WO2021250936A1 - 走行制御装置及び走行制御方法 - Google Patents

走行制御装置及び走行制御方法 Download PDF

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Publication number
WO2021250936A1
WO2021250936A1 PCT/JP2021/004272 JP2021004272W WO2021250936A1 WO 2021250936 A1 WO2021250936 A1 WO 2021250936A1 JP 2021004272 W JP2021004272 W JP 2021004272W WO 2021250936 A1 WO2021250936 A1 WO 2021250936A1
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WIPO (PCT)
Prior art keywords
oncoming vehicle
vehicle
intersection
control device
oncoming
Prior art date
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Ceased
Application number
PCT/JP2021/004272
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English (en)
French (fr)
Japanese (ja)
Inventor
健 伊波
徳之 小松
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Astemo Ltd
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Hitachi Astemo Ltd
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Priority to US18/008,396 priority Critical patent/US12179733B2/en
Priority to JP2022530021A priority patent/JP7402334B2/ja
Publication of WO2021250936A1 publication Critical patent/WO2021250936A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/58—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration responsive to speed and another condition or to plural speed conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B60T7/12—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger
    • B60T7/22—Brake-action initiating means for automatic initiation; for initiation not subject to will of driver or passenger initiated by contact of vehicle, e.g. bumper, with an external object, e.g. another vehicle, or by means of contactless obstacle detectors mounted on the vehicle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/17—Using electrical or electronic regulation means to control braking
    • B60T8/1755—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve
    • B60T8/17558—Brake regulation specially adapted to control the stability of the vehicle, e.g. taking into account yaw rate or transverse acceleration in a curve specially adapted for collision avoidance or collision mitigation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/24—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to vehicle inclination or change of direction, e.g. negotiating bends
    • B60T8/246—Change of direction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B60T8/32—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration
    • B60T8/86—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force responsive to a speed condition, e.g. acceleration or deceleration wherein the brakes are automatically applied in accordance with a speed condition and having means for overriding the automatic braking device when a skid condition occurs
    • 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
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18154—Approaching an intersection
    • 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
    • B60W30/18159—Traversing an intersection
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T2210/00—Detection or estimation of road or environment conditions; Detection or estimation of road shapes
    • B60T2210/30—Environment conditions or position therewithin
    • B60T2210/32—Vehicle surroundings
    • 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
    • B60W2554/4042—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
    • 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

Definitions

  • the present invention relates to a traveling control device having an AEB function for preventing a collision with an oncoming vehicle at an intersection.
  • intersection AEB damage collision mitigation brake
  • Patent Document 1 Japanese Unexamined Patent Publication No. 2010-33441
  • the oncoming vehicle when there is no oncoming vehicle at an intersection, when the own vehicle goes straight or turns left at the intersection, when the position of the oncoming vehicle is a right turn dedicated lane or a left turn dedicated lane, the oncoming vehicle is opposed. If the vehicle's winker or hazard lamp is blinking, the parking light is on, the vehicle's traffic light can turn right, the oncoming vehicle's traffic light is red, the oncoming vehicle's intersection If the road ahead is congested, the start prediction process of the oncoming vehicle is stopped, and in other cases, the start prediction process of the oncoming vehicle is executed.
  • the collision risk of obstacles is calculated to check whether there is a possibility of collision, and if there is a possibility of collision, driving support control such as alarm output and automatic braking / steering is executed to ensure safety.
  • driving support control such as alarm output and automatic braking / steering is executed to ensure safety.
  • Patent Document 1 predicts whether or not an oncoming vehicle is stopped from information on the surrounding environment at the intersection, but when the oncoming vehicle enters the intersection without stopping. , The oncoming vehicle in motion is not considered because it may not be possible to determine whether the oncoming vehicle is going straight or turning left or right. Therefore, there is a problem that the intersection AEB does not operate even when the oncoming vehicle enters the intersection at a low speed.
  • a typical example of the invention disclosed in the present application is as follows. That is, it is a travel control device and includes a sensor for detecting the front and a control unit for controlling the brake based on the information from the sensor, and the control unit determines that the own vehicle turns across the intersection. In this case, if the speed of the oncoming vehicle is equal to or higher than a predetermined threshold value, the brake is controlled to be controlled, and when it is estimated that the oncoming vehicle detected by the sensor turns across the intersection, the threshold value is increased. And.
  • FIG. 1 It is a block diagram of the travel control device of the vehicle which concerns on embodiment of this invention. It is a flowchart of the process executed by the vehicle-mounted camera of the embodiment of this invention. It is a detailed flowchart of the oncoming vehicle traveling direction prediction processing of the embodiment of this invention. It is a flowchart of the oncoming vehicle speed threshold setting process of embodiment of this invention. It is a figure which shows the relationship between the own vehicle and an oncoming vehicle in Example 1.
  • FIG. It is a detailed flowchart of the oncoming vehicle traveling direction prediction processing of the embodiment of this invention.
  • FIG. 1 It is a block diagram of the travel control device of the vehicle which concerns on embodiment of this invention. It is a flowchart of the process executed by the vehicle-mounted camera of the embodiment of this invention. It is a detailed flowchart of the oncoming vehicle traveling direction
  • FIG. It is a block diagram of the travel control device of the vehicle which concerns on Example 3.
  • FIG. It is a flowchart of an example of the oncoming vehicle traveling direction prediction processing of Example 4. It is a flowchart of another example of the oncoming vehicle traveling direction prediction processing of Example 4.
  • FIG. 1 is a block diagram of a vehicle travel control device according to an embodiment of the present invention.
  • the in-vehicle camera 10 of this embodiment includes a ROM (Read Only Memory) for storing a travel control algorithm, a CPU (Central Processing Unit) for executing various arithmetic processes, a RAM (Random Access Memory) for accommodating arithmetic results, and the like.
  • ROM Read Only Memory
  • CPU Central Processing Unit
  • RAM Random Access Memory
  • the sensors 101 are composed of a camera that senses an object, and send the information detected by the sensors to the oncoming vehicle detection unit 102 and the own vehicle travel path estimation unit 103.
  • the oncoming vehicle detection unit 102 detects the target oncoming vehicle from the detection information of the moving object sent from the sensors 101, and sends the detected information on the target oncoming vehicle to the oncoming vehicle traveling direction prediction unit 104. It is a mechanism.
  • the own vehicle traveling path estimation unit 103 estimates the traveling direction of the own vehicle from the information sent from the sensors 101, the steering angle of the own vehicle, and the yaw rate of the own vehicle, and determines the estimation information of the traveling direction of the own vehicle at the intersection AEB. Send to section 105.
  • the oncoming vehicle traveling direction prediction unit 104 has an intersection shape determination unit 1041, a traffic light detection unit 1042, an oncoming vehicle winker identification unit 1043, and an oncoming vehicle tire angle detection unit 1044, and predicts the traveling direction of the target oncoming vehicle. The result is sent to the intersection AEB determination unit 105.
  • the intersection AEB determination unit 105 uses the traveling direction prediction result of the oncoming vehicle sent from the oncoming vehicle traveling direction prediction unit 104 and the estimation information of the traveling direction of the own vehicle sent from the own vehicle traveling path estimation unit 103 to use the intersection. It is determined whether or not the AEB is to be implemented, and the control policy, which is the determination result, is sent to the vehicle command value setting unit 106.
  • the vehicle command value setting unit 106 calculates an actual vehicle control command value from the control policy sent from the intersection AEB determination unit 105, and sets a control signal based on the calculated control command value to the warning unit 107 of the vehicle 20. It is sent to the vehicle control unit 108.
  • the alarm unit 107 warns the driver by an acoustic signal from the speaker or a display by the display device according to the control signal transmitted from the vehicle command value setting unit 106.
  • the vehicle control unit 108 controls the brake and steering according to the control signal transmitted from the vehicle command value setting unit 106.
  • the signal transmission means between the in-vehicle camera 10 and the vehicle 11 is composed of CAN (Control Area Network), Ethernet (registered trademark), etc., which are generally used as an in-vehicle network, and data is transmitted between connected devices. Send and receive.
  • CAN Control Area Network
  • Ethernet registered trademark
  • FIG. 2 is a flowchart of processing executed by the vehicle-mounted camera 10 according to the embodiment of the present invention.
  • the own vehicle traveling path estimation unit 103 detects that the own vehicle has entered an intersection and is about to turn across the intersection (turn right on left-hand traffic, turn left on right-hand traffic) (201). .. For example, when traveling on the left side, it is possible to detect that the vehicle is in the right turn lane, the right turn signal is operating, or the like, and the vehicle is about to turn right.
  • the oncoming vehicle detection unit 102 detects the oncoming vehicle at the approached intersection from the detection information of the moving object (202). Further, the oncoming vehicle traveling direction prediction unit 104 predicts the detected traveling direction of the oncoming vehicle (203), and the own vehicle traveling path estimation unit 103 estimates the traveling path of the own vehicle (204).
  • the oncoming vehicle traveling direction prediction process 203 by the oncoming vehicle traveling direction prediction unit 104 and the own vehicle traveling path estimation process 204 by the own vehicle traveling path estimation unit 103 may be executed in order or in parallel.
  • the intersection AEB determination unit 105 changes the threshold value of the speed of the oncoming vehicle that operates the intersection AEB from the result of the traveling direction of the oncoming vehicle (205), and determines whether or not the vehicle collides with the current course of the oncoming vehicle and the course of the own vehicle. (206), the threshold value is referred to to determine whether to operate the intersection AEB (207). In step 207, it is determined that the intersection AEB is operated when the possibility of collision is high and the speed of the oncoming vehicle is higher than the threshold value. That is, if the speed of the oncoming vehicle is lower than the threshold value, the intersection AEB does not operate even if it is determined that the possibility of collision is high.
  • Each part of the in-vehicle camera 10 is realized by a computer (microcomputer) including an arithmetic unit and a memory.
  • the arithmetic unit including the processor, executes the program stored in the memory.
  • a part of the processing performed by the arithmetic unit by executing the program may be executed by another arithmetic unit (for example, hardware such as FPGA (Field Programable Gate Array) or ASIC (Application Specific Integrated Circuit)).
  • FPGA Field Programable Gate Array
  • ASIC Application Specific Integrated Circuit
  • Memory includes ROM and RAM, which are non-volatile storage elements.
  • the ROM stores an invariant program (for example, BIOS) and the like.
  • RAM is a high-speed and volatile storage element such as DRAM (Dynamic Random Access Memory) and a non-volatile storage element such as SRAM (Static Random Access Memory), and is a program executed by an arithmetic unit and execution of a program. Stores data that is sometimes used.
  • the program executed by the arithmetic unit is stored in a non-volatile storage device which is a non-temporary storage medium.
  • FIG. 3 is a detailed flowchart of the oncoming vehicle traveling direction prediction process 203 according to the embodiment of the present invention, and illustrates a case where the vehicle turns right while traveling on the left side.
  • the oncoming vehicle traveling direction prediction unit 104 determines whether the oncoming vehicle is in the right turn lane (301), and if the oncoming vehicle is in the right turn lane, proceeds to step 306. On the other hand, if the oncoming vehicle does not exist in the right turn lane, it is determined whether the right turn signal (right arrow) of the traffic light on the own vehicle side is lit (302), and the right arrow of the traffic light on the own vehicle side is lit. If so, the process proceeds to step 306. On the other hand, if the right arrow of the traffic light on the own vehicle side is not lit, it is determined whether the right turn signal of the oncoming vehicle is blinking (303). If the right turn signal of the oncoming vehicle is blinking, the process proceeds to step 306.
  • step 306 it is determined whether the front wheel of the oncoming vehicle is facing right (304), and if the front wheel of the oncoming vehicle is facing right, the process proceeds to step 306. On the other hand, if the front wheels of the oncoming vehicle are not facing to the right, it is estimated that the oncoming vehicle will go straight (305).
  • the right turn determination of the oncoming vehicle is not limited to the conditions other than the above-mentioned four conditions, and other conditions may be used, or only a part of the four conditions may be used. Further, in the right turn determination of the oncoming vehicle, as shown in the figure, the oncoming vehicle may be determined to be a right turn when one of the four conditions is satisfied, or the right turn of the oncoming vehicle is determined by a majority vote of a plurality of conditions. Alternatively, the right turn of the oncoming vehicle may be determined using the comparison result between the total value of the scores weighted by each of the plurality of conditions and the predetermined threshold value.
  • the above-mentioned information for determining the right turn of the oncoming vehicle is all obtained from the camera which is the sensors 101.
  • FIG. 4 is a flowchart of the oncoming vehicle speed threshold setting process 205 according to the embodiment of the present invention, and illustrates a case where the vehicle turns right while traveling on the left side.
  • the intersection AEB determination unit 105 determines whether the traveling direction of the oncoming vehicle is estimated to be a right turn (401), and if the traveling direction of the oncoming vehicle is estimated to be a right turn, the threshold value of the speed of the oncoming vehicle is increased. However, if the traveling direction of the oncoming vehicle is not estimated to be a right turn, the speed threshold of the oncoming vehicle is not changed (403).
  • the travel control device of the first embodiment has the configuration shown in FIG. 1 and executes the process shown in FIG.
  • the oncoming vehicle traveling direction prediction unit 104 determines the right turn of the oncoming vehicle by using the information obtained from the camera which is the sensors 101.
  • the intersection AEB determination unit 105 sets a large threshold value for the speed of the oncoming vehicle if the oncoming vehicle traveling direction prediction unit 104 estimates that the traveling direction of the oncoming vehicle is a right turn.
  • the travel control device of the first embodiment detects the oncoming vehicle 502 by the sensors 101 (camera) when the own vehicle 501 enters the intersection 50 at the intersection shown in FIG. 5, and the intersection Whether you are in the right turn lane 505 from the shape of 50, the right turn signal (right arrow) of the traffic light 504 on the own vehicle 501 side is lit, the right turn signal of the oncoming vehicle 502 is blinking, or the front wheel of the oncoming vehicle 502 is
  • the traveling direction of the oncoming vehicle 502 is estimated from the information on whether the vehicle is facing to the right.
  • the threshold value of the oncoming vehicle speed at the intersection AEB is set large to prevent the intersection AEB from malfunctioning.
  • the travel control device of the second embodiment has the configuration shown in FIG. 1 and executes the process shown in FIG.
  • the oncoming vehicle traveling direction prediction unit 104 determines the left turn of the oncoming vehicle by using the information obtained from the camera which is the sensors 101. Then, as shown in FIG. 7, the intersection AEB determination unit 105 sets a large threshold value for the speed of the oncoming vehicle if the oncoming vehicle traveling direction prediction unit 104 estimates that the traveling direction of the oncoming vehicle is a left turn.
  • FIG. 6 is a detailed flowchart of the oncoming vehicle traveling direction prediction process 203 according to the embodiment of the present invention, and illustrates a case where the vehicle turns left while traveling on the right side.
  • the oncoming vehicle traveling direction prediction unit 104 determines whether the oncoming vehicle is in the left turn lane (1301), and if the oncoming vehicle is in the left turn lane, proceeds to step 306. On the other hand, if the oncoming vehicle does not exist in the left turn lane, it is determined whether the left turn signal (left arrow) of the traffic light on the own vehicle side is lit (1302), and the left arrow of the traffic light on the own vehicle side is lit. If so, the process proceeds to step 306. On the other hand, if the left arrow of the traffic light on the own vehicle side is not lit, it is determined whether the left turn signal of the oncoming vehicle is blinking (1303). If the left turn signal of the oncoming vehicle is blinking, the process proceeds to step 306.
  • the front wheel of the oncoming vehicle is not facing to the left, it is estimated that the oncoming vehicle goes straight (1305).
  • the left turn determination of the oncoming vehicle is not limited to the conditions other than the above-mentioned four conditions, and other conditions may be used, or only a part of the four conditions may be used. Further, in the left turn determination of the oncoming vehicle, as shown in the figure, the oncoming vehicle may be determined to be a left turn when one of the four conditions is satisfied, or the left turn of the oncoming vehicle is determined by a majority vote of a plurality of conditions. Alternatively, the left turn of the oncoming vehicle may be determined using the comparison result between the total value of the scores weighted by each of the plurality of conditions and the predetermined threshold value.
  • the above-mentioned information for determining the left turn of the oncoming vehicle is all obtained from the camera which is the sensors 101.
  • FIG. 7 is a flowchart of the oncoming vehicle speed threshold setting process 205 according to the embodiment of the present invention, and illustrates a case where the vehicle turns left while traveling on the right side.
  • the intersection AEB determination unit 105 determines whether the traveling direction of the oncoming vehicle is estimated to be a left turn (1401), and if the traveling direction of the oncoming vehicle is estimated to be a left turn, the speed threshold of the oncoming vehicle is increased. However, if the traveling direction of the oncoming vehicle is not estimated to be a left turn, the speed threshold of the oncoming vehicle is not changed (1403).
  • the travel control device of the first embodiment detects the oncoming vehicle 502 by the sensors 101 (camera) when the own vehicle 501 enters the intersection 50 at the intersection shown in FIG. 8, and the intersection Whether you are in the left turn lane 506 from the shape of 50, the left turn signal (left arrow) of the traffic light 504 on the own vehicle 501 side is lit, the left turn signal of the oncoming vehicle 502 is blinking, or the front wheel of the oncoming vehicle 502 is
  • the traveling direction of the oncoming vehicle 502 is estimated from the information on whether the vehicle is facing to the left. As a result, when it is estimated that the oncoming vehicle 502 turns left, the threshold value of the oncoming vehicle speed at the intersection AEB is set large to prevent the intersection AEB from malfunctioning.
  • the travel control device of the third embodiment has the configuration shown in FIG. That is, it is not necessary for the vehicle-mounted camera 10 to have all the functions.
  • the vehicle-mounted camera 10 has sensors 101, an oncoming vehicle detection unit 102, and an oncoming vehicle traveling direction prediction unit 104, and the vehicle control device 12 has a vehicle control device 12. It has a vehicle traveling path estimation unit 103, an intersection AEB determination unit 105, and a vehicle command value setting unit 106.
  • Each of these parts executes the processes shown in FIGS. 2, 3 and 4 in the same manner as in the first embodiment.
  • Each part of the vehicle control device 12 is composed of a computer (microcomputer) including an arithmetic unit and a memory.
  • the arithmetic unit including the processor, executes the program stored in the memory.
  • a part of the processing performed by the arithmetic unit by executing the program may be executed by another arithmetic unit (for example, hardware such as FPGA (Field Programable Gate Array) or ASIC (Application Specific Integrated Circuit)).
  • FPGA Field Programable Gate Array
  • ASIC Application Specific Integrated Circuit
  • Memory includes ROM and RAM, which are non-volatile storage elements.
  • the ROM stores an invariant program (for example, BIOS) and the like.
  • RAM is a high-speed and volatile storage element such as DRAM (Dynamic Random Access Memory) and a non-volatile storage element such as SRAM (Static Random Access Memory), and is a program executed by an arithmetic unit and execution of a program. Stores data that is sometimes used.
  • the program executed by the arithmetic unit is stored in a non-volatile storage device which is a non-temporary storage medium.
  • Example 4 The travel control device of the fourth embodiment is different from the first embodiment described above in the traveling direction prediction process 203 of the oncoming vehicle.
  • FIG. 10 is a flowchart of an example of the oncoming vehicle traveling direction prediction process 203 of the fourth embodiment.
  • the oncoming vehicle traveling direction prediction unit 104 determines whether the oncoming vehicle is in the right turn lane (701), and if the oncoming vehicle is in the right turn lane, it is estimated that the oncoming vehicle makes a right turn (703). If the vehicle is not in the right turn lane, it is estimated that the oncoming vehicle will go straight (702).
  • FIG. 11 is a flowchart of another example of the oncoming vehicle traveling direction prediction process 203 of the fourth embodiment.
  • the oncoming vehicle traveling direction prediction unit 104 determines whether the oncoming vehicle turns right from the traveling locus of the oncoming vehicle (801), and if it is determined that the oncoming vehicle turns right, it is estimated that the oncoming vehicle turns right (803). On the other hand, if it cannot be determined that the oncoming vehicle turns right, it is estimated that the oncoming vehicle goes straight (802). Further, the course information may be acquired from the oncoming vehicle by using the vehicle-to-vehicle communication, and the right turn of the oncoming vehicle may be determined.
  • the travel control device includes a sensor (sensors 101) for detecting the front and a control unit for controlling the brake based on the information from the sensors 101 for control.
  • the unit vehicle command value setting unit 106
  • the brake is applied if the speed of the oncoming vehicle is equal to or higher than a predetermined threshold.
  • the control unit increases the threshold value so that the oncoming vehicle has a low speed. Even at this time, it is possible to prevent the malfunction of the intersection AEB while operating the intersection AEB. Further, it is possible to prevent the malfunction of the intersection AEB only by the information acquired by the in-vehicle camera without using the map information or V2X.
  • the present invention is not limited to the above-mentioned examples, but includes various modifications and equivalent configurations within the scope of the attached claims.
  • the above-mentioned examples have been described in detail in order to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to those having all the described configurations.
  • a part of the configuration of one embodiment may be replaced with the configuration of another embodiment.
  • the configuration of another embodiment may be added to the configuration of one embodiment.
  • other configurations may be added / deleted / replaced with respect to a part of the configurations of each embodiment.
  • each configuration, function, processing unit, processing means, etc. described above may be realized by hardware by designing a part or all of them by, for example, an integrated circuit, and the processor realizes each function. It may be realized by software by interpreting and executing the program to be executed.
  • Information such as programs, tables, and files that realize each function can be stored in a storage device such as a memory, a hard disk, SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.
  • a storage device such as a memory, a hard disk, SSD (Solid State Drive), or a recording medium such as an IC card, SD card, or DVD.
  • control lines and information lines show what is considered necessary for explanation, and do not necessarily show all the control lines and information lines necessary for mounting. In practice, it can be considered that almost all configurations are interconnected.

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  • Engineering & Computer Science (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Regulating Braking Force (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
PCT/JP2021/004272 2020-06-12 2021-02-05 走行制御装置及び走行制御方法 Ceased WO2021250936A1 (ja)

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