WO2019123823A1 - Dispositif de commande de déplacement de véhicule - Google Patents

Dispositif de commande de déplacement de véhicule Download PDF

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Publication number
WO2019123823A1
WO2019123823A1 PCT/JP2018/039615 JP2018039615W WO2019123823A1 WO 2019123823 A1 WO2019123823 A1 WO 2019123823A1 JP 2018039615 W JP2018039615 W JP 2018039615W WO 2019123823 A1 WO2019123823 A1 WO 2019123823A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
traveling
travel
lane
steering control
Prior art date
Application number
PCT/JP2018/039615
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English (en)
Japanese (ja)
Inventor
史彦 大澤
Original Assignee
ダイムラー・アクチェンゲゼルシャフト
三菱ふそうトラック・バス株式会社
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Application filed by ダイムラー・アクチェンゲゼルシャフト, 三菱ふそうトラック・バス株式会社 filed Critical ダイムラー・アクチェンゲゼルシャフト
Publication of WO2019123823A1 publication Critical patent/WO2019123823A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • 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
    • B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095—Predicting travel path or likelihood of collision
    • 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/04—Traffic conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits

Definitions

  • the present invention relates to a vehicle travel control device that controls the traveling state of a vehicle, and more particularly to automatic steering control technology when the vehicle travels.
  • a lane departure prevention device has been developed that automatically recovers from the tendency of the vehicle to deviate from the lane where the vehicle is traveling, and prevents the lane departure in advance.
  • the lane departure prevention device for example, it is determined whether or not the vehicle may deviate from the running lane, and the steering actuator is controlled according to the lateral displacement amount of the vehicle in the running lane, It prevents the departure of the vehicle.
  • the lane departure prevention device described above when the host vehicle does not tend to depart and travels while maintaining a fixed position in the lane, the lane departure as described above is caused even if the overtaking vehicle approaches.
  • the prevention function never works. Under such circumstances where the lane departure prevention function does not work, there is a risk that the risk of contact with the overtaking vehicle may increase depending on the position of the own vehicle in the lane, and safety for the drivers of both the own vehicle and the overtaking vehicle There is a problem that can not be secured enough.
  • the present invention has been made to solve such a problem, and the object of the present invention is to reduce the risk of contact between the host vehicle and the surrounding vehicles, and to ensure safety and security for the driver of the vehicle.
  • the vehicle travel control device includes an information acquisition device that acquires travel information of the host vehicle and travel information of surrounding vehicles traveling around the host vehicle.
  • An own vehicle traveling state calculation unit that calculates a traveling state of the own vehicle based on traveling information of the own vehicle supplied from the information acquisition device, and traveling information of the surrounding vehicle supplied from the information acquisition device
  • a passing vehicle determination unit that predicts the overtaking operation by the surrounding vehicle from the traveling state of the own vehicle and the surrounding vehicle based on the surrounding vehicle running state calculating unit that calculates the traveling state of the surrounding vehicle;
  • the steering control is performed so as to cause the own vehicle to deviate and travel in the traveling lane of the own vehicle so as to be separated from the traveling lane of the overtaking vehicle It has a steering control unit.
  • the distance between the own vehicle and the nearby vehicle is greater even when the overtaking operation is performed because the own vehicle and the nearby vehicle are approaching due to the above configuration. It will be kept wide. As a result, even when the overtaking operation is performed by the surrounding vehicle, the contact risk between the own vehicle and the surrounding vehicle is reduced, and safety and security can be secured for the driver of the vehicle.
  • the vehicle travel control device is provided with a vehicle travel control provided in a vehicle that acquires travel information of the host vehicle and travel information of surrounding vehicles traveling around the host vehicle.
  • a host vehicle traveling state calculation unit for calculating a host state of the host vehicle based on traveling information of the host vehicle supplied from the information acquisition device; and the peripheral vehicle supplied from the information acquisition device
  • a surrounding vehicle traveling state calculation unit that calculates traveling states of the surrounding vehicles based on traveling information
  • a passing vehicle determination unit that predicts overtaking operation by the own vehicle from the traveling states of the own vehicle and the surrounding vehicles
  • the steering control is performed so that the host vehicle is deviated and traveled in the travel lane of the host vehicle so as to be separated from the travel lane of the passing vehicle when the overtaking operation is predicted. Having a steering control unit that performs.
  • the distance between the own vehicle and the nearby vehicle is greater even when the overtaking operation is performed because the own vehicle and the nearby vehicle are approaching due to the above configuration. It will be kept wide. As a result, even when the overtaking operation by the own vehicle is performed, the contact risk between the own vehicle and the surrounding vehicles is reduced, and safety and security can be secured for the driver of the vehicle.
  • the vehicle travel control device in the above (1) or (2), further includes a travel lane adjacent to the travel lane of the host vehicle.
  • the steering control may be performed so that the amount of deviation of the vehicle decreases.
  • Such steering control to reduce the amount of deviation can reduce the risk of contact with the overtaking vehicle or a vehicle other than the overtaking vehicle, and improve safety and security secured to the driver of the vehicle can do.
  • the steering control unit is adjacent to the side where the host vehicle is deviated with respect to the travel lane of the host vehicle
  • the steering control of the vehicle may be performed to travel the center of the traveling lane of the vehicle.
  • the vehicle travel control device is, in the above (1) or (2), an obstacle around the host vehicle based on the information around the host vehicle acquired by the information acquisition device.
  • the steering control unit detects the presence of the obstacle in the traveling lane adjacent to the side where the vehicle is displaced with respect to the traveling lane of the vehicle In this case, the steering control may be performed to reduce the amount of deviation of the host vehicle.
  • the steering control in consideration of such an obstacle, the contact risk between the own vehicle and the obstacle can also be reduced, and the safety and security secured for the driver of the vehicle can be further improved.
  • the steering control unit is a vehicle type of the overtaking vehicle or the overtaking vehicle Accordingly, the amount of deviation of the host vehicle may be adjusted. Such adjustment of the amount of deviation makes it possible to perform appropriate steering control according to the type of vehicle, and to further improve the safety and security secured for the driver of the vehicle.
  • the driver of the host vehicle when the steering control by the steering control unit is performed in any of the above (1) to (6), the driver of the host vehicle is You may have the alerting
  • FIG. 1 is a system configuration diagram of an automobile provided with a vehicle travel control device according to a first embodiment of the present invention.
  • FIG. 2 is a flowchart showing a control routine executed by the vehicle travel control device in the first embodiment of the present invention.
  • FIG. 3 is a schematic view showing a change in position of the vehicle when the host vehicle is overtaken by another vehicle.
  • FIG. 4 is a schematic diagram which shows the position change of the vehicle in case other vehicles are overtaken by own vehicle.
  • the vehicle 10 which is an automobile according to the present invention, has at least one of an engine and a motor (not shown) as a traveling drive source, and is any of a gasoline vehicle, a hybrid vehicle, or an EV vehicle. .
  • a large commercial vehicle such as a truck is assumed, but a general passenger car may be used.
  • the vehicle 10 naturally also has various main parts (drive wheels, drive shafts, ECUs, batteries) necessary for traveling, but are omitted in FIG. 1.
  • a host vehicle 10 as an automobile of the present invention includes a lane keeping assist ECU (LKA-ECU) 11 that functions as a vehicle travel control device.
  • the lane keeping assist ECU 11 is an ECU for preventing and controlling the lane departure of the host vehicle 10, and various kinds of devices for realizing the lane keeping assist based on various information supplied from the device for detecting the lane departure. It is a device that controls.
  • the lane keeping assist ECU 11 includes a host vehicle travel state calculation unit 11a, a surrounding vehicle travel state calculation unit 11b, an overtaking vehicle determination unit 11c, and a steering control unit 11d.
  • the vehicle 10 includes the front camera 12, the steering angle sensor 13, the display device 14, the acoustic device 15, the steering control motor 16, the radar sensor 17 on the left, the radar sensor 18 on the right, human machine interface (HMI) 19, speed A sensor 20, a GPS 21 and an inter-vehicle communication device 22 are provided.
  • the front camera 12, the steering angle sensor 13, the radar sensors 17 and 18, the speed sensor 20, the GPS 21, and the inter-vehicle communication device 22 function as an information acquisition device for acquiring travel information of the vehicle 10 and its surrounding vehicles.
  • the GPS 21 and the inter-vehicle communication device 22 are not essential elements, and may be used to further improve the accuracy of the information acquired by the radar sensors 17 and 18 or when the information can not be acquired by the radar sensors 17 and 18 It is assumed.
  • the host vehicle traveling state calculation unit 11a determines whether the host vehicle 10 deviates from the traveling lane by arithmetic processing. Then, when it is determined that the host vehicle 10 deviates from the lane by the determination of the arithmetic processing, the steering control unit 11 d supplies a control signal to the steering control motor 16, and the steering operation is supported by the steering control motor 16. . Thereby, deviation of the traveling lane of the vehicle 10 is prevented in advance.
  • the host vehicle traveling state calculation unit 11 a calculates a steering angle controlled by the steering control motor 16 based on the steering angle information supplied from the steering angle sensor 13. Furthermore, in accordance with the traveling speed of the host vehicle 10 supplied from the speed sensor 20, the host vehicle traveling state calculation unit 11a determines whether to perform lane keeping assistance. For example, the lane keeping assist may not be performed unless the traveling speed exceeds a predetermined speed. The host vehicle travel state calculation unit 11a can also calculate the current position of the host vehicle 10 based on the GPS information supplied from the GPS 21.
  • the lane keeping assist ECU 11 not only performs control for preventing the departure of the traveling lane of the host vehicle 10, but also when the host vehicle 10 is overtaken from other vehicles, or the host vehicle 10 controls other vehicles.
  • the steering control is further performed within the range in which the host vehicle 10 does not deviate from the traveling lane.
  • the lane keeping assist ECU 11 is provided with a surrounding vehicle traveling state calculating unit 11b and a passing vehicle judging unit 11c in addition to the host vehicle traveling state calculating unit 11a and the steering control unit 11d. .
  • the traveling condition calculation unit 11a is used as the traveling condition calculation unit 11a. Based on the above, the traveling state of the vehicle 10 is calculated.
  • the surrounding vehicle travel state calculation unit 11b detects the detection signal of the other vehicle located at the left and right rear of the vehicle supplied from the radar sensor (L) 17 and the radar sensor (R) 18 (that is, the distance,
  • the traveling state of the other vehicle is calculated on the basis of the traveling information of the other vehicle supplied by the inter-vehicle communication, in addition to the acceleration, if it can be detected, the type of the other vehicle) and / or the inter-vehicle communication device 22 is provided.
  • the travel information of the other vehicle may be acquired by the front camera 12 and supplied to the peripheral vehicle travel state calculation unit 11b.
  • the first surrounding vehicle 30 and the second surrounding vehicle 40 exist as another vehicle traveling around the host vehicle 10.
  • the first surrounding vehicle 30 has a GPS 31 and an inter-vehicle communication device 32
  • the second surrounding vehicle 40 has a GPS 41 and an inter-vehicle communication device 42.
  • own vehicle 10 and other vehicles can share mutually the position information obtained by each GPS via each communication device between vehicles.
  • GPS of the own vehicle 10 and the surrounding vehicles 30 and 40 and the communication apparatus between vehicles are not an essential structure. As described above, even when there is no information by inter-vehicle communication, the own vehicle 10 can calculate the traveling states of the other surrounding vehicles 30, 40 by the front camera 12 and / or the radar sensors 17, 18.
  • the overtaking vehicle determination unit 11c determines the own vehicle 10 and the relevant running condition based on the calculated running condition of the own vehicle 10 and the surrounding vehicle (the first nearby vehicle 30 and the second nearby vehicle 40) of the other vehicles. Predict the overtaking operation by surrounding vehicles.
  • the overtaking operation includes an operation in which the host vehicle 10 passes the surrounding vehicle and an operation in which the surrounding vehicle passes the host vehicle 10.
  • the steering control unit 11 d controls the steering control motor 16 with a control signal related to further steering control that is executed within the range in which the host vehicle 10 does not deviate from the traveling lane. Supply for As a result, the traveling position of the vehicle 10 in the traveling lane of the vehicle 10 is deviated.
  • the steering control unit 11 d travels a surrounding vehicle (that is, a passing vehicle) that passes the vehicle 10 when the vehicle 10 is a passing vehicle (that is, a passing vehicle).
  • the steering control is performed such that the host vehicle 10 travels in the traveling lane of the host vehicle 10 while being separated from the lane of the host vehicle 10 on the opposite side to the traveling lane of the passing vehicle.
  • the steering control unit 11 d is separated from the traveling lane of the surrounding vehicle (that is, the passing vehicle) to be passed by the host vehicle 10.
  • the steering control is performed such that the host vehicle 10 travels in the traveling lane of the host vehicle 10 while being deviated to the opposite side of the traveling lane of the target vehicle.
  • the shift amount of the host vehicle 10 described above that is, the offset amount from the center of the width of the host vehicle at the center of the width of the host vehicle, makes the distance from the lane to the tire of the host vehicle 10 about 20 cm. Good.
  • the offset amount is appropriately adjusted in accordance with the type of vehicle 10, the equipment and the like.
  • the steering control unit 11d separates from the surrounding vehicle to be the overtaking vehicle or the overtaking vehicle with respect to the host vehicle 10 while preventing the departure from the traveling lane. Control to run. Thereby, the contact risk between the own vehicle 10 and the surrounding vehicles can be reduced, and safety and security can be ensured for the driver of the vehicle.
  • the steering control unit 11 d is a traveling lane opposite to the traveling lane of the passing vehicle with respect to the traveling lane of the host vehicle 10
  • the steering control is performed so that the amount of deviation of the host vehicle 10 is reduced.
  • the steering control unit 11 d sets the running lane on the opposite side to the running lane of the passing vehicle to the running lane of the own vehicle 10.
  • steering control is also performed so that the amount of deviation of the host vehicle 10 is reduced.
  • the steering control unit 11 d is configured such that when the presence of another overtaking vehicle or another overtaking vehicle is predicted in the opposite traveling lane, the steering control unit 11 d moves the host vehicle 10 to the opposite traveling lane. It is also possible to perform steering control so that the host vehicle 10 travels in the center of the travel lane without shifting the distance (that is, setting the displacement amount to zero).
  • the steering control unit 11d prevents the departure from the traveling lane, but allows the presence of the peripheral vehicles traveling on the traveling lanes located on the left and right of the traveling lane of the own vehicle 10. Accordingly, an appropriate amount of deviation of the vehicle 10 will be determined. Thereby, even when surrounding vehicles exist in the right and left of self-vehicles 10, a contact risk with both surrounding vehicles can be reduced, and security can be secured to a driver of vehicles.
  • the overtaking vehicle determination unit 11c also determines the vehicle type of the surrounding vehicle from the traveling information of the surrounding vehicle supplied from the front camera 12, the radar sensors 17 and 18, and / or the inter-vehicle communication device 22. doing. Then, the steering control unit 11d adjusts the amount of deviation of the host vehicle 10 described above according to the type of the surrounding vehicle. For example, if the surrounding vehicle is a large truck, the amount of displacement may be reduced, and if it is a small passenger car, the amount of displacement may be increased. This makes it possible to secure the distance between the own vehicle 10 and the nearby vehicles according to the vehicle type of the nearby vehicles, further reducing the contact risk between the own vehicle 10 and the nearby vehicles, and securing safety and security for the driver of the vehicle. Can be strengthened. A uniform amount of deviation may be applied to the host vehicle without adjusting the amount of deviation according to the type of surrounding vehicle.
  • the steering control unit 11 d supplies a control signal for notifying the driver that the above-described steering control is being performed to the display device 14 and the acoustic device 15 via the HMI 19. That is, in the present embodiment, the steering control unit 11 d also functions as a notification control unit that controls the display device 14 and the sound device 15 which are an example of the notification means.
  • the driver of the own vehicle 10 can grasp that it is the steering control accompanying the overtaking operation of the own vehicle 10 or the surrounding vehicles even when the unintended steering is performed, and the steering There is no need to perform unnecessary steering operations that would invalidate the control, and the security of the driver of the vehicle can be further enhanced.
  • the notification control unit may be provided separately from the steering control unit 11d.
  • FIG. 2 is a flow chart showing a control routine executed by the lane keeping assist ECU 11 in the present embodiment.
  • FIG. 3 is a schematic view showing a change in position of a vehicle when the own vehicle 10 is overtaken by another vehicle (first nearby vehicle 30), and
  • FIG. 4 is a diagram showing the other vehicle (second nearby vehicle 40) It is a schematic diagram which shows the position change of the vehicle in the case of being overtaken by the vehicle.
  • travel information of the host vehicle 10 is acquired by the information acquisition device provided in the host vehicle 10, and the travel information is supplied to the lane keeping assist ECU 11 (step S111). Specifically, image information ahead of the vehicle 10 from the front camera 12, speed information on the vehicle 10 from the speed sensor 20, and position information on the vehicle 10 from the GPS 21 are supplied to the lane keeping assist ECU 11. In addition, in this step, it is also acquired as travel information of the host vehicle 10 whether or not the lane keeping assist (LKA state) control is being performed. Specifically, the determination is made based on whether or not the lane keeping assist ECU 11 supplies a control signal from the steering control unit 11 d to the steering control motor 16.
  • LKA state lane keeping assist
  • the host vehicle travel state calculation process is performed by the host vehicle travel state calculation unit 11a (step S112). Specifically, it is calculated how the vehicle 10 is traveling from the image information ahead of the vehicle 10, the speed information, and the position information if necessary.
  • the travel information of the surrounding vehicle is acquired by the information acquisition device provided in the own vehicle 10, and the travel information is supplied to the lane keeping assist ECU 11 (step S113). Specifically, the distance, speed, acceleration, and, if it can be acquired, vehicle type information of the surrounding vehicle traveling in front or left and right of the vehicle 10 from the front camera 12 or the radar sensors 17 and 18, vehicle type information and the surrounding vehicle
  • the inter-vehicle communication device 22 further supplies the lane keeping assist ECU 11 regarding the surrounding vehicles.
  • the surrounding vehicle traveling state calculation process is performed by the surrounding vehicle traveling state calculation unit 11b (step S114). Specifically, it calculates how the surrounding vehicle is traveling from the speed information and the position information of the surrounding vehicle.
  • the side vehicle overtaking determination is the overtaking vehicle determination unit, which is a determination as to whether or not there is an overtaking operation by the own vehicle 10 and the surrounding vehicles from the calculated traveling state of the own vehicle 10 and the traveling state of the surrounding vehicles. 11c (step S115). That is, the overtaking vehicle determination unit 11c determines whether the own vehicle 10 becomes an overtaking vehicle or an overtaking vehicle based on the calculated traveling state of the own vehicle 10 and the traveling state of the surrounding vehicles. It will be. That is, a target vehicle to be an overtaking vehicle or a passing vehicle is selected from the surrounding vehicles.
  • step S115 determines whether the host vehicle 10 is in the LKA state (step S116). The said determination is performed using the information regarding the LKA state obtained in step S111.
  • step S116 determines whether the target vehicle described above is a large vehicle (step S117).
  • step S117 determines whether the target vehicle described above is a large vehicle. Note that the determination of the vehicle type of the target vehicle in step S117 is performed when the determination of the vehicle type of the target vehicle can be made in the case where the control with higher accuracy is required. If high-accuracy control is not required, step S117 may be skipped, and if the result of S116 is Yes, the process may proceed to step 118. That is, regardless of whether the target vehicle is a large vehicle or not, control may be performed such that the host vehicle is offset in the traveling lane.
  • the determination of the vehicle type of the target vehicle is performed by using the vehicle type information of the surrounding vehicles when the vehicle type information of the surrounding vehicles is obtained in step S113.
  • large vehicles are assumed to be commercial vehicles such as trucks, trailers, and buses larger than general passenger cars, and emergency vehicles such as fire engines, but the size and criteria of large vehicles should be set appropriately. Can.
  • step S117 If it is determined in step S117 that the target vehicle is a large vehicle (step S117: Yes), another passing vehicle is on the travel lane opposite to the travel lane of the target vehicle with respect to the travel lane of the host vehicle 10. Alternatively, it is determined by the overtaking vehicle determination unit 11c whether or not there is another passing vehicle (step S117). The said determination is performed using the information of the surrounding vehicle obtained in step S113.
  • step S115 determines with traveling control accompanying overtaking operation
  • step S118 If it is determined in step S118 that there is no other overtaking vehicle or other overtaking vehicle in the traveling lane opposite to the traveling lane of the target vehicle (step S118: No), the traveling lane of the target vehicle
  • the steering control unit 11 d performs steering control to move the host vehicle 10 toward the traveling lane on the opposite side.
  • steering control traveling lane limit traveling control
  • step S119 since there is no other peripheral vehicle in the opposite traveling lane, steering control (traveling lane limit traveling control) is performed to the limit not to protrude into the opposite traveling lane (step S119). ).
  • the host vehicle 10 when the host vehicle 10 is a passing vehicle traveling in the central traveling lane and the first peripheral vehicle 30 is a passing vehicle traveling in the right traveling lane (FIG. 3A), the host vehicle 10 is 1) The steering control is performed so as to be separated from the right side traveling lane where the surrounding vehicle 30 travels (FIG. 3 (b)). Then, the vehicle 10 travels with a width that does not deviate from the central traveling lane and to a limit where it does not extend to the left traveling lane, and the first vehicle 30 and the first surrounding vehicle 30 have a wide interval. The surrounding vehicle 30 passes the host vehicle 10 (FIG. 3 (c)).
  • the own vehicle 10 is 2) The steering control is performed so as to be separated from the left traveling lane in which the surrounding vehicle 40 travels (FIG. 4 (b)). Then, the vehicle 10 travels with a width that does not deviate from the central traveling lane and to a limit where it does not extend to the right traveling lane, and in a state where the distance between the vehicle 10 and the second peripheral vehicle 40 is wide 10 will overtake the second surrounding vehicle 40 (FIG. 4 (c)).
  • step S118 when it is determined that another overtaking vehicle or another overtaking vehicle exists in the traveling lane on the opposite side to the traveling lane of the target vehicle (step S118: Yes), it is directed to the opposite traveling lane
  • the steering control for moving the host vehicle 10 is not performed, and control (lane center travel control) is performed so that the host vehicle 10 travels in the center of the travel lane.
  • the second surrounding vehicle 40 exists in the left traveling lane
  • steering control for moving the vehicle 10 toward the left traveling lane is not performed, and the own vehicle 10 travels in the center.
  • the first peripheral vehicle 30 passes the host vehicle 10.
  • the steering control for moving the own vehicle 10 toward the right traveling lane is not performed, and the own vehicle 10 travels in the center.
  • the own vehicle 10 passes the second surrounding vehicle 40.
  • step S119 When the traveling lane limit traveling control in step S119 or the lane center traveling control in step S120 is performed, the control routine ends.
  • the vehicle travels away from the host vehicle 10 away from the surrounding vehicle which becomes the passing vehicle or the passing vehicle while preventing the departure from the traveling lane.
  • Such control will be performed.
  • the contact risk between the own vehicle 10 and the surrounding vehicles can be reduced, and safety and security can be ensured for the driver of the vehicle.
  • LKA is a premise, and the steering control is not performed unless in the LKA state, but another control instead of LKA may be an essential condition.
  • LKA may be premised that a mechanism for notifying the driver of a lane departure by notification is functioning.
  • a mechanism for notifying the driver of a lane departure by notification is functioning.
  • the inter-vehicle distance holding function auto cruise it is possible to realize an overtaking operation that can secure safety and security for the driver while maintaining the inter-vehicle distance.
  • Second Embodiment In the first embodiment described above, only travel information of the surrounding vehicles is used as peripheral information of the host vehicle 10, and only overtaking by vehicles is detected.
  • pylons under construction, sound barriers of expressways Alternatively, information on the presence of an obstacle such as a tunnel wall may be included in the surrounding information, and steering control may be performed in consideration of the positional relationship between the vehicle 10 and the obstacle.
  • a mode in such a case will be described below as a second embodiment with reference to FIGS. 5 to 8.
  • FIG. 5 is a system configuration diagram of an automobile provided with a vehicle travel control apparatus according to a second embodiment of the present invention.
  • FIG. 6 is a flow chart showing a control routine executed by the vehicle travel control system in the second embodiment of the present invention.
  • FIG. 7 is a schematic view showing a change in position of a vehicle when the host vehicle is overtaken by another vehicle.
  • FIG. 8 is a schematic diagram which shows the position change of the vehicle in case other vehicles are overtaken by own vehicle.
  • the lane keeping assist ECU 11 in the present embodiment can calculate the presence of the obstacle 50 and the positional relationship between the vehicle 10 and the obstacle 50 in place of the surrounding vehicle travel state calculation unit 11 b.
  • the surrounding vehicle traveling state / obstacle detection / calculation unit 11b ' is provided.
  • the surrounding vehicle travel state and obstacle detection calculation unit 11 b ′ calculates the presence or absence of the obstacle 50 based on the image information supplied from the front camera 12.
  • the front camera 12 functions as an obstacle detection unit that detects an obstacle 50 around the vehicle 10.
  • the steering control unit 11 d performs steering control in which the displacement amount of the host vehicle 10 is limited according to the presence or absence of the obstacle 50. Specifically, when the presence of the obstacle 50 is detected in the traveling lane opposite to the traveling lane of the overtaking vehicle or the passing vehicle with respect to the traveling lane of the own vehicle 10, the displacement amount of the own vehicle 10 Steering control so that The steering control will be described in detail along with the control routine with reference to FIGS. 6 to 8.
  • step S211 information acquisition of the host vehicle state
  • step S212 information acquisition of not only vehicles around the host vehicle 10 but also obstacles present around the host vehicle 10
  • step S213 information acquisition of the surrounding vehicle
  • step S214 state calculation processing of surrounding vehicles
  • step S215 the overtaking determination (step S215), the LKA state determination (step S216), the vehicle type determination of the target vehicle (step S217), and the vehicle presence determination of the determination lane (step S218) Is done. If it is determined No in steps S215 to S217, it is determined that traveling control associated with the overtaking operation is unnecessary, and the control routine ends. Note that the vehicle type determination of the target vehicle (step 217) is not performed as in the first embodiment, and in the case of Yes in step 216, it is also possible to proceed to S218. When it is determined in step S218 that another surrounding vehicle is present in the opposite lane (step S218: No), lane center traveling control is performed as in step S120 in the first embodiment (step S219). .
  • step S218 when it is determined that there is no other surrounding vehicle in the opposite lane (step S218: Yes), the steering control unit 11d determines whether an obstacle is present in the opposite lane (step S218). S220). If it is determined that an obstacle does not exist in the opposite lane (step S220: No), traveling lane limit traveling control is performed (step S221) as in step S119 in the first embodiment.
  • Step S220 when it is determined that an obstacle is present in the opposite lane (step S220: Yes), while preventing departure from the traveling lane, according to the type, size, and position of the obstacle, Steering control (travel lane limited travel control) is performed with the amount of deviation limited.
  • the limitation of the deviation amount for example, the vehicle 10 is moved as far as possible toward the traveling lane in which the obstacle exists in a range where the risk of the collision between the vehicle 10 and the obstacle does not increase. Is considered.
  • the obstacle 50 is present in the left traveling lane.
  • the steering control is performed so that the host vehicle 10 does not deviate from the central traveling lane and is separated from the right traveling lane.
  • the steering control is not performed so as to extend to the limit where the vehicle does not extend to the left side traveling lane, and the width adjustment is performed maintaining an appropriate distance that can avoid contact with the obstacle 50 (FIG. b). That is, compared to FIG.
  • the amount of deviation toward the left traveling lane is smaller, the distance between the vehicle 10 and the first surrounding vehicle 30, and the vehicle 10 and the obstacle 50. It is in the state where the interval with is secured. Then, in such a state, the first peripheral vehicle 30 overtakes the host vehicle 10, and the host vehicle 10 also passes the side of the obstacle (FIG. 7 (c)).
  • the steering control is performed so that the host vehicle 10 does not deviate from the central traveling lane and is separated from the left traveling lane.
  • the steering control is not performed so as to extend to the limit where the vehicle does not extend to the right-side traveling lane, and the width adjustment is performed maintaining an appropriate distance that can avoid contact with the obstacle 50 (see FIG. b). That is, as compared with FIG.
  • the amount of deviation toward the right-side traveling lane is smaller, the distance between the vehicle 10 and the second surrounding vehicle 40, and the vehicle 10 and the obstacle 50 It is in the state where the interval with is secured. Then, in such a state, the host vehicle 10 overtakes the first surrounding vehicle 30, and the host vehicle 10 passes the side of the obstacle (FIG. 8 (c)).
  • the steering control is performed in consideration of not only the surrounding vehicles of the own vehicle 10 but also the surrounding obstacles, so that the contact risk with the surrounding vehicles of the own vehicle 10 and the obstacles Can be reduced to secure further safety and security for the driver of the vehicle.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Steering Control In Accordance With Driving Conditions (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un dispositif de commande de déplacement de véhicule permettant de réduire le risque de contact entre un véhicule hôte et un véhicule périphérique, et d'assurer la sûreté et la sécurité des conducteurs des véhicules. La solution selon l'invention porte sur : une unité de calcul d'état de déplacement de véhicule hôte qui calcule l'état de déplacement du véhicule hôte sur la base d'informations de déplacement pour le véhicule hôte fournies par un dispositif d'acquisition d'informations ; une unité de calcul d'état de déplacement de véhicule périphérique qui calcule l'état de déplacement du véhicule périphérique sur la base d'informations de déplacement pour le véhicule périphérique fournies par le dispositif d'acquisition d'informations ; une unité de détermination de véhicule de dépassement qui prédit des actions de dépassement par le véhicule hôte et le véhicule périphérique à partir des états de déplacement du véhicule hôte et du véhicule périphérique ; et une unité de commande de direction qui, lorsqu'une action de dépassement est prédite, exécute une commande de direction de façon à amener le véhicule hôte à dévier et à se déplacer dans la voie de déplacement du véhicule hôte, de façon à rester à distance de la voie de déplacement d'un véhicule dépassant ou d'un véhicule devant être dépassé.
PCT/JP2018/039615 2017-12-22 2018-10-25 Dispositif de commande de déplacement de véhicule WO2019123823A1 (fr)

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JP2017-246717 2017-12-22
JP2017246717A JP2019111927A (ja) 2017-12-22 2017-12-22 車両走行制御装置

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DE102020115149A1 (de) * 2020-06-08 2021-12-09 Dr. Ing. H.C. F. Porsche Aktiengesellschaft Verfahren zum Anpassen eines Fahrverhaltens eines Kraftfahrzeugs

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