WO2022085042A1 - 経路生成装置および走行支援制御装置 - Google Patents
経路生成装置および走行支援制御装置 Download PDFInfo
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- WO2022085042A1 WO2022085042A1 PCT/JP2020/039222 JP2020039222W WO2022085042A1 WO 2022085042 A1 WO2022085042 A1 WO 2022085042A1 JP 2020039222 W JP2020039222 W JP 2020039222W WO 2022085042 A1 WO2022085042 A1 WO 2022085042A1
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- lateral
- correction amount
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- 238000012937 correction Methods 0.000 claims abstract description 187
- 238000004364 calculation method Methods 0.000 claims description 27
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- 230000001133 acceleration Effects 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000008859 change Effects 0.000 description 10
- 238000010586 diagram Methods 0.000 description 9
- 238000004088 simulation Methods 0.000 description 8
- 238000012546 transfer Methods 0.000 description 8
- 230000004048 modification Effects 0.000 description 6
- 238000012986 modification Methods 0.000 description 6
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0255—Automatic changing of lane, e.g. for passing another vehicle
Definitions
- the present application relates to a route generation device that generates a route that a vehicle should travel and a travel support control device that uses the route generation device.
- Patent Document 1 discloses a lane keeping support device capable of executing lane keeping support control that assists steering when a vehicle travels in a lane.
- the steering angle is usually determined by controlling to feed back the deviation between the target route and the own vehicle driving route calculated based on the sensor that detects the road information in front of the vehicle.
- the vehicle cannot follow the target route when the deviation from the target traveling position changes discontinuously when the automatic steering system is started or when the traveling support control is started. Further, in the conventional control that feeds back the lateral position deviation, the steering angle command suddenly changes at the start of control, and there is a possibility that the traveling locus of the vehicle fluctuates.
- the present application has been made to solve the above-mentioned problems, and is a route generation device capable of generating a correction route that the vehicle can follow by correcting the target route according to the traveling state of the vehicle.
- the purpose is to obtain.
- the route generation device disclosed in the present application includes a target route generation unit that generates a target route of a vehicle, a lateral position correction amount setting unit that sets a lateral position correction amount that is a lateral correction amount with respect to the target route, and a lateral position. It is equipped with a target route correction unit that calculates a correction path based on the correction amount.
- the route generation device by correcting the target route according to the traveling state of the vehicle, it is possible to generate a correction route that the vehicle can follow without suddenly changing the steering angle command.
- FIG. 1 It is a figure which shows the structure of the vehicle which carries the traveling support control device which provided with the route generation device which concerns on Embodiment 1. It is a block diagram which shows the traveling support control apparatus provided with the route generation apparatus which concerns on Embodiment 1.
- FIG. It is a block diagram which shows the hardware composition of the traveling support control apparatus which includes the route generation apparatus which concerns on Embodiment 1.
- FIG. It is a figure for demonstrating operation of the target route correction part of the route generation apparatus which concerns on Embodiment 1.
- FIG. It is a figure which shows an example of the driving scene which becomes the control target of the driving support control device which concerns on Embodiment 1.
- FIG. It is a figure which shows the simulation result of the operation of the conventional vehicle running control in the running scene of FIG.
- FIG. 1 It is a figure for demonstrating the operation of the target route correction part of the route generation apparatus which concerns on Embodiment 1 in the traveling scene of FIG. It is a figure which shows the operation simulation result of the traveling support control apparatus provided with the route generation apparatus which concerns on Embodiment 1 in the traveling scene of FIG. It is a block diagram of the modification of the traveling support control device which concerns on Embodiment 1.
- FIG. It is a figure which shows an example of the running scene which becomes the control target of the running support control device in the modification of Embodiment 1.
- FIG. It is a figure which shows the simulation result of the operation of the traveling support control device which is a modification of Embodiment 1.
- FIG. It is a figure which shows an example of the driving scene which becomes the control target of the driving support control device which concerns on embodiment. It is a figure which shows the simulation result in the driving scene which is the control target of the driving support control device which concerns on Embodiment 2.
- FIG. It is a block diagram which shows the traveling support control device which concerns on Embodiment 3. It is a figure explaining the operation of the traveling support control device which concerns on Embodiment 3.
- FIG. It is a figure which shows the simulation result in the driving scene which is the control target of the driving support control device which concerns on Embodiment 3.
- FIG. 1 shows an example of a configuration relating to steering of a vehicle that realizes a vehicle traveling support control device 100.
- the vehicle (also referred to as own vehicle) 10 is equipped with a vehicle speed detector 1, a yaw rate detector 2, a camera 3, a driving support ECU (Electronic Control Unit) 4, a steering ECU 5, a steering mechanism 6, and a steering wheel 7. ..
- the vehicle speed detector 1 detects the traveling speed of the own vehicle 10 and transmits it to the driving support ECU 4.
- the yaw rate detector 2 detects the yaw rate of the own vehicle 10 and transmits it to the driving support ECU 4.
- the camera 3 captures a white line drawn on the road indicating the area of the lane, and transmits the white line information in front of the own vehicle 10 to the driving support ECU 4.
- the driving support ECU 4 realizes the function of the driving support control device 100, which will be described later.
- the driving support ECU 4 is based on the traveling speed of the own vehicle 10 acquired from the vehicle speed detector 1, the yaw rate of the own vehicle 10 acquired from the yaw rate detector 2, and the white line information in front of the own vehicle 10 acquired from the camera 3. Then, a control command is transmitted to the steering ECU 5.
- the steering ECU 5 controls the operation of the steering mechanism 6 based on the control command from the driving support ECU 4.
- the steering wheel 7 determines the angle with respect to the own vehicle 10 based on the operation of the steering mechanism 6, and controls the lateral movement of the own vehicle 10.
- FIG. 2 is a functional block diagram for explaining the vehicle travel support control device 100 according to the first embodiment.
- the travel support control device 100 includes a route generation device 110 and a steering amount calculation unit 104.
- the route generator 110 is located in front of the vehicle on which the vehicle should travel based on the vehicle speed detected by the vehicle speed detector 1, the yaw rate detected by the yaw rate detector 2, and the road information in front of the vehicle detected by the camera 3. Calculate the target route.
- the steering amount calculation unit 104 generates a steering angle command ⁇ * for traveling following the target path and outputs the steering angle command ⁇ * to the steering ECU 5.
- the steering ECU 5 controls the actuator that drives the steering of the vehicle so that the steering angle ⁇ of the vehicle matches the steering angle command ⁇ * in accordance with the steering angle command ⁇ * .
- the vehicle route generation device 110 includes a target route generation unit 101, a lateral position correction amount setting unit 102, and a target route correction unit 103.
- the target route generation unit 101 calculates a target route based on the information detected by the vehicle speed detector 1, the yaw rate detector 2, and the camera 3, and inputs the target route to the target route correction unit 103.
- the lateral position correction amount setting unit 102 determines the lateral position correction amount of the target path, and inputs the lateral position correction amount to the target path correction amount 103 and the steering amount calculation unit 104.
- the target route correction unit 103 corrects the target route calculated by the target route generation unit 101 based on the lateral position correction amount, and the corrected route information is input to the steering amount calculation unit 104.
- the configurations of the route generation device 110 and the travel support control device 100 described above can be configured by using a computer, and each of these configurations is realized by executing a program by the computer. That is, the target route generation unit 101, the lateral position correction amount setting unit 102, the target route correction amount 103, and the steering amount calculation unit 104 of the vehicle route generation device 110 shown in FIG. 2 are, for example, by the processor 1000 shown in FIG. It will be realized. A CPU (Central Processing Unit), a DPS (Digital Signal Processor), or the like is applied to the processor 1000, and the functions of the above configurations are realized by executing a program stored in the storage device 1001. The same applies to other embodiments.
- a CPU Central Processing Unit
- DPS Digital Signal Processor
- the operation of each part of the vehicle route generation device 110 and the travel support control device 100 will be described in detail.
- the white line information in front of the own vehicle 10 acquired from the camera 3 the horizontal positions C0R, C0L, the posture angles C1R, C1L, and the path curvatures C2R, C2L of the white lines with respect to the own vehicle are set for each of the left and right white lines. obtain.
- the lateral position C0, posture angle C1, and route curvature C2 of the target route with respect to the own vehicle 10 are expressed by the following equations (1), (2), and (3). Calculated.
- the target route may be a line whose lateral position C0 is closer to the left or right as in the following equation (4), depending on the traveling conditions.
- C00 is a constant.
- the first lateral position correction amount and the second lateral position correction amount are independently generated by the target route generation unit 101 at arbitrary timings according to the traveling conditions and the like. Is set, and the step input from the first horizontal position correction amount to the second horizontal position correction amount is output as the horizontal position correction amount ifst.
- the target path correction unit 103 generates a correction path based on the horizontal position correction amount yofst set by the horizontal position correction amount setting unit 102.
- the target lateral position yflt, the target lateral velocity byflt, and the target lateral acceleration ayflt of the correction path are the following equations (5), (6), and (7) using the lateral position correction amount yofst and the filter Fdref (s). Can be obtained by. Note that s is a Laplace operator.
- the input of the filter Fdref (s) is set as the horizontal position correction amount yofst as the step input from the first horizontal position correction amount to the second horizontal position correction amount.
- the time history from the lateral position correction amount to the convergence to the second lateral position correction amount can be generated as the correction path of the target path.
- FIG. 4 shows an operation example of the target route correction unit 103.
- the broken line of the operation characteristic displayed in the first row (upper row) of FIG. 4 represents the time history of the horizontal position correction amount yost, which is a step input from the first horizontal position correction amount to the second horizontal position correction amount.
- the solid line represents the time history of the horizontal position of the correction path.
- the solid line of the operating characteristics displayed in the second row (middle row) of the figure shows the time history of the lateral speed of the correction path.
- the solid line of the operating characteristics displayed in the third row (lower row) of the figure shows the lateral acceleration of the correction path.
- the correction route is lateral to the correction route for the own vehicle 10 in order to match the format of the equations (1), (2), and (3) of the target route.
- the position C0', the posture angle C1', and the curvature C2' are calculated by the following equations (8), (9), and (10).
- V indicates the vehicle speed of the own vehicle 10.
- ⁇ is the attenuation coefficient and ⁇ n is the frequency.
- a moving average filter may be used for the filter Fdref (s).
- the following equation (12) is a moving average filter with a time constant ⁇ .
- the moving average filter of the equation (12) may be used as a paddy approximation.
- the second-order paddy approximation is shown in the following equation (13).
- a two-stage moving average filter in which two moving average filters are combined may be used.
- the following equation (15) is a transfer function that combines two moving average filters with time constants ⁇ 1d and ⁇ 2d.
- the steering amount calculation unit 104 calculates the steering angle command ⁇ * based on the lateral position C0', the attitude angle C1', the curvature C2', the vehicle speed V, and the yaw rate ⁇ ego of the correction path.
- the lateral position deviation ye, yaw angle deviation re, and yaw rate deviation ⁇ e are the following equations (16), using the correction path equations (8), (9), (10), and the vehicle speed V and yaw rate ⁇ ego of the own vehicle 10. It is calculated by the formulas (17) and (18).
- the steering angle command ⁇ * is specifically calculated by the following equation (19).
- FIG. 5 is an example of the traveling scene of the first embodiment, and shows the vehicle position at the moment when the traveling support control starts.
- FIG. 5 shows the result of simulating the conventional example in which there is no correction path under the conditions of FIG.
- the control is started with the lateral position deviation yes, so that the lateral deviation compensation term corresponding to the first item of the equation (19)
- Control starts with a large rudder angle command.
- the target path is always parallel to the road, so that the second and third terms of the equation (19) suppress steering by the yaw angle deviation re and the yaw rate deviation ⁇ e.
- a steering angle command is given.
- the actual steering angle of the vehicle cannot follow the steering angle command at the start of the traveling support control, and the actual steering angle becomes gentle, and as a result, the convergence of the lateral position deviation of the vehicle also becomes gentle.
- the vehicle equipped with the travel support control device 100 including the route generation device 110 and the steering amount calculation unit 104 of the first embodiment starts the travel support control from the vehicle position shown in FIG. 5, the target route generation unit 101
- the lateral position correction amount setting unit 102 outputs a step input from the initial value of the lateral deviation at the start of the traveling support control to zero (0) as the lateral position correction amount ifst.
- a correction path such that the correction path converges from the lateral position deviation of 1.0 [m] to the lateral position deviation of 0 [m] 2.0 [s] after the start of control.
- the filter response when the horizontal position correction amount ifst at this time is input is as shown in FIG.
- the operation characteristics displayed in the first stage (upper stage) of FIG. 7 show the time history of the horizontal position correction amount yofst and the target horizontal position yflt.
- the operation characteristics displayed in the second stage (middle stage) of the figure indicate the time history of the target lateral speed byflt.
- the operation characteristics displayed in the third stage (lower stage) indicate the time history of the target lateral acceleration ayflt. It is shown that this operation makes it possible to generate a correction path Rr that converges the deviation from the target path Rt to zero (0) after 2.0 [s] from the lateral position of the vehicle at the start of control.
- the steering amount calculation unit 104 controls the steering angle command so as to follow the correction path Rr by the equation (19) based on the correction path calculated by the filter.
- FIG. 8 is an example in the case of support control using the correction path in the present embodiment.
- the actual steering angle of the vehicle could not follow the steering angle command, and as a result, the convergence of the lateral position deviation was gradual, whereas in the case of using the correction path, as shown in FIG. Since the rudder angle command changes continuously from the start of control and the actual rudder angle can be controlled to follow it, it is possible to control so that the lateral deviation from the corrected target path Rt converges. ..
- the horizontal position correction amount setting unit outputs the step input from the first horizontal position correction amount to the second horizontal position correction amount as the horizontal position correction amount, and targets the target.
- the path correction unit converges from the first lateral position correction amount to the second lateral position correction amount, the lateral velocity correction value which is the differential value of the lateral position correction amount and the lateral acceleration which is the differential value of the lateral speed correction value.
- the correction value is calculated, and the lateral position, attitude angle, and curvature, which are the target paths, are corrected based on the lateral position correction amount, lateral speed correction value, and lateral acceleration correction value.
- the first lateral position correction amount is the initial value of the lateral deviation at the start of the traveling support control
- the second lateral position correction amount is zero (0).
- the correction route and the vehicle are corrected by correcting the target route based on the lateral position correction amount independently set for the target route calculated from the own vehicle and the road information. It is possible to calculate a continuous steering angle command, which was not possible without the conventional correction path, when controlling the travel paths to match. Therefore, the vehicle can be driven so as to follow the correction path.
- FIG. 9 is a functional block diagram showing the configurations of the route generation device 110A and the travel support control device 100A, which are modifications of the first embodiment.
- FIG. 9 shows a configuration in which the lateral position correction amount setting unit 102 of FIG. 1 is changed to the horizontal position correction amount setting unit 102A, and the target route correction unit 103 is changed to the target route correction amount 103A.
- Ylane is the amount of lateral movement to the next lane, that is, the lane width.
- the calculation is performed as shown in the following equation (21) using C0LR and C0LL, which are the left lateral position and the right lateral position of the white line in the left adjacent lane.
- the calculation is performed by the following equation (22) using C0RR and C0RL, which are the left lateral position and the right lateral position of the white line in the right adjacent lane.
- the target path correction unit 103A generates a correction path based on the horizontal position correction amount ifst set by the horizontal position correction amount setting unit 102A.
- the lateral position C0', the target lateral speed byflt, and the target lateral acceleration ayflt of the correction path for the own vehicle 10 in the first half of the lane change (start to deviation from the own lane) are the equations (5), (6), (7) of the first embodiment. ).
- the target lateral position yflt of the correction path in the latter half of the lane change is calculated by the following equation (23).
- FIG. 10 is an example of a traveling scene in the modified example of the first embodiment, and shows the vehicle position at the moment when the lane change from the left lane to the right lane starts.
- FIG. 11 shows the simulation operation at that time.
- the lateral position correction amount setting unit 102A sets the lateral position correction amount ifst to zero (0), which is the center of the current lane, that is, from the target route Rta before the lane change to the target route Rtb after the lane change, which is the center of the lane of the right adjacent lane.
- the lateral position correction amount setting unit 102A outputs a correction path Rr for moving from the current lane center to the lane center of the right adjacent lane.
- the steering amount calculation unit 104 can calculate a steering angle command for changing lanes.
- the own vehicle 10 recognizes the left lane left white line Ll as the left white line L and the left lane right white line Lr as the right white line R, and the correction route for the own vehicle 10
- the horizontal position C0' is obtained by the equation (8).
- the own vehicle 10 recognizes the left white line Rl in the right lane as the left white line L and the right white line in the right lane as the right white line R, and corrects the route for the own vehicle 10.
- the horizontal position C0'of is given by the equation (23).
- the first stage (upper stage) of FIG. 11 shows the time history of the lateral position of the own vehicle 10 with respect to each lane.
- the second stage (middle stage) in the figure shows the time history of the lateral position with respect to the white line recognized by the own vehicle 10 for each lane.
- the third stage shows the calculated rudder angle command and the time history of the actual rudder angle.
- the Ylane displayed in the first stage (upper stage) and the second stage (middle stage) in FIG. 11 corresponds to the amount of lateral movement to the adjacent lane, that is, the lane width.
- the first lateral position correction amount is zero (0) and the second lateral position correction amount is changed to the adjacent lane. It is the amount of lateral movement to do.
- the target route is corrected so as to move from the current lane center to the lane center of the adjacent lane with respect to the target route calculated from the own vehicle and the road information. Therefore, it is possible to calculate the steering angle command for changing lanes.
- route generation at the time of changing lanes has been described in the modified example of the first embodiment, by using this configuration, it can be similarly applied to the route generation that departs from the main lane.
- route generation that departs from the main lane.
- by setting the lateral movement amount to the roadside in the second lateral position correction amount in the lateral position correction amount setting unit 102A even when the vehicle is evacuated to the roadside or moved to the roadside for getting on and off the occupant.
- the technique of this embodiment can be applied.
- FIG. 12 is a functional block diagram for explaining the vehicle route generation device 210 and the travel support control device 200 according to the second embodiment.
- the route generation device 110 includes a target route generation unit 101, a lateral position correction amount setting unit 102, a target route correction unit 103, and a steering avoidance determination unit 105.
- the route generation device 210 according to the second embodiment is a route generation device 110 according to the first embodiment plus a steering avoidance determination unit 105.
- the steering avoidance determination unit 105 receives the obstacle information in front of the camera 3 as input, determines whether to avoid the obstacle by steering, and outputs the lateral avoidance amount when the determination is established.
- the lateral position correction amount setting unit 102 determines the lateral position correction amount of the target path based on the input of the lateral avoidance amount, and inputs the lateral position correction amount to the target path correction unit 103 and the steering amount calculation unit 104.
- the target route correction unit 103 corrects the target route calculated by the target route generation unit 101 based on the lateral position correction amount, and the corrected route information is input to the steering amount calculation unit 104.
- the steering amount calculation unit 104 generates a steering angle command ⁇ * based on the correction path and inputs it to the steering ECU 5.
- the steering avoidance determination unit 105 inputs the relative vertical position ⁇ rel, the relative horizontal position yobj, the horizontal width wobj, and the relative speed vrel to the own vehicle of the obstacle in front recognized by sensors such as a camera and a radar, and stores the relative speed vrel in advance in the storage device 1001. Based on the stored vehicle width wego and avoidance margin amount ymage, the necessity of steering avoidance is determined for both the vertical direction and the horizontal direction conditions, and when both are established, the steering avoidance determination is established. Further, when the steering avoidance determination is established, the lateral movement amount yavoid required for the lateral avoidance is output.
- the collision margin time tttc falls below the preset collision margin time threshold value tttc0 based on the collision margin time tttc of the own vehicle with respect to the obstacle, the step amount (lateral movement amount) with the own vehicle lateral position at that time as the initial value. )
- the step input of the default is output as the horizontal position correction amount ifst.
- the collision margin time tttc is expressed by the following equation (24) using the relative position xrel and the relative velocity vrel between the obstacle and the own vehicle.
- the lateral movement amount yavoid required to avoid obstacles laterally and travel is calculated and output.
- the lateral movement amount yavoid can be avoided in both left and right directions, and is calculated by the following equation (26).
- the lateral position correction amount setting unit 102 sets the lateral position of the own vehicle at that time as the initial value of the lateral movement amount yavoid.
- the step input is output as the horizontal position correction amount ifst.
- FIG. 13 shows an example of a traveling scene by the traveling support control device 200.
- FIG. 13 shows a traveling scene in which an obstacle Ob exists in front of the vehicle traveling route and there is a risk of collision if the vehicle continues traveling on the original traveling route.
- FIG. 13 is an example in which the vehicle (own vehicle) 10 traveling along the target route Rt travels on the correction route Rr and avoids the obstacle Ob.
- FIG. 14 shows the simulation result of the driving scene of FIG.
- the solid line in the first row (upper row) of FIG. 14 represents the collision margin time tttc of the obstacle, and the dotted line represents the threshold value tttc0 of the collision margin time.
- the solid line in the second stage (middle stage) indicates the actual running position of the vehicle, and the dotted line indicates the target route.
- the solid line in the third stage (lower stage) indicates the actual steering angle, and the dotted line indicates the steering angle command.
- the steering avoidance determination unit 105 determines the necessity of steering avoidance for both the vertical direction and the horizontal direction conditions, but in the driving scene of FIG. 13, the lateral direction conditions are always satisfied before the avoidance, so here. I'm thinking about vertical conditions.
- the solid line in the first row (upper row) of FIG. 14 shows how the collision margin time tttc of the obstacle decreases with time, and when it becomes equal to or less than the threshold value tttc0 of the collision margin time shown by the dotted line, the vertical direction with respect to the obstacle.
- the steering avoidance determination unit 105 outputs a lateral movement amount yavoid corresponding to the lateral avoidance amount.
- the lateral position correction amount setting unit 102 outputs the step input of the lateral movement amount default as the lateral position correction amount yofst with the current lateral position of the own vehicle as the initial value.
- the target path correction unit 103 is set so that the sum of the time constants ⁇ 1d and ⁇ 2d of the two-stage moving average filter is equal to or less than the threshold value tttc0 of the collision margin time.
- the transmission characteristic F (s) of the two-stage moving average filter defined by this is only the lateral movement amount yavoice required to avoid obstacles within the threshold value tttc0 of the collision margin time from the step time of the lateral position correction amount yost.
- a correction path that moves laterally is generated.
- the steering amount calculation unit 104 gives a steering angle command to follow the generated correction path.
- the first lateral position correction amount is zero (0) and the second lateral position correction amount is for avoiding obstacles in front. It is the amount of lateral movement.
- the route generation device 210 when it is determined that there is a risk of collision with an obstacle, the route generation device 210 generates a correction path for avoiding the collision, and the steering amount calculation unit 104 avoids it. Can be steered.
- FIG. 15 shows a functional block diagram of the travel support control device 200A according to the third embodiment. Since the functions other than the steering amount calculation unit 104A are the same as those in the second embodiment, the description thereof will be omitted.
- the steering amount calculation unit 104A in the third embodiment is composed of an FB (feedback) steering angle command control unit 106, an FF (feedforward) steering angle command control unit 107, and a steering angle command addition unit 108.
- the FB steering angle command control unit 106 uses the correction path as an input, for example, calculates and outputs the FB steering angle command ⁇ FB * as shown in the equation (19) of the first embodiment.
- the FF steering angle command control unit 107 calculates and outputs the FF steering angle command ⁇ FF * based on the transfer characteristics of the target path correction unit 103 and the inverse transfer function of the vehicle motion model, using the lateral position correction amount yofst as an input.
- the steering angle command addition unit 108 adds the FB steering angle command ⁇ FB * and the FF steering angle command ⁇ FF *, and inputs the steering angle command ⁇ * to the steering ECU 5.
- the vehicle motion model for example, a steady turn model which is a steering angle response at the time of a steady circular turn, a two-wheel model which approximates the lateral motion / yaw rotation motion of the vehicle to a two-wheeled vehicle, or the like is used.
- the transfer function G (s) from the front wheel tire angle ⁇ f to the lateral position y is expressed by the following equations (27), (28), and (29).
- s represents a Laplace operator.
- A indicates the stability factor of the vehicle.
- m indicates the mass of the vehicle.
- l indicates the wheelbase of the vehicle.
- lf indicates the distance between the center of gravity of the vehicle and the front wheel axle.
- ll indicates the distance between the center of gravity of the vehicle and the rear wheel axle.
- kf indicates the front wheel cornering power of the vehicle.
- kr indicates the rear wheel cornering power of the vehicle.
- I represents the yaw moment of inertia.
- the transfer characteristic F (s) of the target path correction unit 103 and the inverse transfer function G ⁇ (-1) (s) of the vehicle motion model are used.
- the transfer characteristics from the lateral position correction amount yofst to the FF steering angle command ⁇ FF * can be given by the following equation (32).
- FIG. 17 shows a simulation result when the traveling support control device 200A of the third embodiment is used in the traveling scene of FIG. 13 as in the second embodiment.
- the solid line in the first stage (upper stage) of FIG. 17 represents the collision margin time tttc of the obstacle, and the dotted line represents the threshold value tttc0 of the collision margin time.
- the solid line in the second stage (middle stage) of the figure shows the actual running position of the vehicle, and the dotted line shows the target route.
- the solid line in the third stage (lower stage) of the figure shows the actual steering angle, and the dotted line indicates the steering angle command.
- the corrected target path is the same as in FIG.
- the steering amount calculation unit 104A calculates the FF rudder angle command ⁇ FF * by the equation (32) with the lateral position correction amount yofst as an input, and is calculated by the equation (19) with the corrected target path as an input. It is added to the FB steering angle command ⁇ FB * and output as the steering angle command ⁇ *.
- the absolute value of the steering angle command in FIG. 17 becomes larger than that in FIG. 14, and the followability to the target path is improved in response to the sudden steering of obstacle avoidance. It can be confirmed that it is.
- the steering amount calculation unit for calculating the target steering amount for the vehicle to travel along the correction path obtained by the route generation device is provided. Further, the steering amount calculation unit is provided with a vehicle lateral motion transmission function model from the steering angle of the vehicle to the lateral position of the vehicle, and calculates the reverse transmission function of the vehicle lateral motion and the lateral position correction amount in the target path correction unit. The feed forward rudder angle command is calculated based on the lateral position correction amount which is the output of the lateral position correction amount setting unit, and is added to the target steering amount.
- the FF steering angle command for following the target traveling path is calculated by inputting the lateral distance required for avoiding obstacles from the current traveling position of the own vehicle.
- the FB steering angle command calculated from the corrected target path it is possible to improve the followability to the target traveling path.
Abstract
Description
図1は、車両の走行支援制御装置100を実現する車両の操舵に関する構成の一例を示している。
車両(自車両ともいう)10には、車速検出器1、ヨーレート検出器2、カメラ3、運転支援ECU(Electronic Control Unit)4、操舵ECU5、操舵機構6、及び操舵輪7が搭載されている。車速検出器1は、自車両10の走行速度を検出し、運転支援ECU4に送信する。ヨーレート検出器2は、自車両10のヨーレートを検出し、運転支援ECU4に送信する。カメラ3は車線の領域を示す道路に引かれた白線を撮影し、自車両10の前方の白線情報を運転支援ECU4に送信する。
走行支援制御装置100は経路生成装置110および操舵量演算部104により構成される。
経路生成装置110は、車速検出器1により検出される車速、ヨーレート検出器2により検出されるヨーレート、およびカメラ3により検出される車両前方の道路情報に基づいて、車両が走行すべき車両前方の目標経路を演算する。
操舵量演算部104は、目標経路に追従して走行するための舵角指令δ*を生成して操舵ECU5に出力する。操舵ECU5は舵角指令δ*に従い、車両のステアリングを駆動するアクチュエータを車両の舵角δが舵角指令δ*に一致するように制御する。
目標経路生成部101は、車速検出器1、ヨーレート検出器2、およびカメラ3で検出された情報に基づいて、目標経路を演算し、目標経路補正部103に入力する。
目標経路補正部103は、横位置補正量に基づいて目標経路生成部101で算出された目標経路を補正し、補正された経路情報が操舵量演算部104に入力される。
目標経路生成部101において、カメラ3から取得した自車両10の前方の白線情報として、左右それぞれの白線について自車に対する白線の横位置C0R、C0L、姿勢角C1R、C1L、経路曲率C2R、C2Lを得る。
横位置偏差ye、ヨー角偏差re、ヨーレート偏差γeは補正経路の式(8)、(9)、(10)、および自車両10の車速V、ヨーレートγegoを用いて以下の式(16)、式(17)、式(18)で算出する。
図8は、本実施の形態における補正経路を用いて支援制御した場合の例である。図6の場合では、車両の実舵角は舵角指令に追従できず、結果的に横位置偏差の収束も緩やかであったのに対して、補正経路を用いた場合では、図8のように舵角指令は制御開始時から連続に変化し、実舵角もそれに追従するように制御可能であるので、補正した目標経路Rtとの横偏差を収束するように制御することが可能である。
また、横位置補正量設定部において、第1の横位置補正量が走行支援制御開始時の横偏差初期値、第2の横位置補正量がゼロ(0)である。
図9は、実施の形態1の変形例である経路生成装置110Aおよび走行支援制御装置100Aの構成を示す機能ブロック図である。本変形例では、経路生成装置110Aを車線変更に応用する場合の例について説明する。図9は、図1の横位置補正量設定部102を横位置補正量設定部102Aに、目標経路補正部103を目標経路補正部103Aに変更した構成である。
横位置補正量設定部102Aでは、車線変更開始時の時刻をt=0として、次の式(20)のように横位置補正量yofstを演算する。
図10は実施の形態1の変形例における走行シーンの一例であって、左車線から右車線への車線変更が開始する瞬間の車両位置を示している。図11はそのときのシミュレーション動作を示している。横位置補正量設定部102Aは、横位置補正量yofstとして現在の車線中心であるゼロ(0)すなわち車線変更前の目標経路Rtaから右隣車線の車線中心である車線変更後の目標経路Rtbへのステップ入力を出力する。そして、横位置補正量設定部102Aは、現在の車線中心から右隣車線の車線中心に移動するための補正経路Rrを出力する。それにより、操舵量演算部104は車線変更のための舵角指令を演算することができる。
ここで、車線変更前半(開始~自車線逸脱)Fhにおいて自車両10は、左車線左白線Llを左白線L、左車線右白線Lrを右白線Rと認識し、自車両10に対する補正経路の横位置C0‘は式(8)により求められる。一方、車線変更後半(自車線逸脱~隣車線中央到達)Lhにおいて自車両10は、右車線左白線Rlを左白線L、右車線右白線を右白線Rと認識し、自車両10に対する補正経路の横位置C0’は式(23)となる。図11の1段目(上段)は各車線に対する自車両10の横位置の時間履歴を示している。同図の2段目(中段)は、各車線に対して、自車両10が認識している白線に対する横位置の時間履歴を示している。3段目(下段)は、算出した舵角指令と実舵角の時間履歴を示している。なお、図11の1段目(上段)と2段目(中段)に表示されているYlaneは隣車線への横移動量、すなわち車線幅に相当する。
図12は、実施の形態2による車両の経路生成装置210および走行支援制御装置200を説明するための機能ブロック図である。
経路生成装置110は、目標経路生成部101、横位置補正量設定部102、目標経路補正部103および操舵回避判定部105を備える。
実施の形態2に係る経路生成装置210は、実施の形態1に係る経路生成装置110に操舵回避判定部105を加えたものである。
横位置補正量設定部102は、横回避量の入力に基づいて、目標経路の横位置補正量を決定し、目標経路補正部103および操舵量演算部104に入力される。
目標経路補正部103は、横位置補正量に基づいて目標経路生成部101で算出された目標経路を補正し、補正された経路情報が操舵量演算部104に入力される。
操舵量演算部104は、補正経路に基づいて舵角指令δ*を生成して操舵ECU5に入力される。
操舵回避判定部105は、カメラ、レーダ等のセンサにより認識された前方の障害物の自車に対する相対縦位置χrel、相対横位置yobj、横幅wobjおよび相対速度vrelの入力、およびあらかじめ記憶装置1001に記憶された自車の車幅wego、回避マージン量ymargeに基づいて、縦方向および横方向双方の条件について操舵回避必要性を判定し、双方が成立時に操舵回避判定成立とする。また、操舵回避判定成立時にその横回避に必要な横移動量yavoidを出力する。
衝突余裕時間tttcは障害物と自車の相対位置xrelおよび相対速度vrelを用いて、次の式(24)で表される。
図13は走行支援制御装置200による走行シーンの一例を示している。図13では車両走行経路前方に障害物Obが存在し、元の走行経路で走行を続ければ衝突する恐れがある走行シーンを示す。図13は、目標経路Rtに沿って走行中の車両(自車両)10が補正経路Rrを走行して障害物Obを避ける一例である。
図15は実施の形態3における走行支援制御装置200Aの機能ブロック図を示している。なお、操舵量演算部104A以外の機能については実施の形態2と同様であるため、説明を省略する。
実施の形態3における操舵量演算部104Aは、FB(フィードバック)舵角指令制御部106、FF(フィードフォワード)舵角指令制御部107および舵角指令加算部108により構成される。
FB舵角指令制御部106では、補正経路を入力として、例えば、実施の形態1の式(19)に示したようにFB舵角指令δFB*を演算し、出力する。
FF舵角指令制御部107では、横位置補正量yofstを入力として、目標経路補正部103の伝達特性および車両運動モデルの逆伝達関数に基づいてFF舵角指令δFF*を演算し、出力する。
舵角指令加算部108では、FB舵角指令δFB*とFF舵角指令δFF*を加算し、舵角指令δ*として操舵ECU5に入力する。
車両運動モデルとして、例えば、定常円旋回時の舵角応答である定常旋回モデルあるいは車両の横運動・ヨー回転運動を2輪車に近似した2輪モデル等が用いられる。
定常旋回モデルを考えると、前輪タイヤ角δfから横位置yの伝達関数G(s)は以下の式(27)、式(28)、式(29)で表されることが知られている。
また、2輪モデルを考えると、前輪タイヤ角δfから横位置yの伝達関数G(s)は以下の式(30)、式(31)で表されることが知られている。
補正経路に対して車両が追従するように舵角を与えるためには目標経路補正部103の伝達特性F(s)と前記車両運動モデルの逆伝達関数G^(-1)(s)を用いて横位置補正量yofstからFF舵角指令δFF*までの伝達特性を次の式(32)で与えることができる。
図14と同様に図17の1段目(上段)の実線は障害物の衝突余裕時間tttc、点線は衝突余裕時間の閾値tttc0を表している。同図の2段目(中段)の実線は車両の実走行位置、点線は目標経路を表している。同図の3段目(下段)の実線は実舵角、点線は舵角指令を表している。実施の形態3における経路生成装置210の構成は実施の形態2と同様であるため、図17の1段目(上段)の障害物の縦方向の条件および同図の2段目(中段)の補正された目標経路は図14と同様となる。
また、操舵量演算部においては、車両の操舵角から車両の横位置までの車両横運動の伝達関数モデルを備え、車両横運動の逆伝達関数と、目標経路補正部における横位置補正量を演算する伝達関数を用いて、横位置補正量設定部の出力である横位置補正量に基づいてフィードフォワード舵角指令を演算し、目標操舵量に加算する。
従って、例示されていない無数の変形例が、本願明細書に開示される技術の範囲内において想定される。例えば、少なくとも1つの構成要素を変形する場合、追加する場合または省略する場合、さらには、少なくとも1つの構成要素を抽出し、他の実施の形態の構成要素と組み合わせる場合が含まれるものとする。
Claims (7)
- 車両の目標経路を生成する目標経路生成部と、前記目標経路に対する横方向の補正量である横位置補正量を設定する横位置補正量設定部と、前記横位置補正量に基づいて補正経路を演算する目標経路補正部を備えたことを特徴とする経路生成装置。
- 前記横位置補正量設定部は、第1の横位置補正量から第2の横位置補正量へのステップ入力を前記横位置補正量として出力し、前記目標経路補正部は、第1の横位置補正量から第2の横位置補正量へ収束すると、前記横位置補正量の微分値である横速度補正値と、前記横速度補正値の微分値である横加速度補正値を演算し、前記横位置補正量、前記横速度補正値、前記横加速度補正値に基づいて前記目標経路である横位置、姿勢角、曲率を補正することを特徴とする請求項1に記載の経路生成装置。
- 前記横位置補正量設定部において、第1の横位置補正量が走行支援制御開始時の横偏差初期値、第2の横位置補正量がゼロであることを特徴とする請求項2に記載の経路生成装置。
- 前記横位置補正量設定部において、第1の横位置補正量がゼロで、第2の横位置補正量が前方の障害物を回避するための横移動量であることを特徴とする請求項2に記載の経路生成装置。
- 前記横位置補正量設定部において、第1の横位置補正量がゼロで、第2の横位置補正量が隣接する車線に車線変更するための横移動量であることを特徴とする請求項2に記載の経路生成装置。
- 請求項1から請求項5のいずれか1項に記載の経路生成装置と、前記経路生成装置で求められた前記補正経路に沿って前記車両が走行する目標操舵量を演算する操舵量演算部とを備えたことを特徴とする走行支援制御装置。
- 前記操舵量演算部において、前記車両の操舵角から前記車両の横位置までの車両横運動の伝達関数モデルを備え、前記車両横運動の逆伝達関数と、前記目標経路補正部における前記横位置補正量を演算する伝達関数を用いて、前記横位置補正量設定部の出力である前記横位置補正量に基づいてフィードフォワード舵角指令を演算し、前記目標操舵量に加算することを特徴とする請求項6に記載の走行支援制御装置。
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JP2018203108A (ja) * | 2017-06-06 | 2018-12-27 | マツダ株式会社 | 車両制御装置 |
JP2019123402A (ja) * | 2018-01-17 | 2019-07-25 | トヨタ自動車株式会社 | 車両制御装置および方法 |
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