WO2022144957A1 - 車両制御装置、車両制御方法、およびプログラム - Google Patents

車両制御装置、車両制御方法、およびプログラム Download PDF

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Publication number
WO2022144957A1
WO2022144957A1 PCT/JP2020/049099 JP2020049099W WO2022144957A1 WO 2022144957 A1 WO2022144957 A1 WO 2022144957A1 JP 2020049099 W JP2020049099 W JP 2020049099W WO 2022144957 A1 WO2022144957 A1 WO 2022144957A1
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WIPO (PCT)
Prior art keywords
vehicle
mode
road
driving
information
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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/JP2020/049099
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English (en)
French (fr)
Japanese (ja)
Inventor
洋幸 小林
康一郎 和田
湧大 長谷川
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.)
Honda Motor Co Ltd
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Honda Motor Co Ltd
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 Honda Motor Co Ltd filed Critical Honda Motor Co Ltd
Priority to CN202080104947.0A priority Critical patent/CN116075691B/zh
Priority to PCT/JP2020/049099 priority patent/WO2022144957A1/ja
Priority to US18/024,514 priority patent/US11958506B2/en
Priority to JP2021576831A priority patent/JP7048833B1/ja
Publication of WO2022144957A1 publication Critical patent/WO2022144957A1/ja
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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/005—Handover processes
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/143—Speed 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
    • B60W30/18—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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0062—Adapting control system settings
    • B60W2050/0075—Automatic parameter input, automatic initialising or calibrating means
    • B60W2050/0095—Automatic control mode change
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/06—Direction of travel
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/20—Direction indicator values
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/223—Posture, e.g. hand, foot, or seat position, turned or inclined
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/225—Direction of gaze
    • 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
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/26—Incapacity
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/10—Number of lanes
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/15—Road slope, i.e. the inclination of a road segment in the longitudinal direction
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/30—Road curve radius
    • 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
    • B60W2552/00—Input parameters relating to infrastructure
    • B60W2552/53—Road markings, e.g. lane marker or crosswalk
    • 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
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/40—High definition maps
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle of positioning data, e.g. GPS [Global Positioning System] data

Definitions

  • the present invention relates to a vehicle control device, a vehicle control method, and a program.
  • An aspect of the present invention has been made in consideration of such circumstances, and is to provide a vehicle control device, a vehicle control method, and a program capable of driving a vehicle with more appropriate driving control.
  • the vehicle control device is a recognition unit that recognizes the position of the vehicle and a driving control unit that controls one or both of acceleration / deceleration and steering of the vehicle.
  • the recognition unit includes a driving control unit for driving the vehicle in any of a plurality of driving modes in which the task assigned to the occupant is different, and a mode determining unit for determining the driving mode to be executed by the driving control unit. Recognizes the first road information including the road sections around the vehicle based on the position of the vehicle based on the recognition result of the outside world sensor, and also recognizes the vehicle from the map information based on the position information of the vehicle.
  • the second road information including the road section around the vehicle is recognized, and the position of the vehicle is recognized by matching the first road information with the second road information.
  • the driving mode of the vehicle is set to the driving mode of the vehicle rather than the driving mode in which the vehicle is running. It is a vehicle control device that switches to a driving mode in which the task imposed on the occupant is large.
  • the switching condition includes the elapse of a predetermined time after the position of the vehicle becomes unrecognizable.
  • the switching condition is that the vehicle has moved by a predetermined width or more in the width direction of the traveling lane after the position of the vehicle cannot be recognized. It includes.
  • the switching condition is such that the position of the vehicle cannot be recognized after the position of the vehicle cannot be recognized. It includes the fact that the vehicle has traveled a mileage derived based on the speed of the vehicle at a time point and the direction of the vehicle.
  • the switching condition is such that the position of the vehicle cannot be recognized after the position of the vehicle cannot be recognized. It includes the fact that the vehicle has traveled a travelable distance derived based on the speed of the vehicle at a time point and the curvature information of the road on which the vehicle travels.
  • the mode determination unit sets the driving mode of the vehicle to be higher than the driving mode in which the vehicle is running when the count value of the counter unit becomes equal to or higher than the threshold value. The task imposed on the occupants of the vehicle is to switch to a large driving mode.
  • the counter unit sets the count value to the first when the matching is successful after the matching between the first road information and the second road information fails.
  • the current count value is increased again by the second increase amount from the reduced current count value.
  • the absolute value of the first decrease amount is larger than the absolute value of the first increase amount.
  • a computer recognizes the position of the vehicle, controls one or both of acceleration / deceleration and steering of the vehicle, and is imposed on the occupant of the vehicle.
  • the vehicle is driven in one of a plurality of driving modes with different tasks, and based on the recognition result of the outside world sensor, the first road information including the road section around the vehicle is recognized based on the position of the vehicle.
  • the second road information including the road section around the vehicle is recognized from the map information based on the position information of the vehicle, and the first road information and the second road information are matched by matching the vehicle.
  • the operation mode of the vehicle is set to the operation mode in which the vehicle is being executed.
  • This is a vehicle control method for switching to a driving mode in which the task imposed on the occupant of the vehicle is larger than that of the vehicle.
  • the program according to one aspect of the present invention causes a computer to recognize the position of the vehicle, control one or both of acceleration / deceleration and steering of the vehicle, and tasks assigned to the occupant of the vehicle.
  • the vehicle is driven in any of a plurality of different driving modes, and based on the recognition result of the outside world sensor, the first road information including the road section around the vehicle is recognized based on the position of the vehicle, and the vehicle is recognized.
  • the position of the vehicle is determined by recognizing the second road information including the road section around the vehicle from the map information based on the position information of the vehicle and matching the first road information with the second road information.
  • the operation mode of the vehicle is changed from the operation mode in which the vehicle is running. Is also a program for switching to a driving mode in which the task imposed on the occupant of the vehicle is large.
  • the vehicle can be driven with more appropriate driving control.
  • FIG. 1 is a configuration diagram of a vehicle system 1 using the vehicle control device according to the embodiment.
  • the vehicle on which the vehicle system 1 is mounted is, for example, a vehicle such as a two-wheeled vehicle, a three-wheeled vehicle, or a four-wheeled vehicle, and the drive source thereof is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof.
  • the electric motor operates by using the electric power generated by the generator connected to the internal combustion engine or the electric power generated by the secondary battery or the fuel cell.
  • an embodiment in which the vehicle control device is applied to an autonomous driving vehicle will be described.
  • the automatic driving is, for example, automatically controlling one or both of acceleration / deceleration and steering of a vehicle to execute driving control.
  • the vehicle driving control described above may include various driving assistance such as ACC (Adaptive Cruise Control) and LKAS (Lane Keeping Assistance System).
  • ACC Adaptive Cruise Control
  • LKAS Lane Keeping Assistance System
  • the driving of the self-driving vehicle may be controlled by the manual driving of the occupant (driver).
  • the vehicle system 1 includes, for example, a camera 10, a radar device 12, a LIDAR (Light Detection and Ringing) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, and a vehicle sensor 40. , Navigation device 50, MPU (Map Positioning Unit) 60, driver monitor camera 70, driving controller 80, automatic driving control device 100, traveling driving force output device 200, braking device 210, steering device 220. And prepare. These devices and devices are connected to each other by multiple communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, and the like.
  • CAN Controller Area Network
  • a combination of the camera 10, the radar device 12, and the LIDAR 14 is an example of the "outside world sensor".
  • the outside world sensor may include another detection unit that recognizes the surrounding situation of the vehicle, or may include an object recognition device 16.
  • the automatic driving control device 100 is an example of a “vehicle control device”.
  • the camera 10 is a digital camera that uses a solid-state image sensor such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor).
  • the camera 10 is attached to an arbitrary position on the vehicle (hereinafter referred to as vehicle M) on which the vehicle system 1 is mounted.
  • vehicle M vehicle
  • the camera 10 is attached to the upper part of the front windshield, the back surface of the rear-view mirror, and the like.
  • the camera 10 periodically and repeatedly images the periphery of the vehicle M, for example.
  • the camera 10 may be a stereo camera.
  • the radar device 12 radiates radio waves such as millimeter waves around the vehicle M, and also detects radio waves (reflected waves) reflected by the object to detect at least the position (distance and direction) of the object.
  • the radar device 12 is attached to an arbitrary position on the vehicle M.
  • the radar device 12 may detect the position and velocity of the object by the FM-CW (Frequency Modified Continuous Wave) method.
  • FM-CW Frequency Modified Continuous Wave
  • the LIDAR14 irradiates the periphery of the vehicle M with light (or an electromagnetic wave having a wavelength close to that of light) and measures scattered light.
  • the LIDAR 14 detects the distance to the object based on the time from light emission to light reception.
  • the emitted light is, for example, a pulsed laser beam.
  • the LIDAR 14 is attached to any part of the vehicle M.
  • the object recognition device 16 performs sensor fusion processing on the detection results of a part or all of the camera 10, the radar device 12, and the LIDAR 14, and recognizes the position, type, speed, and the like of the object.
  • the object recognition device 16 outputs the recognition result to the automatic operation control device 100.
  • the object recognition device 16 may output the detection results of the camera 10, the radar device 12, and the LIDAR 14 to the automatic operation control device 100 as they are.
  • the object recognition device 16 may be omitted from the vehicle system 1.
  • the communication device 20 communicates with other vehicles existing in the vicinity of the vehicle M by using, for example, a cellular network, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or a wireless base. Communicate with various server devices via the station.
  • a cellular network for example, a Wi-Fi network, Bluetooth (registered trademark), DSRC (Dedicated Short Range Communication), or a wireless base.
  • Bluetooth registered trademark
  • DSRC Dedicated Short Range Communication
  • the HMI 30 presents various information to the occupants of the vehicle M under the control of the HMI control unit 170, and accepts input operations by the occupants.
  • the HMI 30 includes, for example, various display devices, speakers, microphones, buzzers, touch panels, switches, keys and the like.
  • the switch includes, for example, a winker switch (direction indicator) 32.
  • the winker switch 32 is provided on, for example, a steering column or a steering wheel.
  • the winker switch 32 is, for example, an example of an operation unit that receives an instruction to change the lane of the vehicle M by an occupant.
  • the vehicle sensor 40 includes a vehicle speed sensor that detects the speed of the vehicle M, an acceleration sensor that detects the acceleration, a yaw rate sensor that detects the angular velocity around the vertical axis, an orientation sensor that detects the direction of the vehicle M, and the like. Further, the vehicle sensor 40 may include a steering angle sensor that detects the rotation angle (steering angle) of the steering shaft. Further, the vehicle sensor 40 may include a position sensor that detects the position of the vehicle M. The position sensor is, for example, a sensor that acquires the position information (longitude / latitude information) of the vehicle M from a GPS (Global Positioning System) device. Further, the position sensor may be a sensor that acquires the position information of the vehicle M by using the GNSS (Global Navigation Satellite System) receiver 51 of the navigation device 50. The result detected by the vehicle sensor 40 is output to the automatic driving control device 100.
  • GNSS Global Navigation Satellite System
  • the navigation device 50 includes, for example, a GNSS receiver 51, a navigation HMI 52, and a route determination unit 53.
  • the navigation device 50 holds the first map information 54 in a storage device such as an HDD (Hard Disk Drive) or a flash memory.
  • the GNSS receiver 51 identifies the position of the vehicle M based on the signal received from the GNSS satellite.
  • the position of the vehicle M may be specified or complemented by an INS (Inertial Navigation System) using the output of the vehicle sensor 40.
  • the navigation HMI 52 includes a display device, a speaker, a touch panel, keys, and the like.
  • the navigation HMI 52 may be partially or wholly shared with the above-mentioned HMI 30.
  • the route determination unit 53 is, for example, a route from the position of the vehicle M specified by the GNSS receiver 51 (or an arbitrary position input) to the destination input by the occupant using the navigation HMI 52 (hereinafter, a map).
  • the upper route) is determined with reference to the first map information 54.
  • the first map information 54 is, for example, information in which a road shape is expressed by a link indicating a road and a node connected by the link.
  • the first map information 54 may include road curvature information (curvature or radius of curvature), POI (Point Of Interest) information, and the like.
  • the route on the map is output to MPU60.
  • the navigation device 50 may provide route guidance using the navigation HMI 52 based on the route on the map.
  • the navigation device 50 may be realized by, for example, the function of a terminal device such as a smartphone or a tablet terminal owned by an occupant.
  • the navigation device 50 may transmit the current position and the destination to the navigation server via the communication device 20 and acquire a route equivalent to the route on the map from the navigation server.
  • the MPU 60 includes, for example, a recommended lane determination unit 61, and holds the second map information 62 in a storage device such as an HDD or a flash memory.
  • the recommended lane determination unit 61 divides the route on the map provided by the navigation device 50 into a plurality of blocks (for example, divides the route into 100 [m] units with respect to the vehicle traveling direction), and refers to the second map information 62. Determine the recommended lane for each block.
  • the recommended lane determination unit 61 determines which lane to drive from the left. When a branch point exists on the route on the map, the recommended lane determination unit 61 determines the recommended lane so that the vehicle M can travel on a reasonable route to proceed to the branch destination.
  • the second map information 62 is map information with higher accuracy than the first map information 54.
  • the second map information 62 includes, for example, information on the center of the lane, information on the boundary of the lane, and the like.
  • the second map information 62 includes road information including a road section.
  • the road section is, for example, a road section line that divides a lane (for example, a lane mark such as a white line), a roadside zone, a curb, a median strip, a guardrail, or the like.
  • the second map information 62 may include information regarding a pattern of road sections (for example, an arrangement of solid lines and broken lines).
  • road information includes the number of lanes, lane width, slope, traffic signs, traffic signals, walls formed along the road, structures such as fences, and address information (address / mail). Number), facility information, phone number information, etc. may be included.
  • the second map information 62 may be updated at any time by the communication device 20 communicating with another device.
  • the driver monitor camera 70 is, for example, a digital camera that uses a solid-state image sensor such as a CCD or CMOS.
  • the driver monitor camera 70 is, for example, an arbitrary position and orientation in the vehicle M at a position and orientation in which the head of an occupant (hereinafter referred to as a driver) seated in the driver's seat of the vehicle M can be imaged from the front (in the direction in which the face is imaged). It can be attached to a place.
  • the driver monitor camera 70 is attached to the upper part of the display device provided in the central portion of the instrument panel of the vehicle M.
  • the driving controller 80 includes, for example, an accelerator pedal, a brake pedal, a shift lever, and other controls in addition to the steering wheel 82.
  • a sensor for detecting the amount of operation or the presence or absence of operation is attached to the operation controller 80, and the detection result is the automatic operation control device 100, or the traveling driving force output device 200, the brake device 210, and the steering device. It is output to a part or all of 220.
  • the steering wheel 82 is an example of an “operator that accepts a steering operation by the driver”. The operator does not necessarily have to be annular, and may be in the form of a modified steering wheel, a joystick, a button, or the like.
  • a steering grip sensor 84 is attached to the steering wheel 82.
  • the steering grip sensor 84 is realized by a capacitance sensor or the like, and automatically outputs a signal capable of detecting whether or not the driver is gripping the steering wheel 82 (meaning that the steering wheel 82 is in contact with the steering wheel 82). It is output to the operation control device 100.
  • the automatic operation control device 100 includes, for example, a first control unit 120, a second control unit 160, an HMI control unit 170, and a storage unit 180.
  • the first control unit 120, the second control unit 160, and the HMI control unit 170 are each realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software).
  • a hardware processor such as a CPU (Central Processing Unit) executing a program (software).
  • some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), and GPU (Graphics Processing Unit). It may be realized by the part; including circuitry), or it may be realized by the cooperation of software and hardware.
  • the program may be stored in advance in a storage device (a storage device including a non-transient storage medium) such as an HDD or a flash memory of the automatic operation control device 100, or a DVD, a CD-ROM, or the like can be attached and detached. It is stored in a storage medium, and may be installed in the HDD or flash memory of the automatic operation control device 100 by mounting the storage medium (non-transient storage medium) in the drive device.
  • a combination of the action plan generation unit 140 and the second control unit 160 is an example of the “operation control unit”.
  • the storage unit 180 may be realized by the above-mentioned various storage devices, SSD (Solid State Drive), EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), RAM (Random Access Memory), or the like. ..
  • the storage unit 180 stores, for example, information indicating the driving status of the vehicle M, information necessary for executing the driving control in the present embodiment, a program, various other information, and the like.
  • FIG. 2 is a functional configuration diagram of the first control unit 120 and the second control unit 160.
  • the first control unit 120 includes, for example, a recognition unit 130, an action plan generation unit 140, and a mode determination unit 150.
  • the first control unit 120 realizes a function by AI (Artificial Intelligence) and a function by a model given in advance in parallel. For example, the function of "recognizing an intersection” is executed in parallel with the recognition of an intersection by deep learning or the like and the recognition based on a predetermined condition (there is a signal capable of pattern matching, a road marking, etc.). It may be realized by scoring and comprehensively evaluating. This ensures the reliability of automated driving.
  • AI Artificial Intelligence
  • the recognition unit 130 is a vehicle based on, for example, information and map information (first map information 54, second map information 62) input from the camera 10, the radar device 12, and the LIDAR 14 via the object recognition device 16. Recognize the surrounding situation of M.
  • the recognition unit 130 includes, for example, an object recognition unit 132 and a vehicle position recognition unit 134.
  • the object recognition unit 132 recognizes the position, speed, acceleration, and other states of objects around the vehicle M.
  • the position of the object is recognized as, for example, a position on absolute coordinates with the representative point (center of gravity, center of drive axis, etc.) of the vehicle M as the origin, and is used for control.
  • the position of the object may be represented by a representative point such as the center of gravity or a corner of the object, or may be represented by a region.
  • the "state" of an object may include the object's acceleration, jerk, or "behavioral state” (eg, whether it is changing lanes or is about to change lanes).
  • the vehicle position recognition unit 134 includes, for example, a first recognition unit 134A, a second recognition unit 134B, a matching unit 134C, and a counter unit 134D.
  • the first recognition unit 134A refers to a road block (hereinafter referred to as “first road block”) around the vehicle M (within a predetermined distance) based on the position of the vehicle M based on the recognition result of the external sensor. Recognize the first road information including.
  • the first road information includes, for example, the road shape (for example, curvature information, gradient) on which the vehicle M recognized by the outside world sensor is traveling, the number of lanes, the lane width, the traffic sign, and the traffic. Structures such as traffic lights, walls and fences formed along roads may be included.
  • the second recognition unit 134B has map information (first map information 54, first map information 54, first) based on the position information of the vehicle M acquired from the position sensor included in the vehicle sensor 40 of the vehicle M and the position information of the vehicle M acquired from the GNSS receiver 51 included in the navigation device 50. 2 Refer to the map information 62), and recognize the second road information including the road section around the vehicle M (hereinafter referred to as “second road section”) based on the position of the vehicle M from the map information. ..
  • the second road information includes, for example, the road shape, the number of lanes, the lane width, the traffic sign, the traffic signal, and the road along which the vehicle M acquired from the map information is traveling. Structures such as walls may be included.
  • the matching unit 134C performs a process of recognizing the position of the vehicle M by matching the first road information recognized by the first recognition unit 134A with the second road information recognized by the second recognition unit 134B. For example, when the matching unit 134C matches the first road information and the second road information, the matching unit 134C specifies the position (or posture) of the vehicle M in the traveling lane (road) as if the matching was successful. In this case, the matching unit 134C sets the angle formed by, for example, the deviation of the reference point of the vehicle M from the center of the lane and the angle formed with respect to the line connecting the center of the lane in the traveling direction of the vehicle M with respect to the traveling lane. And may be recognized as a posture.
  • the matching unit 134C may recognize the position of the reference point of the vehicle M with respect to any side end portion (road section) of the traveling lane as the relative position of the vehicle M with respect to the traveling lane.
  • the reference point of the vehicle M may be the center of the vehicle M or the center of gravity. Further, the reference point may be an end portion (front end portion, rear end portion, side end portion) of the vehicle M, or may be a position where one of a plurality of wheels included in the vehicle M exists.
  • the matching unit 134C may recognize that the position of the vehicle M cannot be recognized (specified) as a matching failure.
  • the counter unit 134D increases the count value by a predetermined increase amount and matches them. In the case of a state (when the matching is successful), the increased count value is decreased by a predetermined decrease amount. Details of each function of the vehicle position recognition unit 134 described above will be described later.
  • the recognition unit 130 may also recognize stop lines, obstacles, red lights, tollhouses, and other road events. Further, the recognition unit 130 may recognize an adjacent lane adjacent to the traveling lane.
  • the action plan generation unit 140 travels in the recommended lane determined by the recommended lane determination unit 61, and the vehicle M automatically (operates by the driver) so as to be able to respond to the surrounding conditions of the vehicle M.
  • the target trajectory contains, for example, a speed element.
  • the target track is expressed as an arrangement of points (track points) to be reached by the vehicle M in order.
  • the track point is a point to be reached by the vehicle M for each predetermined mileage (for example, about several [m]) along the road, and separately, a predetermined sampling time (for example, about 0 comma number [sec]).
  • a target velocity and a target acceleration for each are generated as part of the target trajectory.
  • the track point may be a position to be reached by the vehicle M at the sampling time for each predetermined sampling time.
  • the information of the target velocity and the target acceleration is expressed by the interval of the orbital points.
  • the action plan generation unit 140 may set an event (function) for automatic driving when generating a target trajectory.
  • the events of automatic driving include a traffic jam tracking event, a constant speed driving event, a low speed following driving event, a lane change event, a branching event, a merging event, a takeover event, and the like.
  • the action plan generation unit 140 generates a target trajectory according to the activated event.
  • the mode determination unit 150 sets the driving mode executed by the vehicle M according to the situation of the vehicle M to a plurality of driving modes (in other words, the degree of automation in the driving control of the vehicle M) having different tasks imposed on the driver. Decide on one of several different modes).
  • the operation control unit drives the vehicle M in the mode determined by the mode determination unit 150.
  • the mode determination unit 150 includes, for example, a driver state determination unit 152 and a mode change processing unit 154. These individual functions will be described later.
  • FIG. 3 is a diagram showing an example of the relationship between the driving mode, the control state of the vehicle M, and the task.
  • the operation mode of the vehicle M includes, for example, five modes from mode A to mode E.
  • the degree of automation of the control state that is, the driving control of the vehicle M is highest in mode A, then in the order of mode B, mode C, and mode D, and mode E is the lowest.
  • the task assigned to the driver (occupant) is the mode in which mode A is the smallest (mild), then mode B, mode C, and mode D are increased in this order (severe), and manual driving is performed.
  • E has the largest task.
  • modes B to E the control state is not automatic operation. Therefore, the automatic operation control device 100 is responsible for ending the control related to automatic operation and shifting to operation support or manual operation.
  • the contents of each mode will be illustrated.
  • the vehicle In mode A, the vehicle is in an automatic driving state, and the driver is not required to perform any of the tasks of monitoring the surroundings of the vehicle M and gripping the steering wheel 82 (hereinafter referred to as "steering grip grip"). Whether or not the driver is monitoring the surroundings is determined based on, for example, the analysis result of the captured image of the driver monitor camera 70, and whether or not the driver is gripping the steering is determined based on, for example, the detection result of the steering grip sensor 84. Will be done.
  • Peripheral monitoring includes at least monitoring in front of vehicle M (front monitoring in the figure). The front means the space in the traveling direction of the vehicle M which is visually recognized through the front windshield.
  • the driver is required to be in a position to quickly shift to manual operation in response to a request from the system centered on the automatic operation control device 100.
  • automated driving means that both the steering and speed of the vehicle M are controlled without depending on the driver's operation.
  • the vehicle M is traveling at a predetermined speed (for example, about 50 [km / h]) or less, and the tracking target is traveling in the same lane or the recommended lane as the vehicle M.
  • TJP Traffic Jam Pilot
  • the second task is, for example, an action other than the driving of the occupant permitted during the automatic driving of the vehicle M.
  • Second tasks include, for example, watching television, making mobile phone calls, sending and receiving emails, eating, and the like.
  • mode B the driver is in a driving support state, and the driver is tasked with monitoring the front of the vehicle M (hereinafter referred to as forward monitoring), but is not tasked with gripping the steering wheel 82.
  • the lane change of the vehicle M is performed based on the route setting to the destination by the navigation device 50 at the discretion of the vehicle system 1 side without accepting the lane change instruction from the occupant.
  • the lane change is to move the vehicle M from the own lane (first lane) in which the vehicle M travels to the adjacent lane (second lane) adjacent to the own lane.
  • mode C the driver is in a driving support state, and the driver is tasked with the task of forward monitoring and the task of gripping the steering wheel 82.
  • mode C when it is determined on the vehicle system 1 side that the lane change of the vehicle M is necessary, an inquiry is made to the occupant via the HMI 30, and the lane change approval by the occupant is accepted from the HMI 30 or the like. In some cases, driving assistance is provided to perform a lane change.
  • Mode D is a driving mode that requires a certain degree of driving operation by the driver for at least one of steering and acceleration / deceleration of the vehicle M.
  • driving support such as ACC and LKAS is provided.
  • driving support for executing the lane change in the instructed direction is provided.
  • the lane change in the mode D is an example of the lane change due to the detection of the driver's intention.
  • the lane change in mode D may be performed in mode C.
  • the operation of the winker switch 32 of the driver is an example of the driving operation.
  • the driving operation in the mode D may include a driving operation for controlling steering or acceleration / deceleration.
  • the lane change in modes B to D may be an example of a lane change event.
  • mode E both steering and acceleration / deceleration of the vehicle M are in a state of manual operation that requires a driving operation by the driver.
  • mode D and mode E the driver is naturally tasked with monitoring the front of the vehicle M.
  • the driving subject in modes C to E is the driver.
  • the plurality of driving modes executed by the vehicle M include driving modes aimed at minimizing the risk associated with the running of the vehicle M (for example, MRM (Minimum Risk Maneuver)). Mode) may be included.
  • MRM Minimum Risk Maneuver
  • an emergency stop by automatic operation is executed.
  • the mode determination unit 150 changes the mode to an appropriate mode according to the situation when the vehicle M cannot execute the current driving mode. Further, the mode determination unit 150 acquires the execution state of the task, and when the task related to the determined operation mode is not executed by the driver, the mode determination unit 150 changes the operation mode of the vehicle M to the operation mode in which the task is larger. May be good.
  • the mode determination unit 150 causes the HMI control unit 170 to execute the control for urging the driver to shift to the manual operation of the mode E by using the HMI 30. Further, the mode determination unit 150 must be in a state where the driver does not respond even after a predetermined time has elapsed after the HMI control unit 170 is made to execute the control for urging the shift to the manual operation, or the driver is not in the state of performing the manual operation.
  • the vehicle M When it is estimated, the vehicle M is stopped at the target position by the automatic driving in the MRM mode, and the automatic driving is stopped (finished) after the stop. Further, after the automatic driving is stopped, the vehicle M is in the mode D or E, and the vehicle M can be started by the manual operation of the driver.
  • stop automatic operation the same applies to "stop automatic operation”.
  • mode B when the driver is not monitoring the front, the mode determination unit 150 prompts the driver to monitor the front using the HMI 30, and if the driver does not respond, the vehicle M is stopped at the target position and automatically. Controls such as stopping the operation. If the driver is not monitoring the front in mode C, or is not gripping the steering wheel 82, the mode determination unit 150 uses the HMI 30 to give the driver forward monitoring and / or grip the steering wheel 82. If the driver does not respond, the vehicle M is stopped at the target position and the automatic driving is stopped. Further, in mode C and mode D, when the lane change is not executed while the vehicle M reaches a predetermined point, the vehicle M is stopped at the target position and the automatic driving is stopped. You may.
  • the driver state determination unit 152 determines whether or not the occupant (driver) is in a state suitable for driving. For example, the driver state determination unit 152 monitors the driver's state for the mode change (switching) described above, and determines whether or not the driver's state is in a state corresponding to the task. For example, the driver state determination unit 152 analyzes the image captured by the driver monitor camera 70 and performs posture estimation processing, and whether or not the driver is in a position where he / she cannot shift to manual driving in response to a request from the system. To judge.
  • the driver state determination unit 152 analyzes the image captured by the driver monitor camera 70 to perform line-of-sight estimation processing, and whether or not the driver is monitoring the periphery (more specifically, the front) of the vehicle M. Is determined. When it is determined that the state does not correspond to the task for a predetermined time or more, the driver state determination unit 152 determines that the driver is in a state unsuitable for driving the task. Further, when it is determined that the state corresponds to the task, the driver state determination unit 152 determines that the driver is in a state suitable for driving the task. Further, the driver state determination unit 152 may determine whether or not the occupant is in a state where the driver can change driving.
  • the mode determination unit 150 determines the driving mode of the vehicle M based on the result recognized by the recognition unit 130 and the result determined by the driver state determination unit 152.
  • the mode change processing unit 154 performs various processes for changing to the mode determined by the mode determination unit 150. For example, the mode change processing unit 154 gives an operation instruction to the driving support device (not shown), controls the HMI 30 to urge the driver to take action, and makes an emergency stop based on the action plan generation unit 140. Instruct them to generate a target trajectory.
  • the second control unit 160 controls the traveling driving force output device 200, the brake device 210, and the steering device 220 so that the vehicle M passes the target track generated by the action plan generation unit 140 at the scheduled time. do.
  • the second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166.
  • the acquisition unit 162 acquires the information of the target trajectory (orbit point) generated by the action plan generation unit 140 and stores it in a memory (not shown).
  • the speed control unit 164 controls the traveling driving force output device 200 or the brake device 210 based on the speed element associated with the target trajectory stored in the memory.
  • the steering control unit 166 controls the steering device 220 according to the degree of bending of the target trajectory stored in the memory.
  • the processing of the speed control unit 164 and the steering control unit 166 is realized by, for example, a combination of feedforward control and feedback control.
  • the steering control unit 166 executes a combination of feedforward control according to the curvature of the road in front of the vehicle M and feedback control based on the deviation from the target track.
  • the HMI control unit 170 notifies the occupant of predetermined information by the HMI 30.
  • the predetermined information includes, for example, information related to the running of the vehicle M, such as information on the state of the vehicle M and information on driving control.
  • the information regarding the state of the vehicle M includes, for example, the speed of the vehicle M, the engine speed, the shift position, and the like.
  • the information related to the driving control includes, for example, an inquiry as to whether or not to change the lane, information on whether or not the driving mode is executed, information on changing the driving mode, information on the status of the driving mode, and the like.
  • the information on the driving control includes tasks to be imposed on the occupant to switch the driving mode of the vehicle M when the position of the vehicle M cannot be recognized by the recognition unit 130, and tasks according to the switching mode. It may contain information that prompts execution.
  • the predetermined information may include information not related to the traveling control of the vehicle M, such as contents (for example, a movie) stored in a storage medium such as a TV program or a DVD. Further, the predetermined information may include, for example, information on the current position and destination of the vehicle M and the remaining amount of fuel.
  • the HMI control unit 170 may generate an image including the above-mentioned predetermined information and display the generated image on the display device of the HMI 30.
  • the HMI control unit 170 may generate a voice indicating the predetermined information and use the generated voice as the HMI 30. It may be output from the speaker of. Further, the HMI control unit 170 may output the information received by the HMI 30 to the communication device 20, the navigation device 50, the first control unit 120, and the like.
  • the traveling driving force output device 200 outputs the traveling driving force (torque) for the vehicle to travel to the drive wheels.
  • the traveling driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, and the like, and an ECU (Electronic Control Unit) that controls them.
  • the ECU controls the above configuration according to the information input from the second control unit 160 or the information input from the operation controller 80.
  • the brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU.
  • the brake ECU controls the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 80 so that the brake torque corresponding to the braking operation is output to each wheel.
  • the brake device 210 may include a mechanism for transmitting the hydraulic pressure generated by the operation of the brake pedal included in the operation operator 80 to the cylinder via the master cylinder as a backup.
  • the brake device 210 is not limited to the configuration described above, and is an electronically controlled hydraulic brake device that controls the actuator according to the information input from the second control unit 160 to transmit the hydraulic pressure of the master cylinder to the cylinder. May be good.
  • the steering device 220 includes, for example, a steering ECU and an electric motor.
  • the electric motor for example, exerts a force on the rack and pinion mechanism to change the direction of the steering wheel.
  • the steering ECU drives the electric motor according to the information input from the second control unit 160 or the information input from the operation controller 80, and changes the direction of the steering wheel.
  • FIG. 4 is a diagram for explaining recognition of the vehicle position.
  • two lanes L1 and L2 that can travel in the same direction (X-axis direction shown in FIG. 4) are shown.
  • Lane L1 is partitioned by road lane markings LL and CL
  • lane L2 is partitioned by road lane markings CL and RL. It is assumed that the vehicle M is traveling in the lane L1 at a speed VM.
  • the first recognition unit 134A recognizes the first road information including the first road section that divides the road on which the vehicle M travels, based on the information input from the outside world sensor. For example, the first recognition unit 134A analyzes the image captured by the camera 10 and recognizes the lane mark drawn on the road as the first road section from the information such as the color and shape in the image which is the analysis result. .. Further, the first recognition unit 134A may recognize the pattern of the first road section (for example, an arrangement of a solid line and a broken line). Further, in the first recognition unit 134A, the road section includes a structure based on the shape information included in the image captured by the camera 10 and the position and distance information of the object obtained from the radar device 12 and the LIDAR 14.
  • the first recognition unit 134A may recognize only the first road section with respect to the road section lines LL and CL that partition the lane L1 in which the vehicle M travels.
  • the second recognition unit 134B refers to map information (first map information 54 and second map information 62) based on the position information of the vehicle M acquired by the position sensor included in the vehicle sensor or the GNSS receiver 51, and the vehicle.
  • the second road information including the first road section which divides the road which M is presumed to be traveling is acquired.
  • the second recognition unit 134B may acquire a pattern of the second road lane marking line (for example, an array of a solid line and a broken line) from the second map information 62.
  • the road division lines LL, CL, and RL shown in FIG. 4 are assumed to be an example of the second road division acquired by the second recognition unit 134B.
  • the second recognition unit 134B may acquire only the second road section with respect to the lane markings LL and CL that divide the lane L1 in which the vehicle M travels.
  • the matching unit 134C matches the first road section included in the first road information with the second road section included in the second road information, and determines whether or not the positions of the respective road sections match. judge. For example, the matching unit 134C sets a road boundary determination area based on the position of the second road section, and when the first road section is included in the set road boundary determination area, the first road section It is determined that the object and the second road section match. Further, the matching unit 134C determines that the first road section and the second road section do not match when the first road section is not included in the road boundary determination area.
  • the road boundary determination region has, for example, a predetermined width on at least one of the left and right directions (in other words, the width direction of the lane) orthogonal to the longitudinal direction (in other words, the extension direction of the lane) of the second road section. However, it is a band region represented by extending the width by a predetermined distance in the longitudinal direction of the second road section (section line). In the example of FIG. 4, a road boundary determination area is set so that the second road section is positioned in the center of each zone area.
  • WLL, WCL, WRL are set, and the set widths WLL, WCL, WRL are extended from the reference point P0 to the point P1 extending by a predetermined distance (for example, section D1) along the longitudinal direction of the division line LL, CL, RL.
  • Area is set as the road boundary determination area ALL, ACL, ARL.
  • the reference point P0 is a point based on the position of the vehicle M detected by the vehicle sensor 40, and is, for example, the position of the forehead (front end) of the vehicle M, the center position of the vehicle M, the position sensor, or the camera. It is one of the installation positions such as 10.
  • the predetermined distance D1 is, for example, a distance estimated by the outside world sensor that the first road section can be detected with a predetermined accuracy.
  • the predetermined distance D1 may be, for example, a fixed distance, or may be changed depending on the vehicle speed of the vehicle M and road conditions (for example, in a tunnel, a sharp curve, a slope, the number of lanes, and a lane width).
  • the matching unit 134C when the first road section recognized by the first recognition unit 134A is included in the set road boundary determination area, the second road section and the first road section are combined. It is judged that it is done. In the example of FIG. 4, the matching unit 134C determines whether or not the first road section RB1 is included in the road boundary determination area ALL, and the first road section RB1 is included in the road boundary determination area ALL. When it is determined that the road division line LL and the first road division RB1 are matched with each other. Similarly, the matching unit 134C determines whether or not the first road section RB2 is included in the road boundary determination area ACL, and the first road section RB2 is included in the road boundary determination area ACL.
  • the matching unit 134C determines whether or not the first road section RB3 is included in the road boundary determination area ARL, and determines that the first road section RB3 is included in the road boundary determination area ARL. When it is determined, it is determined that the road division line RL and the first road division RB3 match.
  • the matching unit 134C is a case where all of the first road section is included in the area in a predetermined section (for example, section D1) and a part of the first road section is outside the area. However, it may be determined that the first road section exists in the area. In this case, the matching unit 134C calculates, for example, the ratio of the first road section in the predetermined section existing in the road boundary determination area, and when the calculated ratio is equal to or more than the threshold value, the matching unit 134C and the second road section It is determined that the first road section matches.
  • a predetermined section for example, section D1
  • the matching unit 134C calculates, for example, the ratio of the first road section in the predetermined section existing in the road boundary determination area, and when the calculated ratio is equal to or more than the threshold value, the matching unit 134C and the second road section It is determined that the first road section matches.
  • the matching unit 134C not only determines whether or not the matching is performed, but also recognizes a state in which the recognition accuracy is deteriorated (deteriorated) or a state in which the recognition accuracy is not recognized. good. For example, when the matching rate (ratio) is equal to or less than the first threshold value (for example, 60%), it is recognized that the recognition accuracy is deteriorated, and when the matching rate is equal to or less than the second threshold value (for example, 30%). If there is, it is recognized that it is in a state where it cannot be recognized.
  • the first threshold value for example, 60%
  • the second threshold value for example, 30%
  • the deterioration of recognition accuracy or the state of not being recognized is, for example, when the road lane marking is thin (or disappears), the influence of the weather (rain, snow), abnormality of the camera 10, etc., and the map information is actually. It can occur if the road conditions are different (old map).
  • the matching unit 134C may directly compare the first road section and the second road section instead of comparing the first road section and the road boundary determination area. Further, the matching unit 134C uses, in addition to (or instead of) the road section, an object included in the road information (for example, a traffic signal, a wall along the road, a structure such as a fence), and the first road information. It may be determined whether or not the second road information matches. The matching unit 134C determines whether or not the second road section and the first road section match at a predetermined cycle.
  • an object included in the road information for example, a traffic signal, a wall along the road, a structure such as a fence
  • the matching unit 134C determines that the second road section and the first road section match, for example, the vehicle in the traveling lane (lane L1 in FIG. 4) with the position of the second road section as the road boundary.
  • the position of M is recognized, and the result and the like are output to the action plan generation unit 140.
  • the matching unit 134C determines that the position of the vehicle M on the road cannot be specified.
  • the matching result by the matching unit 134C is output to the mode determination unit 150.
  • the mode determination unit 150 when the mode determination unit 150 is executing a predetermined driving mode in which the vehicle M automatically drives or assists driving, and the matching unit 134C determines that the position of the vehicle M on the road cannot be recognized.
  • the HMI control unit 170 switches the operation mode and outputs information on the task to be imposed on the occupant according to the operation mode to be switched from the HMI 30.
  • the mode determining unit 150 imposes on the occupant from the current driving mode when the position of the vehicle M cannot be recognized and when a predetermined switching condition for switching the driving mode of the vehicle M is satisfied. Switch to a task with a larger task.
  • an example of the operation mode switching pattern based on the switching condition will be described by dividing it into several patterns.
  • the switching condition in the first switching pattern is that a predetermined time elapses after the position of the vehicle M becomes unrecognizable.
  • the mode determination unit 150 determines that the vehicle M is in the execution of modes A to D and the matching unit 134C determines that the position of the vehicle M cannot be recognized.
  • the time has elapsed it is determined that the switching condition is satisfied, and the driving mode of the vehicle M is switched to a mode in which the task imposed on the occupant is larger than the current mode.
  • the predetermined time may be a fixed time or a variable time set according to the speed of the vehicle M and the surrounding conditions.
  • the mode determination unit 150 switches to any of modes B to E after a predetermined time has elapsed from the state in which the position of the vehicle cannot be recognized. Further, when the current driving mode is mode B, the mode determining unit 150 switches to any of modes C to E after a predetermined time has elapsed from the state in which the position of the vehicle M cannot be recognized. ..
  • the mode determination unit 150 may switch to the mode E (manual operation) after a predetermined time has elapsed from the state in which the position of the vehicle M cannot be recognized. good. In this case, the automatic driving and driving support by the driving control unit will be stopped.
  • the operation control unit uses, for example, either the first road information or the second road information to obtain the vehicle M on the road.
  • the position is estimated, and the operation control is executed based on the estimated position.
  • the operation control unit may perform control such as decelerating the speed in order to drive the vehicle M more safely.
  • the driving mode is switched to the occupant by switching the driving mode after a predetermined time has elapsed, instead of switching the driving mode immediately after the position of the vehicle M cannot be recognized.
  • the corresponding task can be executed with a margin.
  • FIG. 5 is a diagram for explaining the second switching pattern.
  • the switching condition in the second switching pattern is that the vehicle M moves by a predetermined width or more in the width direction of the traveling lane after the position of the vehicle M becomes unrecognizable.
  • the time t2 is a time after the time t1. Further, the position of the vehicle M at the time t * is expressed as M (t *), and the speed VM of the vehicle M is expressed as VM (t *). Further, in the example of FIG. 5, it is assumed that the position of the vehicle M cannot be recognized by the matching unit 134C at the time t1 when the vehicle M reaches the point P0 in the lane L1.
  • the mode determination unit 150 acquires the position of the vehicle M (t1) in the traveling lane L1 when the matching unit 134C determines that the position of the vehicle M cannot be recognized. In this case, the mode determination unit 150 acquires the position (position of the reference point) of the vehicle M on the lane L1 in which the vehicle travels using the first road information or the second road information. Then, the mode determination unit 150 acquires the movement width W1 in the width direction of the lane L1 from the acquired position, and the acquired movement width W1 becomes a predetermined width (for example, about 0.35 [m] or more). In some cases, switch to a mode that imposes more tasks on the occupants than the current mode. In the example of FIG.
  • the time t2 indicates a time point when the movement width W1 becomes equal to or larger than a predetermined width.
  • the predetermined width may be a fixed value or a variable value set based on the position of the vehicle M, the vehicle width, and the road width.
  • the timing of switching the driving mode can be adjusted based on the behavior of the vehicle M after the position of the vehicle M cannot be recognized by the matching unit 134C. Further, according to the second switching pattern, it is possible to suppress the mode switching immediately when the position of the vehicle M cannot be recognized, and to give the occupant a margin to execute the task. Further, according to the second switching pattern, when the movement of the vehicle M in the lane width direction is less than the predetermined width, stable driving is performed in the traveling lane, so that switching of the driving mode during that period is suppressed. By doing so, more appropriate operation control can be executed.
  • FIG. 6 is a diagram for explaining a third switching pattern.
  • the switching condition in the third switching pattern is the mileage derived based on the speed VM of the vehicle M at the time when the position of the vehicle M becomes unrecognizable and the direction of the vehicle M (hereinafter, "first". It is referred to as "travelable distance"), which means that the vehicle M has traveled after the position of the vehicle M cannot be recognized.
  • FIG. 6 shows the state of the vehicle M with respect to the traveling lane L1 at the time when the matching unit 134C determines that the position of the vehicle M cannot be recognized.
  • the mode determination unit 150 detects the yaw rate angle and steering angle of the vehicle M by the vehicle sensor 40, and the wheels with respect to the front direction of the vehicle M. Based on the direction of the vehicle M and the like, the angle ⁇ 1 formed with respect to the line C1 connecting the centers of the lanes L1 in which the vehicle M travels is derived as the direction of the vehicle M.
  • the mode determination unit 150 derives the first mileage based on the speed VM and the direction (angle ⁇ 1) of the vehicle M at the time when it is determined that the position of the vehicle M cannot be recognized. For example, when the vehicle M continues to travel at the same speed and direction, the mode determination unit 150 does not travel beyond the lane markings LL and CL of the lane L1 and takes a certain amount of time to switch modes.
  • the first mileage that can be secured is derived. For example, the mode determination unit 150 lengthens the travelable distance as the angle ⁇ 1 is smaller, and lengthens the travelable distance as the speed VM increases.
  • the first mileage may be derived, for example, using a predetermined function with speed and angle as inputs and distance as output, or may be derived using a table in which the distance is associated with speed and angle. good.
  • the mode determination unit 150 imposes the operation mode of the vehicle M on the occupant more than the current mode after traveling the first mileage from the time when the position of the vehicle M cannot be recognized by the matching unit 134C. Switch to the larger mode of the task to be done.
  • the third switching pattern described above it is derived based on the state (speed and direction) of the vehicle M at the time when the position of the vehicle M becomes unrecognizable after the position of the vehicle M becomes unrecognizable.
  • FIG. 7 is a diagram for explaining the fourth switching pattern.
  • the switching conditions in the fourth switching pattern are the speed VM of the vehicle M at the time when the position of the vehicle M cannot be recognized and the curvature information of the road (lane L1) on which the vehicle M travels (hereinafter, the curvature is used.
  • the vehicle M traveled after the position of the vehicle M could not be recognized with respect to the travelable distance (hereinafter referred to as "second travelable distance") derived based on the above.
  • second travelable distance hereinafter referred to as "second travelable distance
  • a three-dimensional graph is shown with the road curvature [1 / m] on which the vehicle M travels, the speed [m / s] of the vehicle M, and the second mileage [m] as axes.
  • the speed VM of the vehicle M and the road curve on which the vehicle M travels are associated with the mileage that is the performance limit of the vehicle.
  • the correspondence shown in FIG. 7 may be different for each type of vehicle M.
  • the mode determination unit 150 is based on the speed VM of the vehicle M at that time and the detection result of the map information or the outside world sensor.
  • the curvature of the traveling lane is acquired, and the second mileage is acquired with reference to the graph shown in FIG. 7 based on the acquired speed and curvature.
  • the smaller the curvature the larger the second mileage because the track becomes a gentle curve
  • the larger the speed VM the larger the second mileage to secure the time until the mode is switched. It has become.
  • the lower limit value (20 [m] in the figure) and the upper limit value (100 [m] in the figure) of the second mileage are provided, but the numerical values are not limited to these. ..
  • the second mileage may be derived by using a predetermined function in which the speed and the curvature are input and the distance is output.
  • the mode determination unit 150 imposes the operation mode of the vehicle M on the occupant more than the current mode after traveling the second mileage from the time when the position of the vehicle M cannot be recognized by the matching unit 134C. Switch to the larger mode of the task to be done.
  • the state (speed) and road information of the vehicle M at the time when the position of the vehicle M becomes unrecognizable for example,.
  • FIG. 8 is a diagram for explaining the fifth switching pattern.
  • the horizontal axis of FIG. 8 indicates the time [s], and the vertical axis indicates the count value (integrated value). Further, in the example of FIG. 8, ⁇ Ta indicates a period during which matching failed, and ⁇ Tb indicates a period during which matching was successful.
  • the fifth switching pattern is to increase the count value by the counter unit 134D in a state where the position of the vehicle M cannot be recognized, and to switch the mode when the integrated value of the count values is equal to or more than the threshold value.
  • the counter unit 134D increases the count value by the first increase amount.
  • the first increase amount may be a non-linear increase with the passage of time, or the increase amount of the time and the count value may be linearly increased by a proportional relationship.
  • the non-linear increase may be, for example, a logarithmic or exponential increase (monotonic increase) depending on curve information or the like, or may be a stepwise increase.
  • the mode determination unit 150 sets the driving mode of the vehicle M to a mode having a larger task to impose on the occupant than the current mode. Switch.
  • the operation mode is switched when the time t11 elapses.
  • the counter unit 134D may set an upper limit value larger than the threshold value Th1 and stop counting when the count value reaches the upper limit value. Further, the counter unit 134D may reduce the count value when the matching is successful and the position of the vehicle M can be recognized after the position of the vehicle M cannot be recognized. In the example of FIG. 8, since the position of the vehicle M can be recognized again when the time t12 has elapsed from the time when the position of the vehicle M cannot be recognized, the current count value is reduced. In this case, the counter unit 134D reduces the count value by the first reduction amount. The first decrease amount may increase non-linearly or may increase non-linearly with the passage of time. Further, the counter unit 134D makes the absolute value of the first decrease amount larger than the absolute value of the first increase amount. As a result, the count value can be returned to the initial value (for example, 0 (zero)) as soon as possible.
  • the initial value for example, 0 (zero)
  • the counter unit 134D increases the counter at the time of mapping failure when the success period and the failure period of matching repeatedly exist (mix) in a predetermined period (hereinafter referred to as “hunting”). The amount may be different.
  • FIG. 9 is a diagram for explaining a change in the count value when hunting is performed. In the example of FIG. 9, matching fails in the period from the time when the position of the vehicle M becomes unrecognizable to the time t21 (hereinafter referred to as the first period), and the matching fails in the period from the time t21 to t22 (hereinafter referred to as the first period).
  • Matching succeeds in the period from time t22 to t23 (hereinafter referred to as the third period), matching fails in the period from time t22 to t23 (hereinafter referred to as the third period), and matching occurs in the period from time t23 to t24 (hereinafter referred to as the fourth period). It is assumed that the matching is successful.
  • the counter unit 134D increases the count value by the first increase amount in the first period, and decreases the count value by the first decrease amount in the second period. Further, in the third period, the counter unit 134D is increased by the second increase amount from the middle of the counting value during the decrease.
  • the first increase amount and the second increase amount may be the same value, or one of them may be set to a larger value than the other.
  • the mode can be switched at a more appropriate timing by using the count value.
  • each of the above-mentioned first to fifth switching patterns may be a combination of a part or all of the other switching patterns.
  • the switching condition predetermined time elapsed
  • the driving mode of the vehicle M may be switched to a driving mode in which the task imposed on the occupants of the vehicle M is larger than that of the driving mode being executed.
  • the mode determination unit 150 may determine the type of the mode to be switched depending on which of the first to fifth switching patterns described above satisfies the switching condition.
  • the mode determination unit 150 may return the operation mode of the vehicle M to the original mode.
  • FIG. 10 is a flowchart showing an example of the flow of processing executed by the automatic operation control device 100 of the embodiment.
  • the mode switching process when it is determined that the position of the vehicle M cannot be specified by the recognition unit 130 will be mainly described.
  • the process shown in FIG. 10 may be repeatedly executed, for example, at a predetermined timing or a predetermined cycle.
  • the mode determination unit 150 determines whether or not the vehicle M is executing a predetermined driving mode (step S100).
  • the predetermined operation mode is, for example, any one of modes A to D.
  • the first recognition unit 134A recognizes the first road information including the first road section based on the recognition result of the outside world sensor (step S102).
  • the second recognition unit 134B refers to the map information from the position information of the vehicle M acquired from the GPS device or the GNSS receiver 51, and recognizes the second road information including the second road section based on the map information. (Step S104).
  • the matching unit 134C matches the first road section and the second road section (step S106), and determines whether or not the road sections match (step S108). If it is determined that the vehicle matches, the matching unit 134C specifies the position of the vehicle M on the traveling lane based on the road section (step S110). Next, the operation control unit executes operation control based on the specific position and the surrounding conditions of the vehicle (step S112).
  • step S108 determines whether or not match.
  • a predetermined switching condition for switching the operation mode for example, the switching condition in the first to fifth switching patterns
  • step S114 determines whether or not.
  • the mode determination unit 150 controls to switch the driving mode of the vehicle M to a mode in which the task imposed on the occupant is larger than the driving mode being executed by the vehicle M (step S116). ). This ends the processing of this flowchart. Further, if it is determined that the predetermined operation mode is not executed in the process of step S100, or if the predetermined switching condition is not satisfied in the process of step S114, the process of this flowchart is terminated.
  • the recognition unit 130 that recognizes the position of the vehicle M and the operation control unit (action plan generation unit 140, that controls one or both of acceleration / deceleration and steering of the vehicle M).
  • the second control unit 160 determines a driving control unit for driving the vehicle M in any of a plurality of driving modes in which the tasks imposed on the occupants of the vehicle M are different, and a driving mode to be executed by the driving control unit.
  • the mode determination unit 150 and the recognition unit 130 recognize the first road information including the road section around the vehicle M with respect to the position of the vehicle M based on the recognition result of the outside world sensor, and the vehicle.
  • the vehicle M sets the operation mode of the vehicle M.
  • the driving mode in which the task imposed on the occupant of the vehicle M is larger than that in the running driving mode the vehicle can be driven with more appropriate driving control.
  • the operation mode can be switched at a more appropriate timing.
  • a storage device that stores the program and With a hardware processor, By executing the program stored in the storage device by the hardware processor. Recognize the position of the vehicle, Control one or both of acceleration / deceleration and steering of the vehicle, The vehicle is driven in one of a plurality of driving modes in which the tasks imposed on the occupants of the vehicle are different. Based on the recognition result of the outside world sensor, the first road information including the road section around the vehicle is recognized based on the position of the vehicle, and the periphery of the vehicle is recognized from the map information based on the position information of the vehicle. The second road information including the road section of the vehicle is recognized, and the position of the vehicle is recognized by matching the first road information with the second road information.
  • a vehicle control unit configured as such.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Human Computer Interaction (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • General Physics & Mathematics (AREA)
  • Physics & Mathematics (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
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PCT/JP2020/049099 2020-12-28 2020-12-28 車両制御装置、車両制御方法、およびプログラム Ceased WO2022144957A1 (ja)

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US18/024,514 US11958506B2 (en) 2020-12-28 2020-12-28 Vehicle control device and vehicle control method
JP2021576831A JP7048833B1 (ja) 2020-12-28 2020-12-28 車両制御装置、車両制御方法、およびプログラム

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