WO2019073817A1

WO2019073817A1 - Vehicle control device

Info

Publication number: WO2019073817A1
Application number: PCT/JP2018/036215
Authority: WO
Inventors: 勉金子
Original assignee: 日立オートモティブシステムズ株式会社
Priority date: 2017-10-12
Filing date: 2018-09-28
Publication date: 2019-04-18
Also published as: JP2021015314A

Abstract

The purpose of the present invention is to obtain a vehicle control device that can cause a host vehicle to change lanes with a smooth operation. This vehicle control device 1 performs lane change control for causing a host vehicle to move from a first lane to an adjacent second lane, the vehicle control device 1 being characterized in that the speed of the host vehicle for moving the host vehicle from the first lane to the second lane and behind a preceding vehicle, which is traveling in front of the host vehicle and in the second lane, is set on the basis of the speed or acceleration/deceleration of the preceding vehicle and the speed or acceleration/deceleration of a pre-preceding vehicle that is traveling in front of the preceding vehicle and in the second lane.

Description

Vehicle control device

The present invention relates to a vehicle control device that automatically changes lanes of a host vehicle.

Conventionally, there have been proposed various vehicle control techniques for automatically changing the lane of the vehicle, such as moving from a merging lane to a main line, or moving between traveling lanes or traveling lanes and overtaking lanes, etc. It is done.

Patent Document 1 shows a configuration of a driving support apparatus for the purpose of eliminating or reducing the discomfort given to the occupants of the moving objects in the driving support of moving objects at the junction. The traveling support device of Patent Document 1 is a traveling mode candidate group including a plurality of traveling mode candidates relative to the peripheral moving body of the target moving body 1 in the merging period including the period from the reference time to the merging completion time. The traveling with the highest probability of appearance based on the state of the peripheral moving body recognized by the peripheral moving body state recognition means using the confluence model showing the correlation between the state of the peripheral moving body and the appearance probability of each traveling mode candidate And a traveling mode candidate selecting unit for selecting a mode candidate.

JP, 2016-110406, A

In patent document 1, control of the own vehicle is performed based on the relationship between the own vehicle which drive | works a junction lane, and the preceding vehicle which drive | works a main line. However, since the behavior of the preceding vehicle is affected by the behavior of the preceding vehicle which precedes the preceding vehicle, for example, when the lane change control of the own vehicle is performed focusing only on the relationship with the preceding vehicle, There is a possibility that a rapid deceleration operation or a danger avoidance operation may occur.

The present invention has been made in view of the above-described point, and an object of the present invention is to provide a vehicle control device capable of changing the lane of the host vehicle by a smooth operation.

A vehicle control device according to the present invention which solves the above-mentioned problems is a vehicle control device which performs lane change control for moving the vehicle from the first lane to the adjacent second lane, and is ahead of the vehicle. The own vehicle is selected based on the speed or acceleration of the preceding vehicle traveling on the second lane and the speed or acceleration of the preceding vehicle traveling on the second lane ahead of the preceding vehicle. It is characterized by setting the speed of the own vehicle for moving from the first lane to the second lane and behind the preceding vehicle.

According to the present invention, since the speed or acceleration / deceleration of the host vehicle at the time of lane change is set in consideration of not only the preceding vehicle but also the behavior of the preceding vehicle, rapid deceleration operation and danger avoidance operation are performed on the host vehicle. The occurrence can be suppressed, and the own vehicle can be changed in lane by a smooth operation.

Further features related to the present invention will become apparent from the description of the present specification and the accompanying drawings. Further, problems, configurations and effects other than those described above will be clarified by the description of the following embodiments.

1 is a functional block diagram of a vehicle control device according to an embodiment of the present invention. The control flow figure by the vehicle control device concerning the embodiment of the present invention. The figure explaining an example of the lane change control which moves an own vehicle to a main line from a confluence lane. The vehicle speed chart in case the vehicle control apparatus concerning embodiment of this invention is not applied. The vehicle speed chart at the time of the vehicle control apparatus concerning embodiment of this invention being applied. The vehicle speed chart at the time of the vehicle control apparatus concerning embodiment of this invention being applied. The vehicle speed chart which shows the example of control in case the separation distance of a preceding vehicle and a preceding vehicle is short. The vehicle speed chart which shows the example of control in case the separation distance of a preceding vehicle and a preceding vehicle is long. The figure explaining an example of the lane change control which moves an own vehicle from a driving lane to a passing lane.

Next, an embodiment of the present invention will be described.
FIG. 1 is a functional block diagram of a vehicle control device according to an embodiment of the present invention.
The vehicle control device 1 is mounted on the host vehicle, and performs lane change control for moving the host vehicle from the first lane in which the host vehicle is traveling to the adjacent second lane during automatic driving. . The definition of lane change includes, for example, the case of merging from a merging lane of an expressway to a main line, the case of moving between two adjacent traveling lanes, or between a traveling lane and an overtaking lane.

The vehicle control device 1 is configured by hardware such as an on-board ECU, for example, and is embodied by cooperation with a software program. As shown in FIG. 1, the vehicle control device 1 has the vehicle information output unit 11 and the sensors 12 to 15 connected on the input side, and the steering wheel control actuator 31, the acceleration control actuator 32, and the deceleration control actuator 33 on the output side. Is connected.

The vehicle information output unit 11 has communication means such as a CAN bus that communicates information with, for example, a vehicle ECU, and operates vehicle speed, acceleration / deceleration, steering angle, accelerator pedal as vehicle information of the own vehicle The vehicle information such as the amount and the operation amount of the brake pedal is acquired and output to the vehicle control device 1.

Each of the sensors 12 to 15 is for acquiring information on the environment around the vehicle of the own vehicle, and detects other vehicles existing around the own vehicle 41 (vehicle detection means). Each of the sensors 12 to 15 is constituted by, for example, a camera, a laser radar, a lidar, a sonar or the like. The forward direction sensor 12 detects the other vehicle present ahead of the host vehicle 41, the front side sensor 13 detects the other vehicle present diagonally forward of the host vehicle 41, and the rear side sensor 14 The other vehicle present in the left and right rear and the rear of the vehicle is detected, and the side sensor detects the other vehicle present in the left and right of the own vehicle. The means for acquiring information on the environment around the own vehicle is not limited to the sensors 12 to 15. For example, information on the environment around the vehicle of the vehicle may be acquired by road-to-vehicle communication that communicates with infrastructure equipment such as roads or facilities, or inter-vehicle communication that communicates with other vehicles.

The steering wheel control actuator 31 steers the vehicle based on a control instruction output from the vehicle control device 1 and moves the vehicle along a traveling track set to change lanes. The acceleration control actuator 32 and the deceleration control actuator 33 control the throttle valve and the brake actuator of the host vehicle to accelerate and decelerate the host vehicle to adjust the vehicle speed.

The vehicle control device 1 includes a sensor data integration unit 21, a three-dimensional object information unit 22, an action prediction unit 23, a traveling track / speed creation unit 24, and a control instruction generation unit 25.

The sensor data integration unit 21 integrates the data input from the vehicle information output unit 11 and the sensors 12 to 15 to perform processing for recognizing the environment around the host vehicle. The three-dimensional object information unit 22 acquires, from the information integrated by the sensor data integration unit 21, information of other vehicles (for example, a preceding vehicle, a forward vehicle, a backward vehicle, etc.) present around the host vehicle. As the information of the other vehicle, for example, information such as the presence or absence of the other vehicle and the position of the other vehicle is acquired. The behavior prediction unit 23 predicts the behavior of another vehicle existing around the host vehicle. The action prediction of the other vehicle is performed, for example, using the vehicle speed and acceleration / deceleration of the other vehicle.

The traveling track / speed creation unit 24 performs processing for creating a traveling track and a speed for the host vehicle to change lanes. The traveling track / speed creation unit 24 creates a traveling track and a speed based on the information of other vehicles existing around the host vehicle and the action prediction.

The control instruction generation unit 25 controls the steering wheel control actuator 31, the acceleration control actuator 32, and the deceleration control actuator 33 so as to control the vehicle so as to have the traveling trajectory and the velocity created by the traveling trajectory / speed creating unit 24. And outputs a control instruction signal to each.

Next, as an example of the lane change control by the vehicle control device according to the embodiment of the present invention, the case of moving the host vehicle from the merging lane to the main line will be described.

FIG. 2 is a control flow chart of the vehicle control apparatus according to the embodiment of the present invention, and FIG. 3 is a diagram for explaining lane change control for moving the host vehicle from the merging lane to the main line as an example of lane change control.

The example shown in FIG. 3 shows a state in which the host vehicle 41 is traveling in the merging lane (first lane) 61. Then, on the main line (second lane) 62 adjacent to the merging lane 61, the preceding vehicle 51 traveling ahead of the host vehicle 41, the preceding vehicle 52 traveling ahead of the leading vehicle 51, and the host vehicle 41 There is a rear vehicle 53 that travels further to the rear.

Regions

42 and 43 shown in FIG. 3 indicate detection regions where other vehicles can be detected by the sensors 12 to 15 mounted on the host vehicle 41. In the region 42, the leading vehicle 51 and the rear vehicle are shown. 53 is included, and the area 43 includes a vehicle 52 traveling ahead.

When the own vehicle 41 enters the merging lane 61, the vehicle control device 1 determines that the joining is started, and performs control to accelerate the own vehicle 41 normally (S101). Here, an acceleration control command is output from the vehicle control device 1 to the acceleration control actuator 32, and the host vehicle 41 is accelerated to a previously set merging speed.

The vehicle control device 1 determines whether the vehicle speed of the host vehicle 41 has reached the merging speed (S102), and if it is determined that the merging speed is reached (YES in S102), the presence or absence of the preceding vehicle 52 Is determined (S104). If the preceding vehicle 52 is present (NO in S104), the deceleration of the preceding vehicle 52 and the deceleration of the preceding vehicle 51 are calculated (deceleration calculation means). The decelerations of the preceding vehicle 52 and the leading vehicle 51 can be calculated, for example, by the change in relative speed with respect to the host vehicle 41.

Then, whether or not the deceleration of the preceding vehicle 52 is smaller than a first threshold Th1 set in advance, and whether the deceleration of the leading vehicle 51 is smaller than a second threshold Th2 set in advance It is determined (S105). The first threshold Th1 and the second threshold Th2 are set to, for example, 10%. That is, when the deceleration of the preceding vehicle 52 and the preceding vehicle 51 is smaller than 10%, it is determined that the deceleration is small.

When it is determined that the deceleration of the preceding vehicle 52 is smaller than the first threshold Th1 and the deceleration of the leading vehicle 51 is smaller than the second threshold Th2 (YES in S105), the vehicle change control is executed. To step S106 to determine if the deceleration of the preceding vehicle 52 is greater than or equal to the first threshold Th1 or the deceleration of the preceding vehicle 51 is greater than or equal to the second threshold Th2 (NO in S105). The process shifts to the process of step S108 to interrupt the lane change control.

When it is judged as YES by step S105, when self-vehicles 41 approach between leading vehicle 51 and back vehicles 53, it is judged whether a predetermined distance can be secured between self-vehicles 41 and back vehicles 53. (S106). Then, when it is determined that the predetermined distance can be secured between the vehicle 53 and the rear vehicle 53 (YES in S106), the vehicle 41 for moving the own vehicle 41 behind the leading vehicle 51 of the main line 62 from the merging lane 61 The acceleration / deceleration speed of is calculated and set (S107).

When the host vehicle 41 enters between the leading vehicle 51 and the rear vehicle 53, the processing for securing a predetermined distance between the host vehicle 41 and the rear vehicle 53 is performed by the vehicle control of the rear vehicle 53. It can also be run. Accordingly, the process of step S106 can be omitted in the vehicle control device 1.

The vehicle control device 1 calculates and sets the acceleration / deceleration of the host vehicle 41 based on the deceleration of the leading vehicle 51 and the deceleration of the preceding vehicle 52 (acceleration / deceleration setting means). The vehicle control device 1 calculates the acceleration / deceleration of the host vehicle 41 in consideration of the separation distance between the preceding vehicle 52 and the preceding vehicle 51.

For example, a first reference distance and a second reference distance longer than the first reference distance are set in advance, and the separation distance between the leading vehicle 51 and the preceding vehicle 52 is shorter than the first reference distance. In this case, deceleration of the own vehicle 41 is started at substantially the same timing as the preceding vehicle 51 starts decelerating, and a deceleration larger than the deceleration of the preceding vehicle 51 is set as the acceleration / deceleration of the own vehicle 41. Do.

When the separation distance between the leading vehicle 51 and the preceding vehicle 52 is longer than the second reference distance, the deceleration of the own vehicle 41 is started according to the deceleration state of the preceding vehicle 52, and the deceleration of the preceding vehicle 52 is started. The acceleration / deceleration speed of the host vehicle is set based on.

When the acceleration / deceleration of the vehicle 41 is set in step S107, the vehicle control device 1 controls the lane change using the acceleration / deceleration (S103).

If it is determined that the host vehicle 41 has not reached the merging speed due to normal acceleration in step S101 (NO in S102), merging is interrupted (S110), and the process of lane change control shown in FIG. It will be redone. Further, when the deceleration of the vehicle 52 ahead is the first threshold Th1 or more, or the deceleration of the leading vehicle 51 is the second threshold Th2 or more (NO in S105), or the predetermined distance between the vehicle 53 and the rear vehicle 53 When it is determined that it is impossible to secure (NO in S106), the lane change control is interrupted (S108). The interruption of the lane change control temporarily stops the merging. Then, after monitoring the surrounding vehicles, the merging is resumed.

Next, a specific control example will be described using a vehicle speed chart.

FIG. 4 is a vehicle speed chart when the vehicle control device according to the embodiment of the present invention is not applied, and (1) schematically shows a state where the host vehicle merges with the main line from the merging lane; Shows the change in the vehicle speed of the host vehicle when the preceding vehicle decelerates and the preceding vehicle also decelerates accordingly, and (3) is an enlarged view of the main part of (2).

The vehicle 41 accelerates to the same speed as the preceding vehicle 52 and the preceding vehicle 51 in the merging lane 61 from time t1 to time t2 and moves from the merging lane 61 to the main line 62 from time t2 to time t3. The change is made, and the inter-vehicle adjustment is performed after time t3.

For example, as shown in FIGS. 4 (2) and 4 (3), when the preceding vehicle 52 starts to decelerate, the preceding vehicle 51 starts to decelerate by observing the decelerating action of the preceding vehicle 52. Therefore, the timing B at which the leading vehicle 51 starts to decelerate is later than the timing A at which the second traveling vehicle 52 starts to decelerate. The timing C at which the host vehicle 41 starts to decelerate is later than the timing B at which the preceding vehicle 51 starts to decelerate by time t.

Therefore, the vehicle speed of the own vehicle 41 is increased to the vehicle speed before the slowing vehicle 52 decelerates, and is then lowered to the same vehicle speed (the same speed) as the decelerated vehicle speed of the forward vehicle 52 and the preceding vehicle 51. As shown in the inclined portion d1, the speed is rapidly reduced. As described above, when the host vehicle 41 is controlled by paying attention only to the action of the leading vehicle 51, there is a possibility that the host vehicle 41 may generate a rapid deceleration operation or a danger avoidance operation.

FIG. 5 is a vehicle speed chart when lane change control is performed by the vehicle control device according to the embodiment of the present invention.

For example, as shown in FIG. 5 (2), when the forward vehicle 52 and the leading vehicle 51 pass without decelerating, the deceleration of the forward vehicle 52 and the leading vehicle 51 is smaller than the threshold Th1 and Th2 (YES in S105) . Therefore, if it is possible to secure a predetermined distance from the rear vehicle 53 (YES in S106), the acceleration / deceleration of the own vehicle 41 is set (S107), and control is performed to change the lane from the merging lane to the main line (S103) .

By this control, the own vehicle 41 can accelerate to the same speed as the preceding vehicle 52 and the preceding vehicle 51 from time t1 to time t2 and move from the merging lane 61 to the main line 62 from time t2 to time t3. Therefore, it is possible to change the lane of the host vehicle 41 by a smooth operation.

FIG. 6 is a vehicle speed chart when lane change control is performed by the vehicle control device according to the embodiment of the present invention.

For example, as shown in FIG. 6 (2), when the preceding vehicle 52 starts to decelerate while the host vehicle 41 accelerates in the merging lane, the vehicle control device 1 decelerates the preceding vehicle 51 according to the deceleration of the preceding vehicle 52. This can be predicted, and deceleration of the host vehicle 41 can be started almost simultaneously with deceleration of the leading vehicle 51.

Therefore, compared with the example shown in FIG. 4 (3), the time t from the timing B when the leading vehicle 51 starts to decelerate to the timing C when the host vehicle 41 starts decelerating can be shortened. As a result, the deceleration acting on the host vehicle 41 can be reduced as shown by the inclined portion d2, and it is possible to prevent the host vehicle 41 from generating a rapid deceleration operation or a danger avoidance operation.

FIG. 7 is a vehicle speed chart showing an example of control when the separation distance between the preceding vehicle 52 and the preceding vehicle 51 is short.

For example, when the separation distance between the preceding vehicle 52 and the preceding vehicle 51 is shorter than the first reference distance set in advance, the preceding vehicle 51 starts decelerating in a relatively short time from the start of the deceleration of the preceding vehicle 52 Is predicted.

Since the vehicle control device 1 calculates and sets the acceleration / deceleration of the own vehicle 41 based on the deceleration of the preceding vehicle 52 and the deceleration of the preceding vehicle 51, as shown in FIG. 7 (3), the preceding vehicle The deceleration of the vehicle 41 can be started at substantially the same timing C as the timing B at which the vehicle speed 51 starts to decelerate. Then, since the separation distance between the preceding vehicle 52 and the preceding vehicle 51 is shorter than the first reference distance, as shown in FIG. 7 (3), the preceding vehicle is shown as the acceleration / deceleration of the own vehicle 41 as shown by the inclined portion d3. A deceleration larger than the deceleration of 51 is set, and the inter-vehicle distance between the host vehicle 41 and the preceding vehicle 51 can be secured.

FIG. 8 is a vehicle speed chart showing an example of control when the separation distance between the preceding vehicle 52 and the preceding vehicle 51 is long.

For example, when the separation distance between the preceding vehicle 52 and the preceding vehicle 51 is longer than the second reference distance set in advance, the preceding vehicle 51 decelerates after a relatively long time has elapsed since the deceleration of the preceding vehicle 52 started. It is expected to be launched.

The vehicle control device 1 calculates and sets the acceleration / deceleration of the host vehicle 41 based on the deceleration of the host vehicle 52, so that the overshoot d4 is an amount by which the vehicle speed of the host vehicle 41 exceeds the vehicle speed after deceleration of the host vehicle 52. Can be made small, and the lane change can be made by smooth operation.

In the above embodiment, although the case of lane change for moving the vehicle 41 from the merging lane to the main line has been described as an example, the present invention is not limited to such a situation, and can be similarly applied to other situations. .

FIG. 9 is a diagram for explaining an example of the lane change control for moving the host vehicle from the traveling lane to the overtaking lane. According to the vehicle control device 1 of the present embodiment, as shown in FIG. 9, based on the speed of the leading vehicle 51 and the speed of the preceding vehicle 52, the own vehicle 41 is the first lane from the traveling lane 63 It is possible to set the speed of the own vehicle 41 for moving on the passing lane 64 which is the second lane and behind the preceding vehicle 51.

As mentioned above, although the embodiment of the present invention was explained in full detail, the present invention is not limited to the above-mentioned embodiment, and various designs are possible in the range which does not deviate from the spirit of the present invention described in the claim. It is possible to make changes. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the described configurations. Further, part of the configuration of one embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of one embodiment. Furthermore, with respect to a part of the configuration of each embodiment, it is possible to add / delete / replace other configurations.

In the above embodiment, although the case where there is one forward vehicle 52 is described as an example, a plurality of forward vehicles 52 may be used. For example, vehicles existing ahead of the forward vehicle 52 are also recognized as the forward vehicle 52 The speed of the vehicle 41 may be set based on the speeds of the plurality of forward vehicles 52.

1 Vehicle control device 41 Host vehicle 51 Leading vehicle 52 Forward vehicle 53 Backward vehicle 61 Joining lane 62 Main line 63 Driving lane 64 Overtaking lane

Claims

A vehicle control apparatus that performs lane change control to move the vehicle from a first lane to an adjacent second lane, and
Based on the speed or acceleration of the preceding vehicle traveling in the second lane ahead of the host vehicle and on the speed or acceleration of the preceding vehicle traveling in the second lane ahead of the preceding vehicle Control means for setting the speed of the vehicle in order for the vehicle to move from the first lane to the second lane and behind the preceding vehicle.
Vehicle detection means for detecting the preceding vehicle and the preceding vehicle;
Deceleration calculation means for calculating the decelerations of the preceding vehicle and the preceding vehicle detected by the vehicle detection means;
Acceleration / deceleration setting means for calculating and setting the acceleration / deceleration of the host vehicle based on the deceleration of the leading vehicle and the deceleration of the leading vehicle;
The vehicle control device according to claim 1, comprising:
The acceleration / deceleration setting means calculates and sets the acceleration / deceleration of the host vehicle when the deceleration of the preceding vehicle and the deceleration of the preceding vehicle are smaller than the set threshold. The vehicle control apparatus of claim 2.
The acceleration / deceleration setting means sets a deceleration larger than the deceleration of the preceding vehicle when the distance between the preceding vehicle and the preceding vehicle is shorter than a first reference distance. The vehicle control apparatus of claim 2.
The acceleration / deceleration setting means calculates and sets the acceleration / deceleration of the host vehicle based on the deceleration of the preceding vehicle when the separation distance between the preceding vehicle and the preceding vehicle is longer than a second reference distance. The vehicle control device according to claim 2, wherein:
The vehicle detection means detects a rear vehicle traveling behind the own vehicle and traveling in the second lane,
The acceleration / deceleration setting means calculates and sets the acceleration / deceleration of the own vehicle based on the degree of deceleration of the leading vehicle, the degree of deceleration of the preceding vehicle, and the separation distance between the own vehicle and the rear vehicle. The vehicle control device according to claim 2, characterized in that: