WO2019155880A1 - Dispositif de commande de véhicule - Google Patents

Dispositif de commande de véhicule Download PDF

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Publication number
WO2019155880A1
WO2019155880A1 PCT/JP2019/001976 JP2019001976W WO2019155880A1 WO 2019155880 A1 WO2019155880 A1 WO 2019155880A1 JP 2019001976 W JP2019001976 W JP 2019001976W WO 2019155880 A1 WO2019155880 A1 WO 2019155880A1
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WIPO (PCT)
Prior art keywords
vehicle
gap
lane
change
target
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PCT/JP2019/001976
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English (en)
Japanese (ja)
Inventor
今井　正人
剛 酒寄
勉 金子
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日立オートモティブシステムズ株式会社
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Publication of WO2019155880A1 publication Critical patent/WO2019155880A1/fr

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    • 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
    • B60W30/10—Path keeping
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to a vehicle control device that automatically controls a vehicle to a destination by, for example, automatic steering or automatic speed control.
  • a section (gap) before and after the parallel vehicle that can be reached in the shortest time among the arrival times until the host vehicle reaches the position of each parallel vehicle is set as a lane change candidate section, and the lane change candidate section section.
  • Patent Literature 1 since the lane change is not permitted when the section distance of the lane change candidate section is not equal to or larger than the set value, for example, in the case of a scene where the host vehicle joins, parallel running that travels on the main line When the section distance of the lane change candidate section of the vehicle is narrow, there is a problem that it is impossible to merge (lane change) and to stop at the end of the merge lane.
  • the present invention has been made in view of the above circumstances, and an object thereof is to provide a vehicle control device for realizing smooth and safe automatic driving control by predicting the movement of surrounding vehicles.
  • the vehicle control apparatus of the present invention that solves the above-described problem is a target gap that is a target of a lane change destination of the own vehicle from at least one gap between a plurality of other vehicles running in parallel in adjacent lanes.
  • a vehicle control device that changes the lane of the host vehicle by setting A change rate of the gap size is detected, and whether or not the lane change can be executed is determined based on the change rate.
  • the lane change can be started at a timing earlier than that in the past, and the merge scene The lane can be changed smoothly and safely.
  • FIG. 1 is a schematic configuration diagram of a vehicle control device according to a first embodiment of the present invention.
  • movement description of the vehicle control apparatus by the 1st Embodiment of this invention is provided.
  • movement description of the vehicle control apparatus by the 1st Embodiment of this invention is provided.
  • movement of this invention is provided.
  • FIG. 1 is a schematic configuration diagram of a vehicle control device according to a first embodiment of the present invention.
  • FIG. 1 shows the vehicle control device 100a and its peripheral devices.
  • a vehicle control device 100a illustrated in FIG. 1 is a computer that controls the host vehicle, and by executing a program stored in a storage medium (not shown), a surrounding environment recognition unit 1, a road information acquisition unit 2, It functions as the target route generation unit 3 and the vehicle control unit 4.
  • the vehicle control device 100a is connected to an external environment recognition device 101, a steering device 102, a drive device 103, a braking device 104, a sound generator 105, a display device 106, and a direction indicator 107.
  • the vehicle control device 100a is connected to a CAN (not shown) that is a communication network of the own vehicle, and vehicle information such as the vehicle speed, the steering angle, and the yaw rate of the own vehicle is input.
  • CAN Controller Area Network
  • CAN Controller Area Network
  • the external environment recognition apparatus 101 acquires information related to the surrounding environment of the host vehicle.
  • an in-vehicle stereo camera that captures the front of the host vehicle, the surrounding environment of the front, rear, right side, and left side of the host vehicle. Have four on-board cameras.
  • the external recognition device 101 uses the image data obtained by these in-vehicle cameras, the external recognition device 101 detects the shape and position of objects such as stationary solid objects, moving objects, road surface paint such as lane markings around the vehicle, and signs. Furthermore, it has a function of determining whether or not the vehicle is a road surface on which the vehicle can travel by detecting unevenness on the road surface.
  • the stationary three-dimensional object is, for example, a parked vehicle, a wall, a pole, a pylon, a curb, or a car stop.
  • the moving body is, for example, a pedestrian, a bicycle, a motorcycle, or a vehicle. Furthermore, it is good also as a structure which detects the presence or absence of the lighting of a brake lamp or a direction indicator, the presence or absence of the person in a vehicle, etc. as information for estimating the state of a moving body.
  • the stationary solid object and the moving object are collectively referred to as an obstacle.
  • the shape and position of the object are detected using a pattern matching method and other known techniques.
  • the position of the object is expressed, for example, using a coordinate system having an origin at the position of the in-vehicle camera that captures the front of the host vehicle. Then, information such as the type, distance, and direction of the obtained object is output to the vehicle control device 100a using a dedicated line or CAN.
  • an image obtained by the in-vehicle camera may be output to the vehicle control device 100a using a dedicated line or the like, and the image data may be processed in the vehicle control device 100a.
  • radar that measures the distance to the object using millimeter waves or lasers
  • sonar that measures the distance to the object using ultrasonic waves, and the like can be used.
  • information such as the direction thereof may be output to the vehicle control device 100a using a dedicated line or CAN.
  • a communication device for performing communication with the outside of the own vehicle may be included in the external recognition device 101, and it communicates with vehicles around the own vehicle to exchange position and speed information, or a roadside communication device. Information that cannot be detected from a sensor mounted on the host vehicle (such as information on an obstacle in the blind spot of the host vehicle) may be exchanged.
  • the external environment recognition device 101 can detect other vehicles that are traveling in the adjacent lane of the host vehicle.
  • the steering device 102 is configured by an electric power steering, a hydraulic power steering, or the like that can control the steering angle by an electric or hydraulic actuator or the like by an external drive command.
  • the drive device 103 is an engine system capable of controlling engine torque with an electric throttle or the like according to an external drive command, or an electric power train capable of controlling drive force with an external drive command using a motor or the like. It consists of a system.
  • the braking device 104 is configured by an electric brake, a hydraulic brake, or the like capable of controlling a braking force by an electric or hydraulic actuator or the like according to an external braking command.
  • the sound generator 105 includes a speaker or the like, and is used to output a warning or voice guidance to the driver.
  • the display device 106 includes a display such as a navigation device, a meter panel, and a warning light. In addition to the operation screen of the vehicle control device 100a, the display device 106 displays a screen that can visually represent the traveling state of the host vehicle.
  • the direction indicator 107 is a safety part of an automobile, and is a device for showing the direction to the surroundings when turning right or left or changing the course.
  • the road information acquisition unit 2 acquires map data around the current vehicle position.
  • the acquired map data includes shape data that is close to the actual road shape expressed by polygons, polylines, etc., traffic regulation information (speed limit, type of vehicles that can be passed, etc.), lane classification (main line, overtaking lane, uphill lane) , Straight lane, left turn lane, right turn lane, etc.), presence / absence of traffic lights, signs, etc. (position information if present).
  • the surrounding environment recognizing unit 1 determines, for example, a general road on the basis of information on the shape, position, type, etc. of the object detected by the external environment recognition device 101 and a determination result as to whether or not the host vehicle can travel In the case of traveling, the lane position where the vehicle can travel and the space where the vehicle can turn are detected. In addition, it has a function of predicting future behavior of the moving object detected by the external environment recognition device 101 around the host vehicle from the present. Furthermore, the surrounding environment recognition unit 1 includes a gap calculation unit 10 that detects a gap that is a distance between adjacent lanes and calculates a change rate of the gap size from a time series change of the gap size. In addition to calculation, the position and size of the gap are also predicted based on the future prediction of the moving body.
  • the surrounding environment recognition unit 1 has at least one gap that is a gap between trains that are candidates for the lane change of the host vehicle, and more specifically, an interval between a plurality of other vehicles running in parallel in adjacent lanes.
  • the above gap is detected (gap detection means).
  • a change rate of at least one gap size is calculated for each gap (change rate calculation means).
  • the change rate of the size of the gap is a temporal change amount of the gap, and is calculated using the time series data of the gap.
  • the target route generation unit 3 calculates the trajectory and speed for moving the vehicle from the current vehicle position to the target position.
  • a traveling track is generated from the route information based on the lane information of the map data acquired by the road information acquisition unit 2.
  • the target speed to travel on the generated trajectory is determined using information such as the speed limit of the map data, the curvature of the route, information on traffic lights and pause positions, and information on the speed and position of the preceding vehicle, the following vehicle, and the adjacent vehicle. Calculate.
  • the target route generation unit 3 includes a target gap setting unit 20, and the target gap setting unit 20 has a function of setting a target gap to be a lane change destination. And then calculate the speed to enter this target gap.
  • the target gap setting unit 20 sets a target gap to be a target of a lane change destination of the own vehicle from at least one gap between a plurality of other vehicles running in parallel in adjacent lanes.
  • the target gap setting unit 20 detects the lane change notice operation of the host vehicle, the target gap setting unit 20 sets a target gap as a target lane change destination of the host vehicle from at least one gap.
  • the target route generation unit 3 includes a lane change start possibility determination unit that determines whether or not the lane change can be started based on the size and change rate of the target gap.
  • the lane change start possibility judging means determines the size of the target gap until the lane change of the own vehicle is completed in a state where the size of the target gap is longer than the entire length of the own vehicle and smaller than a preset safety threshold. If it is predicted from the rate of change of the target gap that increases beyond the safety threshold, it is determined that the lane change can be started.
  • the vehicle control unit 4 controls the host vehicle along the trajectory and speed generated by the target route generation unit 3.
  • the vehicle control unit 4 calculates a target rudder angle and a target speed based on the track and the speed.
  • the target rudder angle and the target speed are calculated so that the host vehicle does not collide with the obstacle.
  • the vehicle control unit 4 outputs a target steering torque for realizing the target steering angle to the steering device 102.
  • the vehicle control unit 4 outputs a target engine torque and a target brake pressure for realizing the target speed to the driving device 103 and the braking device 104.
  • information is output to the direction indicator 107, and information such as target gap information set by the target gap setting unit 20 or a lane change is changed.
  • the information is output to the sound generator 105 and the display device 106.
  • FIG. 2 is a flowchart illustrating an example of a processing procedure of the vehicle control device 100a.
  • the outside world information is information input by the outside world recognition device 101
  • the vehicle information is information such as the vehicle speed, steering angle, and yaw rate of the host vehicle.
  • the road information is map data around the current vehicle, and this map data includes shape data close to the actual road shape expressed by polygons, polylines, etc., and traffic regulation information (speed limit, vehicles that can pass through). Type, etc.), lane classification (main line, overtaking lane, uphill lane, straight lane, left turn lane, right turn lane, etc.), presence or absence of traffic lights, signs, etc. (position information if present).
  • process S203 a process for grasping the traveling environment around the host vehicle is performed using the external environment information and vehicle information acquired in process S201 and the road information acquired in process S202, and the process proceeds to process S204.
  • external information such as surrounding vehicles and obstacles is arranged on the map data, and a lane position where the host vehicle can travel, a gap between adjacent lanes, and the like are detected.
  • process S204 a target path (track and speed) based on the course of the host vehicle is generated, and the process proceeds to process S205.
  • target gap setting processing and lane change start determination are performed.
  • control parameters are, for example, target steering torque, target engine torque, and target brake pressure.
  • control parameters calculated in process S205 are output to the steering device 102, the drive device 103, and the braking device 104, and the process proceeds to process 207.
  • process S207 the target gap information and the target route information set in process 204 are output to the sound generator 105 and the display device 106, and the series of processes ends.
  • the control parameter output to the steering device 102 includes a target steering torque for realizing the target steering angle. However, depending on the configuration of the steering device 102, the target steering angle can be directly output.
  • the control parameters output to the driving device 103 and the braking device 104 include a target engine torque and a target brake pressure for realizing the target speed. Depending on the configuration of the driving device 103 and the braking device 104, the target parameter may be directly set. It is also possible to output the speed.
  • FIG. 3 is a flowchart showing the processing procedure of the target route generation processing.
  • process S302 it is determined whether or not the host vehicle needs to change lanes. If lane change is necessary, the process proceeds to process S303, and if lane change is not necessary, the process proceeds to process S307.
  • the situation where the lane change is necessary is, for example, a case where the own vehicle joins the main road of the expressway or a case where the vehicle branches off from the main road, and the determination is made based on destination information and map data.
  • step S303 in order to notify the surroundings that the host vehicle is changing lanes, a lane change notification operation is performed in which the direction indicator is turned on or the host vehicle is moved toward the lane to which the lane is changed (lane change). Notice motion detection means).
  • the lane change notice operation indicates that the vehicle is willing to change lanes relative to other vehicles in the lane to which the lane has been changed. A possible gap can be formed, and a movement to widen the distance between other vehicles can be predicted.
  • the target gap as the lane change destination is set based on the information on the gap of the adjacent lane detected in process S203.
  • the target gap is set as a target gap by selecting one of at least one or more gaps in the lane in the adjacent lane when the lane change notice operation is detected in step S303.
  • the target gap is selected based on the relative position and / or relative speed with respect to the host vehicle and the change rate of the gap size (target gap setting means). For example, a gap having a relative position and / or relative speed within a predetermined range and a change rate of the gap size greater than or equal to a predetermined value is selected as a target gap from at least one gap in a train in an adjacent lane Is done.
  • process S305 it is determined whether or not the lane change can be started with respect to the target gap set in process S304. If the lane change can be started, the process proceeds to process S306, and if the lane change cannot be started, the process proceeds to process S308. move on.
  • the lane change start determination is determined based on the target gap size (gap length) and the rate of change. In this embodiment, the relative speed and / or relative position of the host vehicle and the target gap and the size and change of the target gap are determined. Judged based on rate.
  • the size of the target gap increases beyond the safety threshold before the lane change of the host vehicle is completed. If it is predicted from the change rate of the target gap, it is determined that the lane change can be started.
  • a lane change route for the host vehicle to enter the target gap is generated, and the series of processes is terminated.
  • whether or not the vehicle can continue to change the lane to the target gap is also determined within this process. If it is determined that the lane change cannot be continued, it is determined whether or not the vehicle can return to the original lane. If it is possible to return, a return route is generated. On the other hand, if it is determined that the vehicle cannot return to the original lane, the risk of collision in the case of continuing the lane change and the case of returning to the original lane is calculated, and a route with less risk is selected.
  • process S307 a route along the road is generated, and the series of processes ends.
  • process S308 a route for moving to a position where it is easy to change the lane with respect to the target gap on the adjacent lane while keeping the lane in which the host vehicle is traveling is generated, and the series of processes is terminated.
  • the situation here is a situation where you want to change lanes or need to change lanes but cannot change lanes. Calculate the speed at.
  • FIG. 4 is a situation explanatory diagram assuming a scene in which the host vehicle 400 joins the main lane of the two lanes that are adjacent lanes from the merging lane.
  • FIG. 4 is an example to which the present invention is applied, and it is assumed that the own vehicle 400 joins a train from a vehicle 401 to a vehicle 405 traveling on the main line, from (a) to (e). Time is flowing in the order.
  • the gap between the vehicle 401 and the vehicle 402 is G1
  • the gap between the vehicle 402 and the vehicle 403 is G2
  • the gap between the vehicle 403 and the vehicle 404 is G3
  • the gap between the vehicle 404 and the vehicle 405 is G4.
  • FIG. 5 is a graph showing the change over time of any gap length from gap G1 to gap G4.
  • a solid line 500 is a time change of the gap length
  • T_LC is a time required for the lane change.
  • the safety threshold is a gap length that allows the vehicle to change lanes safely, and is the minimum that can ensure a safe distance between the vehicle ahead and the vehicle behind and longer than the vehicle. Is the length of Further, the change rate of the gap length is the slope of the solid line 500, and the current change rate is calculated by using, for example, the least square method or the like using the gap length from the present time to the time point going back a predetermined time.
  • the rate of change becomes the slope of the solid line 500 when the rate of change is calculated using the gap length up to a point in time before the time B (after time A). . Further, it has a function of predicting the gap length of the future time from the current rate of change. For example, it is predicted from the rate of change of time B that the future gap length exceeds the safety threshold as indicated by the solid line 500.
  • the host vehicle 400 travels in the merge lane, and starts acceleration for merging with the main line.
  • the ending point of the merging lane is determined, and the merging lane disappears at the ending point, so the lane must be changed. Therefore, at this time, the turn indicator may be turned on in advance as a lane change notice operation.
  • the host vehicle 400 starts parallel running with the main line vehicle, detects from the vehicle 401 to the vehicle 405 traveling on the main line, and calculates the respective gaps G1 to G4. At this time, as shown in FIG. 5, the time change of each gap is recorded.
  • 4A when the direction indicator of the host vehicle 400 is not turned on, the lighting is started at this point, and the vehicle body of the host vehicle 400 is moved toward the main line side in the host lane (merging lane).
  • the vehicle 404, 405 can grasp the intention to change the lane of the own vehicle 400 by the lane change notice operation of the own vehicle 400, and the vehicle 404 can increase the gap G3 with the vehicle 403 that is the preceding vehicle. It can be an incentive to adjust the running speed.
  • the host vehicle 400 travels in the merge lane, sets a target gap as a lane change destination, and takes an action of adjusting the position and speed of the host vehicle with respect to the target gap. For example, when it is confirmed that the gap length of the gap G3 is increasing by looking at the time variation of the gap G3 on the side of the host vehicle 400, the gap G3 is set as the target gap so that the relative speed with the gap G3 becomes small. The speed of the host vehicle 400 is adjusted, and the relative position to the gap G3 becomes a safe position for starting the lane change (specifically, a position where a safe space between the front vehicle 403 and the rear vehicle 404 can be taken). Similarly, the speed of the own vehicle 400 is adjusted.
  • the relative speed of the gap for example, the average value of the relative speed of the vehicle in front of the gap and the relative speed of the vehicle behind the gap, or the relative speed at the center point of the gap length can be used.
  • the relative position of the gap for example, the position of the center point of the gap length can be used.
  • the rate of change of the gap G3 is detected by the method shown in FIG. 5, and it is predicted that the gap length of the target gap will extend beyond the safety threshold before the vehicle 400 completes the lane change. If possible, change lanes. Note that the timing for starting the lane change may be changed between time B and time C in FIG. 5 in consideration of the distance to the end of the merged lane in which the host vehicle 400 is traveling. Further, the safety threshold value may be changed according to the vehicle speed, and may be set so as to increase (gap length becomes wider) as the vehicle speed increases, for example.
  • the host vehicle 400 has completed the lane change to the main line gap G3, and the gap length of the gap G3 is equal to or greater than the safety threshold. In this embodiment, it is determined that the lane change has been completed when the entire host vehicle 400 enters the adjacent lane.
  • FIG. 6 is a situation explanatory diagram assuming a scene in which the own vehicle 600 changes to the right lane while traveling on the left lane of a two-lane road.
  • FIG. 6 is an example to which the present invention is applied, and it is assumed that the own vehicle 600 changes lanes to the lane from the vehicle 601 to the vehicle 605 traveling in the right lane. Time flows in the order of e).
  • the gap between the vehicle 601 and the vehicle 602 is G1
  • the gap between the vehicle 602 and the vehicle 603 is G2
  • the gap between the vehicle 603 and the vehicle 604 is G3
  • the gap between the vehicle 604 and the vehicle 605 is G4.
  • the host vehicle 600 travels in the left lane, and for example, it is determined from destination information or map information that a lane change to the right lane is necessary to reach the destination.
  • the host vehicle 600 controls the speed so that the speed difference from the right lane is small in order to change the lane to the right lane. Further, the vehicle 601 to the vehicle 605 traveling in the right lane are detected, and the respective gaps G1 to G4 are calculated. At this time, as shown in FIG. 5, the time change of each gap is recorded. Moreover, the lighting of the direction indicator which is the lane change notice operation is started, and the operation of bringing the vehicle to the right lane side in the own lane is executed.
  • the host vehicle 600 travels in the left lane and takes an action of setting a target gap as a lane change destination.
  • the gap G3 is set as the target gap so that the relative speed with the gap G3 becomes small.
  • the speed of the host vehicle 600 is adjusted, and the relative position with respect to the gap G3 is set to a safe position for starting the lane change (specifically, a position where a safe space between the front vehicle 603 and the rear vehicle 604 can be secured).
  • the speed of the own vehicle 600 is adjusted.
  • the relative speed of the gap for example, the average value of the relative speed of the vehicle in front of the gap and the relative speed of the vehicle behind the gap, or the relative speed at the center point of the gap length can be used.
  • the relative position of the gap for example, the position of the center point of the gap length can be used.
  • the rate of change of the gap G3 is detected by the method shown in FIG. 5, and it is determined that the gap length of the target gap extends beyond the safety threshold until the vehicle 600 completes the lane change. If you do, change the lane.
  • the timing for starting the lane change is set between time B and time C in FIG. 5 in advance by setting a point where the vehicle 600 should complete the lane change and considering the distance to the point. May be.
  • the safety threshold value may be changed according to the vehicle speed, and may be set so as to increase (gap length becomes wider) as the vehicle speed increases, for example.
  • the host vehicle has completed the lane change to the gap G3 in the right lane, and at that time, the gap length of the gap G3 is equal to or greater than the safety threshold. In this embodiment, it is determined that the lane change has been completed when the entire host vehicle 600 enters the adjacent lane.
  • Lane change can be started earlier than before. This makes it possible to change lanes smoothly and safely.
  • FIG. 7 is a graph showing the time change of the gap length of any one of the gaps G1 to G4 as in FIG.
  • a solid line 700 is a time change of the gap length (including a predicted value)
  • a dotted line 701 is a time change of the actual gap length.
  • the lane Since the change is put into practice, as compared to the case where the lane change is started after confirming that a safe gap length has been ensured as in the conventional case, the lane change has more opportunities, and the lane has a faster timing. Change can be started and smooth lane change can be realized.
  • the target gap is set on the condition that a lane change notification operation such as turning on the direction indicator or moving the host vehicle to the lane of the lane change destination is executed. Therefore, if the reaction of the other vehicle to the lane change operation that is the previous action of the own vehicle is predicted and the size of the target gap can be predicted to be wider than the safety threshold, the target gap becomes the safety threshold.
  • the lane change can also be started before.
  • FIG. 8 is a schematic configuration diagram of a vehicle control device according to the second embodiment of the present invention.
  • FIG. 8 shows the vehicle control device 100b and its peripheral devices.
  • a characteristic feature of this embodiment is that it is configured to transmit information on target gaps and information on whether or not to change lanes to the driver by image or sound instead of automatic driving control.
  • the vehicle control device 100b illustrated in FIG. 8 is a computer that controls the host vehicle, and by executing a program stored in a storage medium (not shown), the surrounding environment recognition unit 1, the road information acquisition unit 2, It functions as the lane change support unit 5 and the HMI control unit 6.
  • the vehicle control device 100b has a configuration in which the steering device 102, the drive device 103, and the braking device 104 are separated from the configuration in FIG.
  • the lane change support unit 5 includes a target gap setting unit 20 and has a function of setting a target gap for a lane change destination, and determines whether or not the lane change is possible.
  • the HMI control unit 6 outputs information on the target gap set by the target gap setting unit 20 and information on whether or not the lane can be changed to the sound generation device 105 and the display device 106.
  • FIG. 9 is a flowchart illustrating an example of a processing procedure of the vehicle control device 100b.
  • outside world information and vehicle information are acquired, and the process proceeds to process S902.
  • the outside world information is information input by the outside world recognition device 101
  • the vehicle information is information such as the vehicle speed, steering angle, and yaw rate of the host vehicle.
  • the road information is map data around the current vehicle, and this map data includes shape data close to the actual road shape expressed by polygons, polylines, etc., and traffic regulation information (speed limit, vehicles that can pass through). Type, etc.), lane classification (main line, overtaking lane, uphill lane, straight lane, left turn lane, right turn lane, etc.), presence or absence of traffic lights, signs, etc. (position information if present).
  • process S903 a process of grasping the traveling environment around the host vehicle is performed using the external environment information and vehicle information acquired in process S901 and the road information acquired in process S902, and the process proceeds to process S904.
  • external information such as surrounding vehicles and obstacles is arranged on the map data, and a lane position where the host vehicle can travel, a gap between adjacent lanes, and the like are detected.
  • step S904 target gap setting processing and lane change possibility determination are performed, and the process proceeds to step S905.
  • process S905 information on the target gap set in process S904 and whether or not the lane can be changed is output to the sound generator 105 and the display device 106, and the series of processes ends.
  • the scene where the own vehicle joins has been described specifically for the lane change on a two-lane road, but the present invention can also be applied to a scene where the lane is changed on a road with three or more lanes, for example.
  • the present invention is not limited to the above-described embodiments, and various designs can be made without departing from the spirit of the present invention described in the claims. It can be changed.
  • the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described.
  • a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.
  • Vehicle control device 101 External recognition device 1 Surrounding environment recognition unit 2 Road information acquisition unit 3 Target route generation unit 4 Vehicle control unit 5 Lane change support unit 6 HMI control unit 10 Gap calculation unit 20 Target gap setting unit

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  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

L'invention concerne un dispositif de commande de véhicule permettant de mettre en œuvre une commande de conduite automatique sûre et sans à-coups par prédiction des déplacements de véhicules périphériques. Ce dispositif est un dispositif de commande de véhicule (100a) qui définit une distance cible (G3), qui est la cible d'une destination de changement de voie d'un véhicule hôte (400), parmi au moins une ou plusieurs distances (G1 à G4) entre le véhicule hôte et une pluralité d'autres véhicules se déplaçant parallèlement sur des voies adjacentes, et qui effectue un changement de voie pour le véhicule hôte. Le dispositif de commande de véhicule (100a) est caractérisé en ce que le taux de variation de la taille de la distance cible (G3) est détecté et une évaluation est réalisée sur la base de ce taux de variation pour savoir si un changement de voie peut être effectué ou non.
PCT/JP2019/001976 2018-02-07 2019-01-23 Dispositif de commande de véhicule WO2019155880A1 (fr)

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JP2018020287A JP6951271B2 (ja) 2018-02-07 2018-02-07 車両制御装置

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EP4035958A4 (fr) * 2019-09-27 2022-10-26 Hitachi Astemo, Ltd. Dispositif de commande de véhicule, procédé de commande de véhicule et système de commande de véhicule

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JP7307660B2 (ja) * 2019-10-24 2023-07-12 日産自動車株式会社 運転支援方法及び運転支援装置
KR102279309B1 (ko) * 2019-11-20 2021-07-20 국민대학교산학협력단 운전 제어권 전환 불응에 따른 차량 안전 제어 방법
JP7373118B2 (ja) * 2020-02-13 2023-11-02 マツダ株式会社 走行経路生成システム及び車両運転支援システム
JP7375596B2 (ja) * 2020-02-13 2023-11-08 マツダ株式会社 走行経路生成システム及び車両運転支援システム

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JP2005038325A (ja) * 2003-07-18 2005-02-10 Nissan Motor Co Ltd 車線変更支援装置
JP2006244142A (ja) * 2005-03-03 2006-09-14 Aisin Aw Co Ltd 運転支援方法及び運転支援装置
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CN114694375B (zh) * 2020-12-28 2024-02-27 本田技研工业株式会社 交通监视系统、交通监视方法及存储介质

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