WO2018207813A1 - Dispositif et procédé de commande de véhicule - Google Patents

Dispositif et procédé de commande de véhicule Download PDF

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Publication number
WO2018207813A1
WO2018207813A1 PCT/JP2018/017910 JP2018017910W WO2018207813A1 WO 2018207813 A1 WO2018207813 A1 WO 2018207813A1 JP 2018017910 W JP2018017910 W JP 2018017910W WO 2018207813 A1 WO2018207813 A1 WO 2018207813A1
Authority
WO
WIPO (PCT)
Prior art keywords
lane
vehicle
lane change
preceding vehicle
control device
Prior art date
Application number
PCT/JP2018/017910
Other languages
English (en)
Japanese (ja)
Inventor
康司 杉浦
Original Assignee
いすゞ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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 CN201880031249.5A priority Critical patent/CN110636963A/zh
Publication of WO2018207813A1 publication Critical patent/WO2018207813A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to a vehicle control device, and more particularly, to a vehicle control device and a vehicle control method for executing an automatic driving run in which a preceding vehicle runs following a preceding vehicle.
  • the present disclosure can perform lane change with a time margin when a front obstacle is present ahead of the preceding vehicle during execution of the automatic driving traveling in which the host vehicle follows the preceding vehicle.
  • a vehicle control device is provided.
  • the vehicle control device determines whether or not the direction indicator of the preceding vehicle has been activated during execution of the automatic driving traveling in which the preceding vehicle travels following the host vehicle.
  • a lane change control unit that controls the host vehicle to change the lane to an adjacent lane while following the preceding vehicle when it is determined that the vehicle has operated.
  • the preceding vehicle tries to change the lane to the adjacent lane in order to avoid the front obstacle.
  • the direction indicator is operated before, the lane can be changed to the adjacent lane while following the preceding vehicle.
  • FIG. 1A is a schematic diagram showing a schematic configuration of the host vehicle.
  • FIG.1 (b) is a schematic diagram which shows an example of the state at the time of the autonomous driving driving
  • FIG. 2 is a functional block diagram of the host vehicle.
  • FIG. 3 is a diagram illustrating an example of a flowchart of a lane change control process according to the first embodiment.
  • FIG. 4 is a diagram illustrating an example of a flowchart of a lane change control process according to the second embodiment.
  • FIG. 5 is a diagram illustrating an example of a flowchart of a lane change control process according to the third embodiment.
  • FIG. 1A is a schematic diagram showing a schematic configuration of the host vehicle 1.
  • the host vehicle 1 for reference, right-handed XYZ orthogonal coordinates are shown. 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 is a commercial vehicle (specifically, a truck) having a cab 2 and a cargo bed 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 illustrating an example of a state when the host vehicle 1 is in an automatic driving mode.
  • the host vehicle 1 is traveling in the first lane 100.
  • a second lane 101 is provided next to the first lane 100. That is, the second lane 101 is an example of an adjacent lane adjacent to the first lane 100.
  • a preceding vehicle 5 is traveling ahead of the host vehicle 1.
  • the front obstacle 6 is another vehicle (a preceding vehicle) that travels ahead of the preceding vehicle 5 as an example.
  • the host vehicle 1 is traveling automatically so as to follow the preceding vehicle 5.
  • 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 forward radar sensor 30, an adjacent lane radar sensor 40, sensors 50, and a vehicle traveling 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 an angle value in a range in which the camera 20 can capture a lane (white line) and the preceding vehicle 5.
  • An image detected by the camera 20 is transmitted to the vehicle control device 10.
  • the vehicle control device 10 identifies a lane (white line) or the presence or absence of the preceding vehicle 5 from the image detected by the camera 20 using image processing technology.
  • the direction indicator of the preceding vehicle 5 is provided at least at the rear end of the preceding vehicle 5. For this reason, the direction indicator of the preceding vehicle 5 can be photographed by the camera 20 of the host vehicle 1. Therefore, the vehicle control device 10 also identifies the presence / absence of the operation of the direction indicator of the preceding vehicle 5 (specifically, the presence / absence of blinking of the direction indicator) from the image detected by the camera 20 using image processing technology. To do.
  • the front 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 forward 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 forward radar sensor 30.
  • the adjacent lane radar sensor 40 detects an obstacle (adjacent obstacle) existing in the adjacent lane by sensing a predetermined area of the adjacent lane.
  • the adjacent lane radar sensor 40 includes a lateral radar sensor that senses a predetermined region in the lateral direction of the host vehicle 1 in the adjacent lane, and an oblique rearward of the host vehicle 1 in the adjacent lane.
  • the slanting rear radar sensor for sensing a predetermined region and a slanting front radar sensor for sensing a predetermined region diagonally forward of the host vehicle 1 in the adjacent lane.
  • the radar sensor 40 for adjacent lanes detects the presence or absence of obstacles in the lateral direction, diagonally rearward, and diagonally forward of the host vehicle 1 in the adjacent lanes, and the detected result is detected by the vehicle control device 10. To tell.
  • Sensors 50 are sensors other than the forward radar sensor 30 and the adjacent lane radar sensor 40. Examples of the sensors 50 include a speed sensor that detects the speed of the host vehicle 1.
  • 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 for driving 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 steering of the host vehicle 1. It includes a steering system that is a system to perform.
  • a diesel engine is used as an example of the engine.
  • AMT Automatic Manual Transmission
  • the vehicle control device 10 includes a CPU 11 that executes various control processes, and a microcomputer that has 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. Further, the CPU 11 according to the present embodiment corresponds to a member having a function as a “lane change control unit”.
  • 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 forward radar sensor 30, and the sensors 50, so While maintaining a certain range of inter-vehicle distance from the vehicle 1, the host vehicle 1 is automatically driven within a preset range of the vehicle speed of the host vehicle 1.
  • working itself can apply the control technology of 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 signal for requesting completion of the automatic driving travel ends the execution of the automatic driving travel.
  • the vehicle control device 10 is connected to a setting device (not shown) for setting a vehicle speed range (for example, the upper limit speed is 100 km / h) when the driver is driving automatically. Performs automatic driving within the vehicle speed range set in the setting device.
  • a vehicle speed range for example, the upper limit speed is 100 km / h
  • FIG. 3 is a diagram illustrating an example of a flowchart of the lane change control process according to the present embodiment. Specifically, the lane change control unit (CPU 11) of the vehicle control device 10 starts execution of the flowchart of FIG.
  • step S10 the lane change control unit of the vehicle control device 10 determines whether the direction indicator of the preceding vehicle 5 has been activated during execution of automatic driving (that is, during execution of automatic driving). Determine whether or not.
  • the lane change control unit acquires an image detected by the camera 20, and performs image processing on the acquired image to determine whether or not the direction indicator of the preceding vehicle 5 is activated. Determine.
  • a specific example is as follows.
  • step S10 the lane change control unit determines whether or not the direction indicator of the preceding vehicle 5 has flashed by performing image processing on the image of the camera 20. In this way, step S10 is executed.
  • step S10 the lane change control unit executes the flowchart from the start (return).
  • the lane change control unit determines whether there is an obstacle (adjacent obstacle) in the adjacent lane. Is determined (step S20). Specifically, the lane change control unit determines whether there is an adjacent obstacle in the lateral direction, diagonally backward, and diagonally forward of the host vehicle 1 in the adjacent lane based on the detection result of the adjacent lane radar sensor 40. judge.
  • step S20 When it is determined NO in step S20 (that is, when it is determined that there is an adjacent obstacle in the adjacent lane), the lane change control unit prohibits the lane change to the adjacent lane and executes the flowchart from the start ( return). That is, when it is determined NO in step S20, the lane change to the adjacent lane is not performed.
  • step S20 When it is determined YES in step S20 (that is, when it is determined that there is no adjacent obstacle in the adjacent lane), the lane change control unit changes the lane to the adjacent lane while following the preceding vehicle 5.
  • the host vehicle 1 is controlled (step S30). Specifically, the lane change control unit controls the vehicle traveling system 60 based on the detection results of the camera 20, the forward radar sensor 30, and the sensors 50, so that a certain range is reached between the preceding vehicle 5. While maintaining the inter-vehicle distance, the vehicle 1 is changed to the adjacent lane while following the preceding vehicle 5 within the vehicle speed range set in advance.
  • step S30 the lane change control unit executes the flowchart from the start (return).
  • the preceding vehicle 5 when the automatic driving traveling is executed, even if the front obstacle 6 exists in front of the preceding vehicle 5, the preceding vehicle 5 avoids the front obstacle 6 so that the adjacent lane is avoided. If the direction indicator is operated to change the lane before changing to the lane, and there is no adjacent obstacle in the adjacent lane, the lane can be changed to the adjacent lane while following the preceding vehicle 5. . As a result, it is possible to change the lane with sufficient time margin as compared with the case where the lane change of the host vehicle 1 is started after the lane change of the preceding vehicle 5 is completed, and further, the adjacent lane has an adjacent obstacle. Since there is no lane change, the lane change is performed, so that the safety of the lane change can be improved.
  • the driver of the host vehicle 1 cannot visually recognize the front obstacle 6 in front of the preceding vehicle 5, and the front obstacle is not changed until the preceding vehicle 5 changes the lane to the adjacent lane.
  • the case where the thing 6 can be visually recognized is considered.
  • the front obstacle 6 suddenly appears on the front side of the own vehicle 1, and the driver rushes to change the lane of the own vehicle 1 to the adjacent lane.
  • a sudden and unexpected situation can be avoided.
  • the driving burden on the driver can be reduced, and driving errors (human errors) caused by the driver can also be suppressed. Thereby, the safety
  • FIG. 4 is a diagram illustrating an example of a flowchart of a lane change control process of the vehicle control device 10a according to the second embodiment of the present disclosure.
  • the vehicle control device 10a is different from the vehicle control device 10 according to the first embodiment in that the flowchart of FIG. 4 is executed instead of the flowchart of FIG.
  • the flowchart of FIG. 4 differs from the flowchart of FIG. 3 in that step S20 is not included.
  • step S10 when the lane change control unit of vehicle control device 10a determines that the direction indicator of preceding vehicle 5 is activated during execution of automatic driving travel (when YES is determined in step S10). ), The lane change to the adjacent lane is performed while following the preceding vehicle 5 (step S30).
  • the preceding vehicle 5 changes lanes to the adjacent lane in order to avoid the front obstacle 6. If the direction indicator of the preceding vehicle 5 is activated before changing the lane, the lane can be changed to the adjacent lane while following the preceding vehicle 5. Thereby, it is possible to change lanes with sufficient time margin.
  • the first embodiment changes the lane when the condition that there is no adjacent obstacle in the adjacent lane is further satisfied. High safety in changing lanes. For this reason, from the viewpoint of improving the safety of lane change, the first embodiment is preferable.
  • FIG. 5 is a diagram illustrating an example of a flowchart of a lane change control process of the vehicle control device 10b according to the third embodiment of the present disclosure.
  • the vehicle control device 10b is different from the vehicle control device 10 according to the first embodiment in that the flowchart of FIG. 5 is executed instead of the flowchart of FIG.
  • the flowchart of FIG. 5 differs from the flowchart of FIG. 3 in that it further includes step S25 and step S26.
  • the lane change control unit of the vehicle control device 10b changes the lane to the adjacent lane for the driver of the host vehicle 1 before changing the lane to the adjacent lane according to step S30. (Step S25), and if the result of this notification is a prohibition instruction from the driver, the lane change to the adjacent lane is prohibited (in the case of NO in step S26), and there is a permission instruction from the driver (In the case of YES at step S26), the lane change to the adjacent lane is performed at step S30. Details of a specific example of this embodiment are as follows.
  • a notification device for notifying the driver that the lane change to the adjacent lane is performed is arranged.
  • the specific configuration of the notification device is not particularly limited, and a display that displays character information, graphic information, and the like, a speaker that emits audio information, a combination thereof, and the like can be used.
  • a speaker is used as an example of the notification device.
  • a switch (referred to as a “lane change prohibition instruction switch”) is provided in the driver's seat of the host vehicle 1 so that the driver transmits a lane change prohibition instruction and permission instruction to the adjacent lane to the vehicle control device 10b. Has been. Specifically, this lane change prohibition instruction switch is normally OFF. Then, when the driver prohibits lane change, the driver turns on the lane change prohibition instruction switch.
  • the lane change control unit of the vehicle control device 10b determines YES in step S20 in FIG. 5, the lane change control unit notifies the speaker as the notification device that “change lane to the adjacent lane” in step S25.
  • the voice information is notified. This requests the driver for feedback regarding whether or not to allow lane change.
  • step S26 When the driver who has received this notification turns on the lane change prohibition instruction switch (when the lane change prohibition instruction is given), it is determined as NO in step S26. In this case, the lane change control unit prohibits the execution of step S30 and executes the flowchart from the start (return). That is, in this case, the lane change is not performed.
  • step S25 if the driver who has received the notification that “change lane to adjacent lane” in step S25 does not turn on the lane change prohibition instruction switch (that is, gives a lane change permission instruction), It is determined YES in step S26. In this case, the lane change control unit permits execution of step S30 and actually executes step S30. As a result, the lane change to the adjacent lane is performed.
  • the driver lanes to the adjacent lane If you do n’t like to be changed (that is, if you give a lane change prohibition instruction), you can ban lane changes to the adjacent lane, and the driver allows lane changes to the adjacent lane ( Lane change can be performed in the case of YES in step S26. Thereby, it is possible to change the lane to the adjacent lane while respecting the driver's intention.
  • FIG. 5 does not include step S20. That is, in this case, when the lane change control unit determines that the direction indicator of the preceding vehicle 5 is activated during execution of the automatic driving travel (in the case of YES in step S10), the lane change control unit executes step S25 and performs the notification device. To notify that “the lane is changed to the adjacent lane”. Even in this configuration, it is possible to change the lane to the adjacent lane while respecting the driver's intention.
  • the preceding vehicle tries to change the lane to the adjacent lane in order to avoid the front obstacle.
  • the direction indicator is operated before, it is possible to change to the adjacent lane while following the preceding vehicle.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

Le dispositif de commande de véhicule selon l'invention comprend une unité de commande de changement de voie : qui, pendant l'exécution d'un déplacement de conduite automatique dans lequel le présent véhicule est amené à se déplacer de manière à suivre un véhicule précédent, détermine si un indicateur de direction du véhicule précédent a fonctionné ou non ; dans les cas où il est déterminé que l'indicateur de direction a fonctionné, qui commande le présent véhicule pour que celui-ci change de voie vers une voie adjacente tout en suivant le véhicule précédent.
PCT/JP2018/017910 2017-05-12 2018-05-09 Dispositif et procédé de commande de véhicule WO2018207813A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201880031249.5A CN110636963A (zh) 2017-05-12 2018-05-09 车辆控制装置及车辆控制方法

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017-095214 2017-05-12
JP2017095214A JP6950269B2 (ja) 2017-05-12 2017-05-12 車両制御装置

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WO2018207813A1 true WO2018207813A1 (fr) 2018-11-15

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Publication number Priority date Publication date Assignee Title
JP2020158048A (ja) * 2019-03-28 2020-10-01 本田技研工業株式会社 車両制御装置、車両制御方法、およびプログラム
JP7390884B2 (ja) * 2019-12-19 2023-12-04 日産自動車株式会社 走行環境推定方法、走行支援方法及び走行環境推定装置

Citations (2)

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Publication number Priority date Publication date Assignee Title
JP2013173383A (ja) * 2012-02-23 2013-09-05 Nippon Soken Inc 車両用追従制御装置
JP6109998B1 (ja) * 2016-03-07 2017-04-05 先進モビリティ株式会社 車両位置認識システム

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Publication number Priority date Publication date Assignee Title
JP3738762B2 (ja) * 2003-02-06 2006-01-25 日産自動車株式会社 車両用走行制御装置
JP2005145187A (ja) * 2003-11-13 2005-06-09 Nissan Motor Co Ltd 車両用走行制御装置
JP5304735B2 (ja) * 2010-06-15 2013-10-02 三菱自動車工業株式会社 追従制御装置
JP6349781B2 (ja) * 2014-02-28 2018-07-04 アイシン・エィ・ダブリュ株式会社 車両制御システム、方法およびプログラム
JP2016168985A (ja) * 2015-03-16 2016-09-23 トヨタ自動車株式会社 走行制御装置

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013173383A (ja) * 2012-02-23 2013-09-05 Nippon Soken Inc 車両用追従制御装置
JP6109998B1 (ja) * 2016-03-07 2017-04-05 先進モビリティ株式会社 車両位置認識システム

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CN110636963A (zh) 2019-12-31
JP6950269B2 (ja) 2021-10-13
JP2018192815A (ja) 2018-12-06

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