light determination unit for determining
    When it is determined that the pedestrian traffic light is the blue blinking display or the red display, the host vehicle has to accelerate based on the distance between the intersection and the host vehicle and the speed of the host vehicle. It is determined whether or not the intersection can not pass before the vehicle traffic signal is displayed in yellow, and if the vehicle traffic signal cannot pass through the intersection until the vehicle traffic signal is displayed in yellow unless acceleration is performed. A vehicle control device comprising: a host vehicle stop control unit configured to start deceleration of the host vehicle when it is determined and to control the host vehicle so that the host vehicle stops before the intersection.
  2.  前記車両用信号機判定部は、前記自車両の前方の画像を取得するとともに、この取得された前記画像のうち所定の判定領域を画像処理することによって、前記車両用信号機が前記青表示であることを判定し、
     前記車両用信号機判定部は、前記自車両と前記交差点との距離が短くなるにつれて、前記所定の判定領域を拡大する請求項1に記載の車両制御装置。
    The vehicle traffic signal determination unit acquires an image in front of the host vehicle and performs image processing on a predetermined determination area of the acquired image, so that the vehicle traffic signal is displayed in blue. And
    The vehicle control device according to claim 1, wherein the vehicle traffic light determination unit expands the predetermined determination region as the distance between the host vehicle and the intersection becomes shorter.
  3.  前記歩行者用信号機判定部は、前記自車両の前方の画像を取得するとともに、この取得された前記画像のうち所定の判定領域を画像処理することによって、前記歩行者用信号機が前記青点滅表示又は前記赤表示であるか否かを判定し、
     前記歩行者用信号機判定部は、前記自車両と前記交差点との距離が短くなるにつれて、前記所定の判定領域を拡大する請求項1又は2に記載の車両制御装置。
    The pedestrian traffic light determination unit acquires an image in front of the host vehicle, and performs image processing on a predetermined determination area of the acquired image, so that the pedestrian traffic signal is displayed in a blinking blue manner. Or determine whether the red display,
    The vehicle control device according to claim 1 or 2, wherein the pedestrian traffic light determination unit expands the predetermined determination region as the distance between the host vehicle and the intersection decreases.
  4.  制御装置を備えた車両の車両制御方法であって、前記方法は前記制御装置に以下を実行させる:
     先行車両に自車両を追従させて走行させる自動運転走行の実行時に、前記自車両の前方の交差点にある車両用信号機が青表示であるか否かを判定するステップと、
     前記車両用信号機が前記青表示であると判定された場合において、歩行者が前記交差点を前記自車両の進行方向に横断するための歩行者用信号機が青点滅表示又は赤表示であるか否かを判定するステップと、
     前記歩行者用信号機が前記青点滅表示又は前記赤表示であると判定された場合において、前記交差点と前記自車両との距離及び前記自車両の速度に基づいて、前記自車両が加速をしないと前記車両用信号機が黄表示になるまでの間に前記交差点を通過できないか否かを判定するステップと、
     加速をしないと前記車両用信号機が前記黄表示になるまでの間に前記交差点を通過できないと判定されたときに、前記自車両の減速を開始させるとともに前記交差点の手前で前記自車両が停止するように前記自車両を制御するステップと、を備える、車両制御方法。
    A vehicle control method for a vehicle with a control device, the method causing the control device to:
    Determining whether or not the vehicle traffic light at the intersection ahead of the host vehicle is displayed in blue when performing an automatic driving run in which the host vehicle follows the host vehicle and travels;
    Whether or not the pedestrian traffic light for the pedestrian to cross the intersection in the traveling direction of the own vehicle is blinking blue or red when the vehicle traffic signal is determined to be the blue display. Determining
    When it is determined that the pedestrian traffic light is the blue blinking display or the red display, the host vehicle has to accelerate based on the distance between the intersection and the host vehicle and the speed of the host vehicle. Determining whether or not the intersection cannot pass before the vehicle traffic signal is displayed in yellow;
    When it is determined that the vehicle traffic signal cannot pass through the intersection until the vehicle traffic light turns yellow unless the vehicle is accelerated, the host vehicle starts to decelerate and the host vehicle stops before the intersection. A step of controlling the host vehicle as described above.
  5.  前記車両用信号機が青表示であるか否かを判定するステップにおいて、
     前記自車両の前方の画像を取得するとともに、この取得された前記画像のうち所定の判定領域を画像処理することによって、前記車両用信号機が前記青表示であることを判定し、
     前記自車両と前記交差点との距離が短くなるにつれて、前記所定の判定領域を拡大する、
    請求項4に記載の車両制御方法。
    In the step of determining whether or not the vehicle traffic signal is displayed in blue,
    While acquiring the front image of the host vehicle and performing image processing on a predetermined determination area of the acquired image, the vehicle traffic light is determined to be the blue display,
    As the distance between the host vehicle and the intersection becomes shorter, the predetermined determination area is expanded.
    The vehicle control method according to claim 4.
  6.  前記歩行者用信号機が青点滅表示又は赤表示であるか否かを判定するステップにおいて、
     前記自車両の前方の画像を取得するとともに、この取得された前記画像のうち所定の判定領域を画像処理することによって、前記歩行者用信号機が前記青点滅表示又は前記赤表示であるか否かを判定し、
     前記自車両と前記交差点との距離が短くなるにつれて、前記所定の判定領域を拡大する、
    請求項4又は5に記載の車両制御方法。
    In the step of determining whether the pedestrian traffic light is blue flashing display or red display,
    Whether or not the pedestrian traffic light is the blue blinking display or the red display by acquiring an image ahead of the host vehicle and performing image processing on a predetermined determination area of the acquired image. And
    As the distance between the host vehicle and the intersection becomes shorter, the predetermined determination area is expanded.
    The vehicle control method according to claim 4 or 5.
PCT/JP2018/016571 2017-04-28 2018-04-24 Vehicle control device and vehicle control method WO2018199075A1 (en)

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