WO2019235278A1 - 車両制御装置 - Google Patents

車両制御装置 Download PDF

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Publication number
WO2019235278A1
WO2019235278A1 PCT/JP2019/020821 JP2019020821W WO2019235278A1 WO 2019235278 A1 WO2019235278 A1 WO 2019235278A1 JP 2019020821 W JP2019020821 W JP 2019020821W WO 2019235278 A1 WO2019235278 A1 WO 2019235278A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
mode
host vehicle
control device
crossing
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2019/020821
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English (en)
French (fr)
Japanese (ja)
Inventor
巧 植松
光宏 時政
理宏 黒木
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Denso Corp
Original Assignee
Denso Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to CN201980037573.2A priority Critical patent/CN112236345A/zh
Publication of WO2019235278A1 publication Critical patent/WO2019235278A1/ja
Priority to US17/111,450 priority patent/US11878688B2/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • B60W30/165—Automatically following the path of a preceding lead vehicle, e.g. "electronic tow-bar"
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • 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
    • 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
    • B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed control
    • B60W30/146—Speed limiting
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/182—Selecting between different operative modes, e.g. comfort and performance modes
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0027—Planning or execution of driving tasks using trajectory prediction for other traffic participants
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4041—Position
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/40—Dynamic objects, e.g. animals, windblown objects
    • B60W2554/404—Characteristics
    • B60W2554/4045—Intention, e.g. lane change or imminent movement
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/802—Longitudinal distance
    • 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
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • 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
    • B60W2754/00—Output or target parameters relating to objects
    • B60W2754/10—Spatial relation or speed relative to objects
    • B60W2754/30—Longitudinal distance

Definitions

  • This disclosure relates to a technique for controlling the operation of the host vehicle.
  • Patent Document 1 A technique for giving a signal is known (Patent Document 1).
  • the host vehicle gives a signal that consents to the interruption, and at the same time, warns the vehicle that is translating the roadside belt on the left side of the host vehicle by blinking the warning light on the side of the vehicle body. ing.
  • the host vehicle executes control (following control) that travels following the preceding vehicle that travels ahead of the host vehicle, and control that travels at a preset vehicle speed (constant speed control). If this is the case, there may be a case where the oncoming interrupted vehicle cannot safely interrupt the front of the host vehicle, and there is a concern that the traffic flow will be delayed.
  • follow-up control when the own vehicle is executing the follow-up control, when the own vehicle is stopped according to the stop of the preceding vehicle, if the distance between the preceding vehicle and the own vehicle is small, the opposite interruption vehicle is Since there may be a case where it is not possible to safely interrupt between the own vehicle and the preceding vehicle, there is a concern that the traffic flow will be delayed. Further, in the conventional technology, even when the host vehicle issues a warning with a warning light to a vehicle that is translating along the roadside belt, the driver of the vehicle that is translating may not be aware of the warning.
  • the present disclosure has been made to solve at least a part of the problems described above, and can be realized as the following forms.
  • a follow-up running mode in which the host vehicle runs following the preceding vehicle that runs ahead of the host vehicle and a constant speed running mode in which the host vehicle runs at a predetermined set vehicle speed.
  • the vehicle control device is located in front of the host vehicle, and there is a crossing other vehicle that enters across the front of the host vehicle in an approach space that branches from a travel lane on which the host vehicle travels.
  • An approach availability determination unit that determines whether an entry condition that the other crossing vehicle can enter the entry space across the front of the own vehicle without colliding with the own vehicle, and the entry condition is satisfied.
  • the following traveling mode or the constant speed traveling mode that is being executed is switched, and the traveling of the host vehicle is performed in order to secure a space that the other crossing vehicle crosses in front of the host vehicle.
  • the vehicle control device of the above aspect when the entry condition is satisfied, the following mode or the constant speed mode is switched and the crossing mode is executed, so that the crossing other vehicle can safely cross the front of the own vehicle. it can.
  • the present disclosure can be realized in various forms other than the vehicle control device.
  • the present disclosure can be realized in the form of a vehicle control device control method, a program for executing the control method, a vehicle equipped with the vehicle control device, and the like.
  • FIG. 1 is a block diagram of a host vehicle including the vehicle control device of the first embodiment.
  • FIG. 2 is a first flowchart executed by the vehicle control device of the first embodiment.
  • FIG. 3 is a second flowchart executed by the vehicle control device of the first embodiment.
  • FIG. 4 is a third flowchart executed by the vehicle control device of the first embodiment.
  • FIG. 5 is a first diagram illustrating a specific example of control contents executed by the vehicle control device of the first embodiment.
  • FIG. 6 is a second diagram illustrating a specific example of control contents executed by the vehicle control device of the first embodiment.
  • FIG. 7 is a third diagram showing a specific example of control contents executed by the vehicle control device of the first embodiment.
  • FIG. 8 is a fourth diagram illustrating a specific example of control contents executed by the vehicle control device of the first embodiment.
  • FIG. 9 is a fifth diagram illustrating a specific example of control contents executed by the vehicle control device of the first embodiment.
  • FIG. 10 is a sixth diagram illustrating a specific example of control content executed by the vehicle control device of the first embodiment.
  • FIG. 11 is a block diagram of the host vehicle including the vehicle control device of the second embodiment.
  • FIG. 12 is a diagram for explaining the moving pace and the backward moving body.
  • FIG. 13 is a first flowchart executed by the vehicle control device of the second embodiment.
  • FIG. 14 is a second flowchart executed by the vehicle control device of the second embodiment.
  • FIG. 15 is a first diagram illustrating a specific example of control contents executed by the vehicle control device of the second embodiment.
  • FIG. 16 is a second diagram illustrating a specific example of control content executed by the vehicle control device of the second embodiment.
  • FIG. 17 is a third diagram illustrating a specific example of control content executed by the vehicle control device of the second embodiment.
  • FIG. 18 is a fourth diagram illustrating a specific example of control content executed by the vehicle control device of the second embodiment.
  • FIG. 19 is a fifth diagram illustrating a specific example of control content executed by the vehicle control device of the second embodiment.
  • FIG. 20 is a sixth diagram illustrating a specific example of control content executed by the vehicle control device of the second embodiment.
  • FIG. 21 is a seventh diagram illustrating a specific example of control contents executed by the vehicle control device of the second embodiment.
  • FIG. 22 is an eighth diagram illustrating a specific example of control contents executed by the vehicle control device of the second embodiment.
  • the host vehicle 10 includes a front monitoring sensor 12, a side monitoring sensor 14, a position sensor 16, a vehicle speed sensor 18, and a vehicle control device 20.
  • the host vehicle 10 includes an engine ECU 41, a brake ECU 42, a steering ECU 43, an engine 44, a brake mechanism 45, and a steering mechanism 46.
  • the various sensors 12, 14, 16, and 18 are configured to be able to communicate with the vehicle control device 20, and transmit the detected information to the vehicle control device 20.
  • the front monitoring sensor 12 is composed of various sensors for detecting an object located in front of the host vehicle 10.
  • the side monitoring sensor 14 is composed of various sensors for detecting an object located on the side of the host vehicle 10.
  • Each of the front monitoring sensor 12 and the side monitoring sensor 14 includes an image sensor such as a camera, a radio wave radar, a rider (laser radar), and a sound wave sensor.
  • the radio radar detects a reflected wave from an object by emitting radio waves (for example, millimeter waves).
  • the rider emits a laser beam and detects the reflected light from the object.
  • the sound wave sensor detects a reflected wave from an object by emitting a sound wave.
  • the front monitoring sensor 12 and the side monitoring sensor 14 are configured by at least one of the various sensors described above or other sensors as long as an object located in front of or side of the host vehicle 10 can be detected. Also good.
  • the position sensor 16 is a sensor that detects the current position of the host vehicle 10.
  • the position sensor 16 is a receiver that receives a navigation signal via an antenna from an artificial satellite constituting, for example, a GNSS (Global Navigation Satellite System). Further, the position sensor 16 can detect an azimuth angle that is the traveling direction of the host vehicle 10.
  • the vehicle speed sensor 18 detects the speed of the host vehicle 10.
  • the vehicle control device 20 includes a surrounding object detection unit 21, an approach space determination unit 22, a preceding vehicle determination unit 25, an other vehicle determination unit 26, an entry availability determination unit 28, and an automatic driving control unit 29.
  • the peripheral object detection unit 21 acquires information from the front monitoring sensor 12, the side monitoring sensor 14, and the position sensor 16, and detects a peripheral object such as a vehicle located around the host vehicle 10 using the acquired information.
  • the detection of the peripheral object includes detection of the presence or absence of the peripheral object and detection of the distance (relative position) and speed (relative speed) of the peripheral object with respect to the host vehicle 10.
  • the approach space determination unit 22 uses the object information detected by the surrounding object detection unit 21, the lane information detected by the front monitoring sensor 12, the current position information detected by the position sensor 16, and the like to determine whether there is an entrance space SP. judge.
  • the approach space SP is a space that is located in front of the host vehicle 10 that is located in the travel lane and branches off from the travel lane. In areas having traffic rules for left-hand traffic, the approach space SP is a space that branches off from the left side of the traveling lane.
  • the approach space SP is, for example, another lane that intersects the traveling lane, a parking lot, a side street, or the like.
  • the surrounding object detection unit indicates that the information acquired from the sound wave sensor of the side monitoring sensor 14 has changed from a state in which sound waves are reflected to a state in which there is no reflection. 21 detects.
  • the entry space determination unit 22 determines that the entrance of the entry space SP is in an area where no sound wave is reflected.
  • the approach space determination unit 22 uses the captured image acquired by the peripheral object detection unit 21 from the camera of the side monitoring sensor 14 to determine whether there is an entrance space SP. May be determined.
  • the preceding vehicle determination unit 25 uses the information detected by the surrounding object detection unit 21 to determine whether there is a preceding vehicle that travels in the traveling lane ahead of the host vehicle 10. For example, the preceding vehicle determination unit 25 determines whether there is a preceding vehicle using the lane information detected by the front monitoring sensor 12 and the vehicle pattern matching result in the captured image obtained by the front monitoring sensor 12 acquired by the surrounding object detection unit 21. Determine.
  • the preceding vehicle is a vehicle located immediately before the host vehicle 10.
  • the other vehicle determination unit 26 uses the information detected by the surrounding object detection unit 21 and the information detected by the entry space determination unit 22 to determine whether there is a crossing other vehicle that enters the entry space SP across the front of the host vehicle 10. Determine whether or not. For example, it is determined whether there is a crossing other vehicle using information on the blinking state of the direction indicator (detection information of the surrounding object detection unit 21) of another vehicle located in front or side of the host vehicle 10. The details of the other vehicle determination unit 26 will be described later.
  • the entry propriety determination unit 28 determines that there is a crossing other vehicle by the other vehicle determination unit 26 when the automatic driving control unit 29 executes any one of the following traveling mode M1 and the constant speed traveling mode M2 described later. If so, the following is determined. That is, the entry permission / prohibition determination unit 28 determines whether or not the entry condition that the crossing other vehicle can enter the entry space SP across the front of the own vehicle 10 without colliding with the own vehicle 10 is determined. A method for determining whether or not the entry condition is satisfied will be described later.
  • the automatic operation control unit 29 sends a command to the engine ECU 41, the brake ECU 42, and the steering ECU 43, thereby executing any one of the following traveling mode M1, the constant speed traveling mode M2, and the crossing mode M3. 10 is automatically controlled.
  • the following travel mode M1 is a mode in which the host vehicle 10 travels following the preceding vehicle that travels ahead of the host vehicle 10. In the following traveling mode M1, the host vehicle 10 travels so that the distance between the preceding vehicle and the preceding vehicle is a predetermined distance PD. The distance PD is set to increase as the relative speed between the host vehicle 10 and the preceding vehicle increases.
  • the constant speed travel mode M2 is a mode in which the host vehicle 10 travels at a preset vehicle speed VD.
  • the crossing mode M3 is a mode for controlling the traveling of the host vehicle 10 in order to secure a space for the crossing other vehicle to cross in front of the host vehicle 10 when the entry condition is satisfied.
  • the automatic driving control unit 29 can execute an automatic driving in the follow driving mode M1 or the constant speed driving mode M2 by operating a selection button or the like mounted on the own vehicle 10 by the driver of the own vehicle 10.
  • the follow-up running mode M1 is executed when a preceding vehicle exists in front of the host vehicle 10
  • the constant-speed running mode M2 is executed when there is no preceding vehicle.
  • the engine ECU 41 controls the operation of the engine 44. Specifically, by controlling various actuators (not shown), the throttle valve opening / closing operation, the igniter ignition operation, the intake valve opening / closing operation, and the like are controlled.
  • the brake ECU 42 controls the operation of the brake mechanism 45.
  • the brake mechanism 45 includes a device group (actuator) related to brake control such as a sensor, a motor, a valve, and a pump.
  • the brake ECU 42 determines the brake application timing and the brake amount (brake amount), and controls each device constituting the brake mechanism 45 so that the brake amount determined at the determined timing is obtained.
  • the steering ECU 43 controls the operation of the steering mechanism 46.
  • the steering mechanism 46 includes a device group (actuator) related to steering such as a power steering motor.
  • the steering ECU 46 determines a steering amount (steering angle) according to a command from the automatic driving control unit 29, and controls each device constituting the steering mechanism 46 so as to be the determined steering amount.
  • the host vehicle 10 is driven by the engine 44, but may be driven by an electric motor.
  • FIGS. 5 to 10 show road conditions in which the host vehicle 10 is located in the travel lane Ln1 and the intersection CP is positioned in front of the host vehicle 10.
  • FIG. 5 to 10 show an opposite lane Ln2 facing the traveling lane Ln1 and a lane Ln3 orthogonal to the traveling lane Ln1.
  • the surrounding object detection unit 21 detects a surrounding object using information acquired from the front monitoring sensor 12, the side monitoring sensor 14, and the position sensor 16 (step S10).
  • the preceding vehicle determination unit 25 determines whether there is a preceding vehicle 55 ahead of the host vehicle 10 (step S12).
  • the automatic operation control unit 29 selects and executes the operation mode according to the determination result of the preceding vehicle 55 performed in step S12 (step S14).
  • the automatic driving control unit 29 executes the follow-up traveling mode M1 when there is a preceding vehicle 55, and executes the constant speed traveling mode M2 when there is no preceding vehicle 55.
  • the entry space determination unit 22 determines whether there is an entry space SP (step S16).
  • the entry space determination unit 22 determines that there is an entry space SP that branches from the left side of the travel lane Ln1 of the host vehicle 10.
  • the approach space SP shown in FIG. 5 is a part of the traveling lane Ln3 orthogonal to the traveling lane Ln1.
  • the vehicle control apparatus 20 performs the process of step S10 again.
  • the other vehicle determination unit 26 determines whether there are crossing other vehicles 60 and 65 (step S18).
  • the determination method of the crossing other vehicles 60 and 65 performed by the other vehicle determination unit 26 will be described with reference to FIG.
  • the other vehicle determination unit 26 is a crossing other vehicle 65 when the following condition 1 is satisfied in a situation where a vehicle is present on the traveling lane Ln3 orthogonal to the traveling lane Ln1 on the right front side of the host vehicle 10. Is determined. ⁇ Condition 1> The vehicle 65 stops without blinking the direction indicator.
  • the other vehicle determination unit 26 is a crossing other vehicle 60 when any of the following conditions 2 and 3 is satisfied in a situation where the vehicle is present in the oncoming lane Ln2 in front of the host vehicle 10. Is determined.
  • ⁇ Condition 2> The vehicle 60 blinks the direction indicator in order to enter the entry space SP.
  • ⁇ Condition 3> The vehicle 60 stops at the center line CL side.
  • the other vehicle determination unit 26 determines that the vehicle 60 is closer to the center line CL when the lateral distance between the vehicle 60 and the center line CL is equal to or less than a predetermined value in the determination of the condition 3. The other vehicle determination unit 26 determines that the vehicle is the crossing other vehicle 60 when both the condition 2 and the condition 3 are satisfied instead of satisfying either the condition 2 or the condition 3. May be.
  • step S10 As shown in FIG. 2, when it is determined that there are no crossing other vehicles 60, 65, the vehicle control device 20 executes the process of step S10 again. On the other hand, when it is determined that there are crossing other vehicles 60 and 65, the automatic operation control unit 29 executes step S30 of FIG. If the mode M2 is being executed, step S52 of FIG. 4 is executed.
  • step S30 the automatic driving control unit 29 determines whether or not the host vehicle 10 is traveling in the follow traveling mode M1 on the near side of the approach space SP.
  • the entry availability determination unit 28 determines whether or not an entry condition is satisfied (steps S32 and S36).
  • the entry condition is a condition that the crossing other vehicles 60 and 65 can enter the entry space SP across the front of the own vehicle 10 without colliding with the own vehicle 10.
  • the approach conditions include a first approach condition, a second approach condition, and a third approach condition.
  • step S32 the entry permission / prohibition determination unit 28 determines whether or not the first entry condition is satisfied.
  • the first entry condition is a condition that the host vehicle 10 can stop at the point Pt before the entrance of the entry space SP by the brake mechanism 45.
  • the entry determination unit 28 determines whether or not the first entry condition is satisfied when the host vehicle 10 decelerates at a predetermined deceleration set in consideration of passenger safety. That is, the first entry condition is a condition that the host vehicle 10 can stop at the point Pt by the deceleration of the set deceleration.
  • the automatic operation control unit 29 switches the following traveling mode M1 being executed and executes the crossing mode M3 (step S34).
  • the automatic driving control unit 29 sends an instruction to the brake ECU 42 so that the host vehicle 10 can stop at the point Pt.
  • the other crossing vehicles 60 and 65 can safely enter the entry space SP across the front of the own vehicle 10.
  • the entry availability determination unit 28 determines whether or not the second entry condition is satisfied (step S36).
  • the second approach condition is that the host vehicle 10 is decelerated, and the host vehicle 10 is executed in the following traveling mode M ⁇ b> 1 until the host vehicle 10 reaches a point Pta that is on the near side of the point Pt.
  • This is a condition that the distance can be changed to a distance PDa larger than the distance PD to be followed by the preceding vehicle 55.
  • the distance PDa is set to a distance that allows the crossing other vehicles 60 and 65 to cross between the preceding vehicle 55 and the host vehicle 10 without colliding with the host vehicle 10.
  • step S38 the automatic driving control unit 29 sends an instruction to the brake ECU 42 so that the distance between the preceding vehicle 55 and the preceding vehicle 55 becomes the distance PDa before the host vehicle 10 reaches the point Pta. Thereby, as shown in FIG. 6, the crossing other vehicles 60 and 65 can safely enter the entry space SP across between the preceding vehicle 55 and the host vehicle 10.
  • Step S39 when neither the first entry condition nor the second entry condition is satisfied, the automatic operation control unit 29 maintains the follow-up running mode M1 (step S39). Thereby, it is possible to prevent the crossing other vehicles 60 and 65 from forcibly crossing the front of the host vehicle 10 and entering the entry space SP.
  • Step S30 when it is determined that the host vehicle 10 is not running and is stopped, the approach determination unit 28 determines that the third approach condition is satisfied. As a result, the automatic operation control unit 29 switches the follow-up traveling mode M1 and executes the crossing mode M3 (step S40). As shown in FIGS.
  • the automatic operation control unit 29 maintains the stop of the host vehicle 10 regardless of the start of the preceding vehicle 55. Thereby, the crossing other vehicles 60 and 65 can safely enter the entry space SP across the space between the preceding vehicle 55 and the host vehicle 10.
  • the entry determination unit 28 determines whether or not the first entry condition as the entry condition is satisfied ( Step S52 in FIG.
  • the first entry condition is the same as the first entry condition determined in step S32.
  • the automatic operation control unit 29 switches the constant speed traveling mode M2 being executed and executes the crossing mode M3 (step S54).
  • the crossing mode M3 executed in step S54 the automatic driving control unit 29 sends an instruction to the brake ECU 42 so that the host vehicle 10 can stop at the point Pt.
  • the host vehicle 10 stops at the point Pt, so that the crossing other vehicles 60 and 65 can safely enter the entry space SP across the front of the host vehicle 10.
  • the automatic operation control unit 29 maintains the constant speed traveling mode M2 (step S56). Thereby, it is possible to prevent the crossing other vehicles 60 and 65 from forcibly crossing the front of the host vehicle 10 and entering the entry space SP.
  • the automatic operation control unit 29 uses the information acquired from the front monitoring sensor 12 and the side monitoring sensor 14 to cross the front of the host vehicle 10 when the crossing mode M3 of steps S34, 38, and 40 is executed. When it is detected that the vehicles 60 and 65 have crossed, the crossing mode M3 is ended, and Step S10 is executed again.
  • Second embodiment In the present embodiment, as in the first embodiment, a vehicle control device 20 that is applied in an area having a left-hand traffic rule will be described.
  • the same configuration as the host vehicle 10 (FIG. 1) of the first embodiment and the steps of the same control flow are denoted by the same reference numerals and the description thereof is omitted as appropriate.
  • the host vehicle 10a equipped with the vehicle control device 20a (FIG. 11) is newly provided with a rear monitoring sensor 15, a notification ECU 47, and a notification unit 48.
  • the rear monitoring sensor 15 includes various sensors for detecting an object located behind the host vehicle 10a.
  • the rear monitoring sensor 15 includes, for example, an image sensor such as a camera, a radio wave radar, a rider (laser radar), and a sound wave sensor.
  • the rear monitoring sensor 15 may be configured by at least one of the various sensors described above or another sensor as long as it can detect an object located behind the host vehicle 10.
  • the notification ECU 47 controls the operation of the notification unit 48.
  • reporting part 48 is the indicator lamp arrange
  • the notification ECU 47 notifies the crossing other vehicles 60 and 65 located in front of the host vehicle 10a of the presence of the rear moving body 82 by turning on or blinking the indicator lamp disposed in the front portion.
  • the notification ECU 47 notifies the existence of the crossing other vehicles 60 and 65 to the rear moving body 82 located behind the host vehicle 10a by turning on or blinking the indicator lamp arranged in the rear portion.
  • the notification unit 48 is not limited to the indicator lamp, and may notify the backward moving body 82 of the presence of the crossing other vehicles 60 and 65 by displaying characters or outputting sound.
  • the vehicle control device 20a newly includes a moving space determination unit 23, a backward moving body determination unit 27, and a safety condition determination unit 24.
  • the moving space determination unit 23 determines whether or not there is a moving space MS in which the own vehicle 10a can move (adjust the width) toward the entry space SP in the traveling lane Ln1 between the own vehicle 10a and the point Pt. . As illustrated in FIG. 12, the moving space determination unit 23 determines that there is a moving space MS when the following conditions A and B are satisfied.
  • ⁇ Condition A> There is a region where the distance LD along the travel lane Ln1 from the host vehicle 10a to the point Pt is equal to or greater than a predetermined value VA and no object is present on the left side of the host vehicle 10a.
  • ⁇ Condition B> The lateral distance SD between the host vehicle 10a and the lane marking CLs on the approach space SP that divides the lane Ln1 is equal to or greater than a predetermined reference value SV.
  • the predetermined value VA is set to be equal to or greater than the assumed distance of the host vehicle 10a that moves from the start to the completion of the execution of the suppression mode M4 described later.
  • the predetermined reference value SV is set to, for example, the width (for example, 1.0 m) of the rear moving body 82 (for example, a motorcycle or a bicycle) that can travel through the side of the host vehicle 10a. Note that the predetermined reference value is not limited to this, and may be any value that can determine that the backward moving body 82 may travel by the side of the host vehicle 10a. It may be set to 1.5 times or 2.0 times the width of the rear moving body 82.
  • the backward moving body determination unit 27 moves backward among the moving bodies 80 and 82 (FIG. 12) using information detected by the peripheral object detection unit 21 based on information acquired from the backward monitoring sensor 15. It is determined whether or not the body 82 is located.
  • the rear moving body 82 travels behind the host vehicle 10a in the travel lane Ln1, and moves on the side of the host vehicle 10a on the entry space SP side (left side in the present embodiment) so as to pass through the host vehicle 10a. Is the body. That is, the backward moving body determination unit 27 determines that the backward moving body 82 is located when a motorcycle or a bicycle is traveling behind the host vehicle 10a.
  • the safety condition determination unit 24 determines whether or not a safety condition is satisfied that a collision allowance time (TTC) between the rear moving body 82 and the host vehicle 10a is equal to or greater than a predetermined value VT.
  • the predetermined value VT is set to a value that allows the rear moving body 82 to avoid a collision with the host vehicle 10a when the automatic operation control unit 29a executes the suppression mode M4.
  • the automatic operation control unit 29a is newly provided with a suppression mode M4.
  • the suppression mode M4 is a mode in which the host vehicle 10a is moved to the entry space SP side in the traveling lane Ln1 and the host vehicle 10a is stopped in front of the entry space SP in order to suppress slipping of the rear moving body 82. It is.
  • the movement of the host vehicle 10a toward the entry space SP is executed until the lateral distance SD (FIG. 12) reaches a predetermined value PV.
  • the predetermined value PV may be the same as the reference value SV, or may be larger or smaller than the reference value SV.
  • step S18 determines whether or not the backward moving body 82 is located behind the host vehicle 10a (step 1). S19). When it is determined that the backward moving body 82 is not located, the vehicle control device 20a executes the process of step S30 in FIG. 3 and step S52 in FIG.
  • Step S34 (FIG. 3), Step S38 (FIG. 3), and Step S54 (FIG. 4). It is determined whether or not any of the transverse modes M3 is being executed (step S60). When the crossing mode M3 is not executed, the moving space determination unit 23 determines whether or not there is a moving space MS (step S62). On the other hand, when the crossing mode M3 is being executed, the automatic operation control unit 29a transmits an instruction for operating the notification unit 48 to the notification ECU 47.
  • the notification unit 48 is turned on or blinked, so that an object that may collide with an occupant of the crossing other vehicle 60 or 65 or an occupant of the rear moving body 82 (the rear moving body 82 or the crossing). The presence of other vehicles 60, 65) is notified (step S70).
  • the safety condition determination unit 24 determines whether or not the safety condition is satisfied (step S64).
  • the automatic operation control unit 29a executes the suppression mode M4 by switching the follow-up traveling mode M1 or the constant speed traveling mode M2 being executed (step S66).
  • the crossing other vehicles 60 and 65 can safely cross the front of the host vehicle 10a, and the possibility of the rear moving body passing through the host vehicle 10a and colliding with the crossing other vehicles 60 and 65 can be reduced. .
  • the automatic operation control unit 29a maintains the execution of the following traveling mode M1 or the constant speed traveling mode M2 being executed (step S68). Thereby, the possibility that the rear moving body 82 collides with the host vehicle 10a can be reduced.
  • step S62 the host vehicle 10 a is traveling in the following traveling mode M ⁇ b> 1 near the point Pt.
  • the moving space determination unit 23 determines that there is no moving space MS (step S62: No).
  • the automatic operation control unit 29a continuously executes the follow-up running mode M1 without switching (step S68). Even when there is a moving space MS, the safety condition is not satisfied when the collision margin time between the rear moving body 82 and the host vehicle 10a is less than a predetermined value VT. Even in this case, the automatic operation control unit 29a continuously executes the follow-up traveling mode M1 without switching (step S68).
  • the moving space determination unit 23 sets the moving space MS to It determines with not (step S62: No). In this case, since the automatic driving control unit 29a continuously executes the follow-up running mode M1 without switching (step S68), when the preceding vehicle 55 starts as shown in FIG. 18, it follows the preceding vehicle 55. The own vehicle 10a also starts.
  • the automatic operation control unit 29a executes the suppression mode M4. Further, as shown in FIG. 21, when the host vehicle 10a is stopped in the follow-up travel mode M1, it is determined that there is a moving space MS (step S62: Yes), and it is determined that the safety condition is satisfied. In this case, as shown in FIG. 22, the automatic operation control unit 29a executes the suppression mode M4. As described above, when the automatic operation control unit 29a executes the suppression mode M4, the crossing other vehicles 60 and 65 can safely cross the front of the host vehicle 10a. Moreover, since it is possible to suppress the rear moving body 82 from passing through the left side of the host vehicle 10a, the possibility that the rear moving body 82 collides with the crossing other vehicles 60 and 65 can be reduced.
  • C. Other embodiments C-1.
  • the entry space SP is a space that branches from the travel lane Ln1 to the right side.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
PCT/JP2019/020821 2018-06-06 2019-05-27 車両制御装置 Ceased WO2019235278A1 (ja)

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US17/111,450 US11878688B2 (en) 2018-06-06 2020-12-03 Vehicle control apparatus

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KR20230093834A (ko) * 2021-12-20 2023-06-27 현대자동차주식회사 자율 주행 차량, 그와 정보를 공유하는 관제 시스템 및 그 방법
CN116279491B (zh) * 2023-03-14 2024-02-02 上海知而行科技有限公司 切换自动驾驶和自动跟随的系统及方法
US20250299581A1 (en) * 2024-03-22 2025-09-25 Honda Motor Co., Ltd. Vehicle-to-vehicle communications for blind spot notification

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US11878688B2 (en) 2024-01-23

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