WO2022185870A1 - 処理方法、処理システム、処理プログラム - Google Patents
処理方法、処理システム、処理プログラム Download PDFInfo
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Definitions
- the present disclosure relates to processing technology for performing processing related to operation control of host mobile bodies.
- Patent Literature 1 plans operation control related to the navigation operation of the host vehicle according to sensed information regarding the internal and external environments of the host vehicle. Restrictions are imposed on driving control when it is determined that there is potential accident liability based on the safety model according to the driving policy and the sensed information.
- the problem of the present disclosure is to provide a new technology related to the operation control of the host vehicle.
- a first aspect of the present disclosure is A processing method executed by a processor to perform processing related to operation control of a host vehicle, comprising: obtaining sensing information describing conditions sensed in the driving environment of the host vehicle; determining conditions to be monitored for the host vehicle based on the sensed information; setting a safety envelope based on the sensed information to include defining a physics-based boundary, margin or buffer zone around the host vehicle; monitoring safety envelope violations based on a comparison of the safety envelope and the positional relationship between the host vehicle and the target vehicle;
- the rules for setting the safety envelope include limited rules that are applied when the applicable conditions are met and standard rules that are applied when the applicable conditions are not met.
- the safety envelope is set based on the success or failure of the applicable conditions. determining rules.
- a second aspect of the present disclosure is A processing method executed by a processor to perform processing related to operation control of a host vehicle, comprising: obtaining sensing information describing conditions sensed in the driving environment of the host vehicle; determining conditions to be monitored for the host vehicle based on the sensed information; setting a safety envelope based on the sensed information to include defining a physics-based boundary, margin or buffer zone around the host vehicle; Set the acceleration limit based on the safety envelope and the positional relationship between the host and target vehicles, compare the acceleration limit with the acceleration of the host vehicle, and compare the speed of the host vehicle with the speed limit.
- monitoring for safety envelope violations based on a comparison of At least one of the limit value for acceleration and the limit value for speed is a limit value for driving in conformity with the regulations established for road driving.
- a third aspect of the present disclosure is A processing system that includes a processor and performs processing related to operation control of a host vehicle, The processor obtaining sensing information describing conditions sensed in the driving environment of the host vehicle; determining conditions to be monitored for the host vehicle based on the sensed information; setting a safety envelope based on the sensed information to include defining a physics-based boundary, margin or buffer zone around the host vehicle; monitoring safety envelope violations based on a comparison of the safety envelope and the distance between the host vehicle and the target vehicle;
- the rules for setting the safety envelope include limited rules that are applied when the applicable conditions are met and standard rules that are applied when the applicable conditions are not met.
- the safety envelope is set based on the success or failure of the applicable conditions. Determining and enforcing rules.
- a fourth aspect of the present disclosure is A processing system that includes a processor and performs processing related to operation control of a host vehicle, The processor obtaining sensing information describing conditions sensed in the driving environment of the host vehicle; determining conditions to be monitored for the host vehicle based on the sensed information; setting a safety envelope based on the sensed information to include defining a physics-based boundary, margin or buffer zone around the host vehicle; Set the acceleration limit based on the safety envelope and the positional relationship between the host and target vehicles, compare the acceleration limit with the acceleration of the host vehicle, and compare the speed of the host vehicle with the speed limit. monitoring for violations of the safety envelope based on the comparison of At least one of the limit value for acceleration and the limit value for speed is a limit value for driving in conformity with the regulations established for road driving.
- a fifth aspect of the present disclosure includes: A processing program stored in a storage medium and containing instructions to be executed by a processor to perform processing related to operation control of a host vehicle, the instruction is obtaining sensing information describing conditions sensed in the driving environment of the host vehicle; determining conditions to be monitored for the host vehicle based on the sensed information; setting a safety envelope based on the sensed information to include defining a physics-based boundary, margin or buffer zone around the host vehicle; monitoring safety envelope violations based on a comparison of the safety envelope and the distance between the host vehicle and the target vehicle;
- the rules for setting the safety envelope include limited rules that are applied when the applicable conditions are met and standard rules that are applied when the applicable conditions are not met.
- the safety envelope is set based on the success or failure of the applicable conditions. determining rules.
- a sixth aspect of the present disclosure is A processing program stored in a storage medium and containing instructions to be executed by a processor to perform processing related to operation control of a host vehicle, the instruction is obtaining sensing information describing conditions sensed in the driving environment of the host vehicle; determining conditions to be monitored for the host vehicle based on the sensed information; setting a safety envelope based on the sensed information to include defining a physics-based boundary, margin or buffer zone around the host vehicle; Set the acceleration limit based on the safety envelope and the positional relationship between the host and target vehicles, compare the acceleration limit with the acceleration of the host vehicle, and compare the speed of the host vehicle with the speed limit.
- monitoring for safety envelope violations based on a comparison of At least one of the limit value for acceleration and the limit value for speed is a limit value for driving in conformity with the regulations established for road driving.
- the rule for setting the safety envelope is determined based on the success or failure of the applicable conditions, so it is possible to set an appropriate safety envelope and monitor its violation.
- the host vehicle can realize legally compliant driving.
- FIG. 2 is a schematic diagram showing a running environment of a host vehicle to which the first embodiment is applied; The block diagram which shows the processing system of 1st embodiment. The figure which the host vehicle is running behind the target vehicle.
- 4 is a flow chart showing a processing method executed by a risk monitoring block; 4 is a flow chart showing a processing method executed by a risk monitoring block; The figure which shows the time change of the speed of a preceding vehicle and a succeeding vehicle, and acceleration.
- the figure which shows the virtual target vehicle assumed to the far point Pf of the detection range As.
- the figure explaining the 1st condition which guarantees the absence condition of track
- the figure explaining the 2nd condition which guarantees the absence condition of track
- FIG. 4 shows a longitudinal acceleration/deceleration profile on an unstructured road
- Fig. 3 shows a lateral velocity profile on an unstructured road
- FIG. 4 is a diagram showing a safety range set when the target moving body 3 is a person
- the processing system 1 of the first embodiment shown in FIG. 6 performs processing related to operation control of the host moving body (hereinafter referred to as operation control processing). From the perspective of the host vehicle 2, the host vehicle 2 can also be said to be an ego-vehicle.
- the host mobile object to be subjected to operation control processing by the processing system 1 is the host vehicle 2 shown in FIG.
- the host vehicle 2 can be said to be an ego-vehicle for the processing system 1 when, for example, the entire processing system 1 is mounted thereon.
- Automated driving is classified into levels according to the degree of manual intervention by the driver in a dynamic driving task (hereinafter referred to as DDT).
- Autonomous driving may be achieved through autonomous cruise control, such as conditional driving automation, advanced driving automation, or full driving automation, where the system performs all DDTs when activated.
- Automated driving may be realized in advanced driving assistance control, such as driving assistance or partial driving automation, in which the driver as a passenger performs some or all of the DDT.
- Automatic driving may be realized by either one, combination, or switching between autonomous driving control and advanced driving support control.
- the host vehicle 2 is equipped with a sensor system 5, a communication system 6, a map DB (Data Base) 7, and an information presentation system 4 shown in FIGS.
- the sensor system 5 obtains sensor data that can be used by the processing system 1 by detecting external and internal worlds at the host vehicle 2 . Therefore, the sensor system 5 includes an external sensor 50 and an internal sensor 52 .
- the external sensor 50 may detect targets existing in the external world of the host vehicle 2 .
- the target detection type external sensor 50 is, for example, at least one type of camera, LiDAR (Light Detection and Ranging/Laser Imaging Detection and Ranging), laser radar, millimeter wave radar, ultrasonic sonar, and the like.
- the external sensor 50 may detect the state of the atmosphere in the external environment of the host vehicle 2 .
- the atmosphere detection type external sensor 50 is at least one of, for example, an external temperature sensor and a humidity sensor.
- the inner world sensor 52 may detect a specific physical quantity related to vehicle motion (hereinafter referred to as a physical quantity of motion) in the inner world of the host vehicle 2 .
- the physical quantity detection type internal sensor 52 is at least one of, for example, a speed sensor, an acceleration sensor, a gyro sensor, and the like.
- the internal world sensor 52 may detect the state of the occupant in the internal world of the host vehicle 2 .
- the occupant detection type internal sensor 52 is at least one of, for example, an actuator sensor, a driver status monitor, a biosensor, a seating sensor, an in-vehicle device sensor, and the like.
- the actuator sensor in particular, at least one type of an accelerator sensor, a brake sensor, a steering sensor, or the like, which detects the operation state of the occupant with respect to the motion actuator of the host vehicle 2, is adopted.
- the communication system 6 acquires communication data that can be used by the processing system 1 by wireless communication.
- the communication system 6 may receive positioning signals from artificial satellites of GNSS (Global Navigation Satellite System) existing outside the host vehicle 2 .
- the positioning type communication system 6 is, for example, a GNSS receiver or the like.
- the communication system 6 may transmit and receive communication signals with a V2X system existing outside the host vehicle 2 .
- the V2X type communication system 6 is, for example, at least one of a DSRC (Dedicated Short Range Communications) communication device, a cellular V2X (C-V2X) communication device, and the like.
- the communication system 6 may transmit and receive communication signals to and from terminals existing inside the host vehicle 2 .
- the terminal communication type communication system 6 is, for example, at least one of Bluetooth (registered trademark) equipment, Wi-Fi (registered trademark) equipment, infrared communication equipment, and the like.
- the map DB 7 stores map data that can be used by the processing system 1.
- the map DB 7 includes at least one type of non-transitory tangible storage medium, such as semiconductor memory, magnetic medium, and optical medium.
- the map DB 7 may be a locator DB for estimating the self-state quantity of the host vehicle 2 including its own position.
- the map DB may be a DB of a navigation unit that navigates the travel route of the host vehicle 2 .
- Map DB7 may be constructed
- the map DB 7 acquires and stores the latest map data through communication with an external center via the V2X type communication system 6, for example.
- the map data is two-dimensional or three-dimensional data representing the driving environment of the host vehicle 2 .
- Digital data of a high-precision map may be adopted as the three-dimensional map data.
- the map data may include road data representing at least one of the positional coordinates of the road structure, the shape, the road surface condition, and the like.
- the map data may include, for example, marking data representing at least one type of position coordinates, shape, etc. of road signs attached to roads, road markings, and lane markings.
- the marking data included in the map data represents landmarks such as traffic signs, arrow markings, lane markings, stop lines, direction signs, landmark beacons, rectangular signs, business signs, line pattern changes of roads, and the like.
- the map data may include structure data representing at least one of position coordinates, shapes, etc. of buildings and traffic lights facing roads, for example.
- the marking data included in the map data may represent landmarks such as streetlights, edges of roads, reflectors, poles, or the back side of road signs.
- the information presentation system 4 presents notification information to passengers including the driver of the host vehicle 2 .
- the information presentation system 4 includes a visual presentation unit, an auditory presentation unit, and a tactile presentation unit.
- the visual presentation unit presents notification information by stimulating the visual sense of the occupant.
- the visual presentation unit is at least one of, for example, a HUD (Head-up Display), an MFD (Multi Function Display), a combination meter, a navigation unit, a light emitting unit, and the like.
- the auditory presentation unit presents the notification information by stimulating the auditory sense of the occupant.
- the auditory presentation unit is, for example, at least one of a speaker, buzzer, vibration unit, and the like.
- the cutaneous sensation presentation unit presents notification information by stimulating the passenger's cutaneous sensations.
- the skin sensation stimulated by the skin sensation presentation unit includes at least one of touch, temperature, wind, and the like.
- the skin sensation presentation unit is, for example, at least one of a steering wheel vibration unit, a driver's seat vibration unit, a steering wheel reaction force unit, an accelerator pedal reaction force unit, a brake pedal reaction force unit, and an air conditioning unit. is.
- the processing system 1 connects a sensor system 5, a communication system 6, and a map DB 7 via at least one of a LAN (Local Area Network), a wire harness, an internal bus, a wireless communication line, and the like. , and the information presentation system 4 .
- the processing system 1 includes at least one dedicated computer.
- a dedicated computer that configures the processing system 1 may be an integrated ECU (Electronic Control Unit) that integrates operation control of the host vehicle 2 .
- the dedicated computer that constitutes the processing system 1 may be a judgment ECU that judges the DDT in the operation control of the host vehicle 2 .
- a dedicated computer that configures the processing system 1 may be a monitoring ECU that monitors the operation control of the host vehicle 2 .
- a dedicated computer that configures the processing system 1 may be an evaluation ECU that evaluates operation control of the host vehicle 2 .
- a dedicated computer that configures the processing system 1 may be a navigation ECU that navigates the travel route of the host vehicle 2 .
- a dedicated computer that configures the processing system 1 may be a locator ECU that estimates self-state quantities including the self-position of the host vehicle 2 .
- the dedicated computer that makes up the processing system 1 may be an actuator ECU that controls the motion actuators of the host vehicle 2 .
- a dedicated computer that configures the processing system 1 may be an HCU (HMI (Human Machine Interface) Control Unit) that controls information presentation in the host vehicle 2 .
- the dedicated computer that constitutes the processing system 1 may be at least one external computer that constructs an external center or a mobile terminal that can communicate via the communication system 6, for example.
- a dedicated computer that constitutes the processing system 1 has at least one memory 10 and at least one processor 12 .
- the memory 10 stores computer-readable programs and data non-temporarily, for example, at least one type of non-transitory physical storage medium (non-transitory storage medium) among semiconductor memory, magnetic medium, optical medium, etc. tangible storage medium).
- the processor 12 includes at least one of a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), and a RISC (Reduced Instruction Set Computer)-CPU as a core.
- a CPU Central Processing Unit
- GPU Graphics Processing Unit
- RISC Reduced Instruction Set Computer
- the processor 12 executes multiple instructions contained in a processing program stored in the memory 10 as software. Thereby, the processing system 1 constructs a plurality of functional blocks for executing the operation control processing of the host vehicle 2 .
- the processing program stored in the memory 10 causes the processor 12 to execute a plurality of instructions in order to perform the operation control processing of the host vehicle 2, thereby constructing a plurality of functional blocks.
- a plurality of functional blocks constructed by the processing system 1 include a detection block 100, a planning block 120, a risk monitoring block 140 and a control block 160 as shown in FIG.
- the detection block 100 acquires sensor data from the external sensor 50 and internal sensor 52 of the sensor system 5 .
- the detection block 100 acquires communication data from the communication system 6 .
- the detection block 100 acquires map data from the map DB 7 .
- the sensing block 100 senses the internal and external environments of the host vehicle 2 by fusing these acquired data as inputs. By detecting the internal and external environment, the detection block 100 generates detection information to be given to the planning block 120 and the risk monitoring block 140 in the latter stage. In this way, in generating detection information, the detection block 100 acquires data from the sensor system 5 and the communication system 6, recognizes or understands the meaning of the acquired data, and determines the external environment of the host vehicle 2 and its own position within it.
- Detection block 100 may provide substantially the same detection information to planning block 120 and risk monitoring block 140 . Detection block 100 may provide different detection information to planning block 120 and risk monitoring block 140 .
- the detection information generated by the detection block 100 describes the state detected for each scene in the running environment of the host vehicle 2 .
- the detection block 100 may detect objects, including road users, obstacles, and structures, in the environment outside the host vehicle 2 to generate detection information for the objects.
- the object detection information may represent at least one of, for example, the distance to the object, the relative velocity of the object, the relative acceleration of the object, and the estimated state based on tracking detection of the object.
- the object detection information may further represent the type recognized or identified from the state of the detected object.
- the detection block 100 may generate detection information for the track by detecting the track on which the host vehicle 2 is traveling now and in the future.
- the roadway detection information may represent, for example, at least one type of state among road surface, lane, roadside, free space, and the like.
- the detection block 100 may generate detection information of the self-state quantity by localization that presumptively detects the self-state quantity including the self-position of the host vehicle 2 .
- the detection block 100 may generate update information of the map data regarding the running route of the host vehicle 2 at the same time as the detection information of the self-state quantity, and feed back the update information to the map DB 7 .
- the detection block 100 may detect signs associated with the track of the host vehicle 2 to generate detection information for the signs.
- the sign detection information may represent the state of at least one of, for example, signs, lane markings, traffic lights, and the like.
- the sign detection information may also represent traffic rules that are recognized or identified from the state of the sign.
- the detection block 100 may generate detection information of weather conditions by detecting weather conditions for each scene in which the host vehicle 2 travels.
- the detection block 100 may generate detection information for the time by detecting the time for each driving scene of the host vehicle 2 .
- the planning block 120 acquires detection information from the detection block 100 .
- the planning block 120 plans operation control of the host vehicle 2 according to the acquired detection information.
- Driving control planning generates control commands for navigation and driver assistance actions of the host vehicle 2 .
- the control commands generated by planning block 120 may include control parameters for controlling the motion actuators of host vehicle 2 .
- Motion actuators to which control commands are output include, for example, at least one of an internal combustion engine, an electric motor, a power train in which these are combined, a braking device, a steering device, and the like.
- the planning block 120 may generate a control command that conforms to the driving policy by using a safety model described according to the driving policy and its safety.
- the driving policy followed by the safety model is defined, for example, based on a vehicle-level safety strategy that guarantees the safety of the intended functionality (Safety Of The Intended Functionality: hereinafter referred to as SOTIF).
- SOTIF Safety Of The Intended Functionality
- Planning block 120 may train the safety model with a machine learning algorithm that backpropagates operational control results to the safety model.
- a neural network such as DNN (Deep Neural Network), reinforcement learning, and the like.
- the planning block 120 may plan the route that the host vehicle 2 will travel in the future through operational control prior to generating the control commands. Route planning may be performed computationally, for example by simulation, to navigate the host vehicle 2 based on sensed information. The planning block 120 may also plan the proper trajectory based on the acquired sensed information for the host vehicle 2 following the planned route prior to generating the control commands.
- the trajectory planned by the planning block 120 may define at least one type of movement physical quantity relating to the host vehicle 2, such as running position, speed, acceleration, and yaw rate, in time series.
- a chronological trajectory plan builds a scenario of future travel by navigating the host vehicle 2 .
- the planning block 120 may generate the trajectory by planning using the safety model. In this case, a safety model may be trained by a machine learning algorithm based on the computation result by computing a cost function that gives a cost to the generated trajectory.
- the planning block 120 may plan the adjustment of the level of automated driving in the host vehicle 2 according to the acquired sensing information. Adjusting the level of automated driving may also include handover between automated driving and manual driving.
- the handover between automated driving and manual driving is realized in a scenario accompanying entry or exit from the operational design domain (hereinafter referred to as ODD) by setting the operational design domain (hereinafter referred to as ODD) that executes automated driving.
- ODD operational design domain
- ODD operational design domain
- ODD operational design domain
- ODD operational design domain
- the planning block 120 may plan a DDT fallback for the driver who will be the fallback reserve user to give the host vehicle 2 a minimum risk maneuver to transition the host vehicle 2 to a minimum risk state.
- the adjustment of the level of automated driving may include degeneracy of the host vehicle 2.
- the planning block 120 may plan a DDT fallback to transition the host vehicle 2 to a minimum risk state through autonomous driving and autonomous stopping. DDT fallback for transitioning the host vehicle 2 to the minimum risk state is not only realized in the adjustment to lower the automatic driving level, but also the adjustment to maintain the automatic driving level and degenerate running, for example, MRM (Minimum Risk Maneuver) etc.
- the risk monitoring block 140 acquires detection information from the detection block 100.
- the risk monitoring block 140 monitors risks between the host vehicle 2 and other target moving bodies 3 (see FIG. 7) for each scene based on the acquired detection information.
- the risk monitoring block 140 performs risk monitoring based on detection information in time series so as to guarantee the SOTIF of the host vehicle 2 to the target mobile body 3 .
- Target mobile objects 3 assumed in risk monitoring are other road users present in the driving environment of the host vehicle 2 .
- Target mobile objects 3 include non-vulnerable road users such as automobiles, trucks, motorbikes, and bicycles, and vulnerable road users such as pedestrians.
- the target moving object 3 may further include an animal.
- the risk monitoring block 140 sets a safety envelope that guarantees SOTIF in the host vehicle 2, for example, based on a vehicle-level safety strategy, etc., based on the acquired detection information for each scene.
- Risk monitoring block 140 may set a safety envelope between host vehicle 2 and target vehicle 3 using a safety model that follows the driving policy described above.
- the safety model used to set the safety envelope may be designed to avoid potential accident liability resulting from unreasonable risk or road user misuse, subject to accident liability rules.
- the safety model may be designed such that the host vehicle 2 complies with accident liability rules according to driving policy.
- Such a safety model includes, for example, a Responsibility Sensitive Safety model as disclosed in Patent Document 1.
- a safe distance may be assumed from a profile relating to at least one type of physical quantity of motion based on a safety model for the host vehicle 2 and the target mobile body 3 that are assumed to follow the driving policy.
- the safe distance defines a physics-based marginal boundary around the host vehicle 2 for the expected target vehicle 3 motion.
- a safe distance may be assumed, taking into account the reaction time until an appropriate response is implemented by the road user.
- a safe distance may be assumed to comply with accident liability regulations. For example, in a scene with lane structures such as lanes, there is a safe distance for avoiding the risk of rear-end collision and head-on collision in the longitudinal direction of the host vehicle 2 and a safe distance for avoiding the risk of side collision in the lateral direction of the host vehicle 2. , may be computed. On the other hand, in scenes where there is no lane structure, a safe distance may be calculated that avoids the risk of track collision in any direction of the host vehicle 2 .
- the risk monitoring block 140 may identify scene-by-scene situations of relative motion between the host vehicle 2 and the target vehicle 3 prior to setting the safety envelope described above. For example, in a scene in which a lane structure such as a lane exists, a situation in which the risk of rear-end collision and head-on collision is assumed in the longitudinal direction and a situation in which the risk of side collision is assumed in the lateral direction may be specified. In these longitudinal and lateral situation determinations, state quantities relating to the host vehicle 2 and the target moving body 3 may be transformed into a coordinate system that assumes straight lanes. On the other hand, in a scene where there is no lane structure, a situation where there is a risk of track collision in any direction of the host vehicle 2 may be identified. At least part of the situation identification function described above may be executed by the detection block 100, and the situation identification result may be given to the risk monitoring block 140 as detection information.
- the risk monitoring block 140 executes safety judgment between the host vehicle 2 and the target moving body 3 based on the set safety envelope and the acquired detection information for each scene. That is, the risk monitoring block 140 implements safety determination by testing whether the driving scene interpreted based on the sensed information between the host vehicle 2 and the target vehicle 3 has a violation of the safety envelope.
- the risk monitoring block 140 implements safety determination by testing whether the driving scene interpreted based on the sensed information between the host vehicle 2 and the target vehicle 3 has a violation of the safety envelope.
- a safety distance is assumed in setting the safety envelope, the actual distance between the host vehicle 2 and the target mobile body 3 exceeds the safety distance, and it is determined that the safety envelope is not violated. good too.
- the actual distance between the host vehicle 2 and the target vehicle 3 is less than or equal to the safe distance, it may be determined that the safety envelope has been violated.
- the risk monitoring block 140 may simulate a reasonable scenario to give the host vehicle 2 the appropriate action to take in response to a determination that the safety envelope has been violated. .
- state transitions between the host vehicle 2 and the target mobile object 3 are estimated, and actions to be taken for each transition state may be set as constraints on the host vehicle 2 .
- a limit value assumed for the physical quantity of motion may be calculated so as to limit at least one type of physical quantity of motion given to the host vehicle 2 as a constraint on the host vehicle 2 .
- the risk monitoring block 140 establishes limits for compliance with accident liability rules from profiles relating to at least one type of kinematic quantity, based on safety models for the host vehicle 2 and target vehicle 3 that are assumed to comply with driving policies. Values may be computed directly. It can be said that the direct calculation of the limit value itself is the setting of the safety envelope and the setting of constraints on the operation control. Therefore, if an actual value that is safer than the limit value is detected, it may be determined that the safety envelope is not violated. On the other hand, if an out-of-limit real-life value is detected, a determination may be made that the safety envelope has been violated.
- the risk monitoring block 140 includes, for example, detection information used to set the safety envelope, determination information representing the determination result of the safety envelope, detection information that influenced the determination result, and simulated scenarios.
- Evidence information may be stored in memory 10 .
- the memory 10 that stores the evidence information may be installed inside the host vehicle 2 according to the type of dedicated computer that constitutes the processing system 1, or may be installed at an external center outside the host vehicle 2, for example.
- Evidence information may be stored unencrypted, encrypted or hashed. Storing evidence information is performed at least in the event of a determination that the safety envelope has been violated. Of course, the storage of evidence information may also be performed when it is determined that there is no violation of the safety envelope.
- Evidence information when it is determined that there is no violation of the safety envelope can be used as a lagging indicator at the time of memorization, and can also be used as a leading indicator in the future.
- the control block 160 obtains control instructions from the planning block 120 .
- Control block 160 obtains decision information regarding the safety envelope from risk monitoring block 140 .
- the control block 160 executes the planned operation control of the host vehicle 2 in accordance with the control command when the control block 160 acquires the determination information that the safety envelope is not violated.
- control block 160 when the control block 160 acquires the determination information that the safety envelope is violated, the control block 160 imposes restrictions on the planned driving control of the host vehicle 2 according to the driving policy based on the determination information.
- Restrictions on driving control may be functional restrictions.
- Constraints on operational control may be degraded constraints.
- Restrictions on operational control may be restrictions different from these. Constraints are given to the operational control by limiting the control commands. If a reasonable scenario has been simulated by risk monitoring block 140, control block 160 may limit control commands according to that scenario. At this time, if a limit value is set for the physical quantity of motion of the host vehicle 2, the control parameter of the motion actuator included in the control command may be corrected based on the limit value.
- the first embodiment can be applied when the host vehicle 2 travels on a lane structure 8 with separated lanes. Further, as will be described later, the first embodiment can also be applied when the host vehicle 2 travels on a road without a lane structure 8.
- FIG. The lane structure 8 regulates the movement of the host vehicle 2 and the target mobile object 3 with the direction in which the lane extends as the longitudinal direction.
- the lane structure 8 restricts the movement of the host vehicle 2 and the target moving body 3 with the width direction or the alignment direction of the lane as the lateral direction.
- the driving policy between the host vehicle 2 and the target moving body 3 in the lane structure 8 is defined by the following (A) to (E) etc. when the target moving body 3 is the target vehicle 3a, for example.
- the forward direction with respect to the host vehicle 2 is, for example, the direction in which the host vehicle 2 travels on a turning circle at the current steering angle, the direction in which a straight line passes through the center of gravity of the vehicle perpendicular to the axle of the host vehicle 2, or the direction in which the host vehicle 2 travels. of the sensor system 5 from the front camera module on the axis of the FOE (Focus of Expansion) of the same camera.
- a vehicle shall not rear-end a vehicle traveling in front from behind.
- Unreasonable situations between host vehicle 2 and target vehicle 3 in lane structure 8 are head-on collisions, rear-end collisions, and side collisions.
- Reasonable behavior in a head-on collision includes, for example, a vehicle traveling in the opposite direction braking when the target vehicle 3 with respect to the host vehicle 2 is the target vehicle 3a.
- Reasonable behavior in a rear-end collision is, for example, when the target vehicle 3a is the target vehicle 3a with respect to the host vehicle 2, the vehicle running in front should not brake suddenly beyond a certain level, and on the premise that the vehicle running behind avoiding rear-end collisions, etc.
- Reasonable actions in a side collision include, for example, when the target vehicle 3a is the target vehicle 3a with respect to the host vehicle 2, the vehicles running side by side steer the vehicles away from each other.
- the state quantity regarding the host vehicle 2 and the target moving body 3 is a linear and planar lane structure 8 regardless of whether the lane structure 8 is curved or the lane structure 8 is uneven. It is transformed into a Cartesian coordinate system, which assumes structure 8 and defines longitudinal and transverse directions.
- the safety model should be designed in accordance with the accident liability rules, which assumes that a mobile object that does not act rationally is responsible for an accident.
- the safety model used to monitor the risk between the host vehicle 2 and the target vehicle 3 under the accident liability rule in lane structure 8 requires the host vehicle 2 to avoid potential accident liability through rational behavior. to the host vehicle 2 . Therefore, when the entire processing system 1 is normal, the risk monitoring block 140 compares the actual distance between the host vehicle 2 and the target moving body 3 with the safe distance based on the safety model for each driving scene. , to determine if there is a violation of the safety envelope. The normal situation risk monitoring block 140 simulates scenarios to give the host vehicle 2 reasonable action in the event of a violation of the safety envelope.
- the risk monitoring block 140 sets, as constraints on the operation control in the control block 160, a limit value relating to at least one of speed and acceleration, for example.
- a limit value relating to at least one of speed and acceleration, for example.
- the violation determination function and constraint setting function under normal conditions are referred to as normal safety functions.
- the host vehicle 2 is the following vehicle with respect to the target vehicle 3a.
- the target vehicle 3 a is an example of the target moving body 3 .
- the target mobile body 3 is a mobile body that performs safety judgment with the host vehicle 2 .
- the target mobile body 3 may be a mobile body that has no other mobile body between it and the host vehicle 2 . Even if there is another moving body between the host vehicle 2 and the target moving body 3, the target moving body 3 may be used as long as the safe distance d min can be calculated.
- FIG. 10 shows the processing method executed by the risk monitoring block 140.
- the processing method is repeatedly executed at regular intervals.
- the risk monitoring block 140 acquires detection information from the detection block 100 .
- the situation is determined based on the detection information acquired in S100.
- the situation is determined for each target moving body 3 .
- the reason for judging the situation is to select a method of safety judgment (also called safety envelope violation judgment).
- a situation is a situation to be monitored or a situation to be determined.
- a situation may be a scenario or a scene.
- the process of S101 may be a process of selecting a reasonably foreseeable scenario from a plurality of predefined scenarios.
- the situation may be judged separately in the vertical direction and the horizontal direction.
- Longitudinal situations may include situations for determining a rear-end collision and situations for determining a head-on collision.
- Examples of situations for judging a rear-end collision include a situation where the host vehicle 2 is the preceding vehicle and the target vehicle 3a is the following vehicle, and a situation where the target vehicle 3a is the preceding vehicle and the host vehicle 2 is the following vehicle. may contain.
- a situation in which a head-on collision is determined includes a situation in which both the host vehicle 2 and the target vehicle 3a are traveling in the correct lane, a situation in which only one of them is traveling in the correct lane, and a situation in which both vehicles are traveling in the incorrect lane.
- the situation in which the vehicle is traveling in the correct lane may be the situation in which the vehicle is traveling in the lane along the normal direction of travel determined by regulations, road signs, and road markings.
- An example of a situation in which both the host vehicle 2 and the target vehicle 3a are traveling in the correct lane is a situation in which the host vehicle 2 and the target vehicle 3a are traveling on a road without a centerline.
- An example of a situation where only one of them is driving in the correct lane is when the other (this vehicle may be an emergency vehicle) drives the other vehicle on a one-lane road (this vehicle is parked on the road).
- a situation in which one of the two vehicles is traveling in the opposite direction on a one-way road is exemplified.
- An example of a situation in which neither is correct is a situation in which both are driving in a no-traffic zone.
- An example of a situation in which the lane status is unknown is a situation in which the road on which the vehicle is traveling is not shown on a map.
- Lateral conditions may include conditions for determining a side impact.
- Situations for determining a side impact may include a situation where the host vehicle 2 is on the right and the target vehicle 3a is on the left, and a situation where the host vehicle 2 is on the left and the target vehicle 3a is on the right.
- the rules for making the travel of the host vehicle 2 comply with the regulations established for road travel are acquired.
- the rules for complying with laws and regulations may be the laws and regulations set for road driving.
- the regulations stipulated for road driving may be traffic regulations such as so-called road traffic laws.
- An example of a rule for complying with regulations is a rule that the host vehicle 2 travels at a speed equal to or lower than the speed limit set for the road on which the host vehicle 2 travels.
- An example of a rule for complying with regulations is the rule that if the light is red, stop at the stop line, and if there is a stop line, stop.
- rules for complying with regulations include the rule that vehicles other than buses should not run in dedicated bus lanes, and bus priority lanes that require vehicles other than buses to quickly move to other lanes when a bus approaches. There are rules.
- An example of a rule for complying with regulations is the rule to stop on the left or right side of the road when an emergency vehicle is approaching. Rules for complying with regulations can be obtained from one or more of the sensor system 5, the communication system 6, and the map DB 7 via the detection block 100 or directly. Of the rules to comply with laws and regulations, rules that do not depend on the road on which the host vehicle 2 is traveling may be acquired in advance.
- the host vehicle 2 determines whether it is traveling on a road with a lane structure 8 or not. Regardless of the presence or absence of lane markings, if the road on which the host vehicle 2 is traveling has one or more lanes, the determination result in S103 is YES. If the judgment result of S103 is YES, it will progress to S104.
- a rule for setting the safety distance d min is determined.
- Rules that can be determined in S104 include standard rules and switching rules.
- the switching rule is a restrictive rule that is applied on the condition that the conditions for applying the switching rule are satisfied, that is, a restrictive rule.
- Standard rules are rules that apply when no switching rules apply.
- the switching rule is a rule obtained by modifying the standard rule on the assumption that the target moving body 3 complies with the rule for complying with the regulations described in S102.
- the switching rules may include one or more rules that comply with the regulations acquired in S102.
- the switching rule may include all of the rules for complying with the regulations obtained in S102. Even if the entire processing of S101 to S104, that is, the processing including determining the rules, corresponds to the processing of selecting a reasonably foreseeable scenario from among a plurality of predefined scenarios. Alternatively, it may indicate an example of processing for selecting a scenario.
- the processing including the entire processing of S101 to S104 and a part of the processing of S105 described later, that is, the processing including determining the rule, selects a reasonably foreseeable scenario and the scenario It may correspond to the process of defining a set of hypotheses for each case, or it may represent an example of the process of selecting a scenario and the process of defining a set of hypotheses.
- a safe distance d min is set.
- a safe distance d min is set for each target moving body 3 .
- the safe distance d min may be set by a different formula depending on the situation determined in S101.
- a formula for calculating the safety distance d min is set in advance.
- a formula for calculating the safe distance d min may be calculated using the velocity v and the acceleration a of each of the host vehicle 2 and the target vehicle 3a.
- Safety distances can be translated as appropriate distances to be maintained with respect to other road users. Setting the safety distance d min may be essentially the setting of the safety envelope itself, which involves defining a physics-based boundary, margin or buffer zone around the host vehicle.
- the boundaries, margins or buffer areas included in setting the safety envelope may be defined based on setting the safety distance d min .
- a safety envelope may be set based on a set of assumptions defined for each scenario. This set of hypotheses may be a minimum set of hypotheses, or a set containing the minimum set as a part.
- FIG. 9 also shows the safety distance d min in situations where a rear-end collision is determined.
- the safety distance d min in the situation of determining a rear-end collision, the stopping distance d brake, front of the vehicle cf that is the preceding vehicle, the idling distance d reaction, rear of the vehicle cr that is the following vehicle, and the braking of the vehicle cr There is a relationship shown in Equation 1 with the distance d brake,rear .
- d min d reaction,rear +d brake,rear -d brake,front
- d min d reaction,rear +d brake,rear -d brake,front
- the safe distance d min in the situation of judging a rear-end collision is determined when the preceding vehicle c f is running at a speed v f and brakes at the maximum deceleration a max,brake to stop the following vehicle c r is accelerated at the maximum acceleration a max,accel for the reaction time ⁇ seconds, and then braked at the minimum deceleration a min,brake to stop the vehicle, the distance may be such that a rear-end collision does not occur.
- the maximum deceleration a max,brake , maximum acceleration a max,accel , and minimum deceleration a min,brake between the vehicles may be the same value or may be different.
- the maximum acceleration amax,accel may be different from the acceleration a when the vehicle is maximizing its acceleration capability.
- the maximum accelerations a max and accel may be values set from the viewpoint of continuing safe driving.
- the maximum acceleration a max,accel may be the reasonably foreseeable maximum assumed acceleration that the target mobile object 3 (other road user) may exhibit.
- the maximum deceleration a max,brake may be different from the deceleration when the vehicle is maximizing its deceleration capability.
- the minimum deceleration a min,brake may be a value set from the viewpoint of continuing safe driving.
- the minimum deceleration a min,brake may be the minimum reasonably foreseeable assumed deceleration that the target vehicle 3 (other road user) may exhibit.
- the reaction time ⁇ is the time from when the preceding vehicle starts decelerating to when the following vehicle starts decelerating.
- the reaction time ⁇ may be preset. Note that the deceleration is assumed to be a positive value.
- the reaction time ⁇ may be the maximum reasonably foreseeable expected reaction time that the target mobile object 3 (other road user) may exhibit.
- the deceleration indicates deceleration when a minus sign is attached.
- FIG. 12 shows changes over time in the velocity v and acceleration a of the preceding and following vehicles after the preceding vehicle starts decelerating.
- the temporal change in the velocity v and the acceleration a of the preceding vehicle and the following vehicle after the preceding vehicle starts decelerating is also called an acceleration/deceleration profile.
- the preceding vehicle acceleration is constant at -a max,brake from time t0 to time t1.
- the following vehicle acceleration is a max,accel from time t0 until the reaction time ⁇ elapses, and -a max,brake from the elapse of the reaction time ⁇ to time t2. Therefore, the temporal change of the preceding vehicle speed is shown in the third graph, and the temporal change of the following vehicle speed is shown in the fourth graph.
- the minimum distance ⁇ may be kept as the safety distance d min so that no collision occurs.
- the maximum accelerations a max, accel, and lat may be values set from the viewpoint of continuing safe driving.
- the maximum acceleration a max, accel, lat may be the reasonably foreseeable maximum assumed acceleration that the target vehicle 3 (other road user) may exhibit.
- the minimum deceleration a min, brake, and lat may be values set from the viewpoint of continuing safe driving.
- the minimum deceleration a min,brake,lat may be the minimum reasonably foreseeable assumed deceleration that the target vehicle 3 (other road user) may exhibit.
- the minimum distance ⁇ is a preset value.
- Safety distance d min when switching rule is applied A specific example of the safety distance d min when the switching rule is applied will be described.
- the safe distance d min from the target vehicle 3a traveling outside the sensor detection range will be described.
- the switching rule modifies the standard rule in that the speed of the target vehicle 3a traveling outside the sensor detection range is set as the speed limit. Speed limits vary by road. Therefore, the speed limit is a variable parameter in the switching rules.
- the external sensor 50 of the first embodiment includes a single longitudinal sensor 500 in which a detection range As is set with respect to the longitudinal direction of the host vehicle 2.
- the target vehicle 3a is assumed at the far point Pf at the detection limit distance in the detection range As. That is, the position of the virtual target vehicle 3a is assumed to be the far point Pf of the detection limit distance.
- the far point Pf is defined as the position of the detection limit distance, which is the longest distance in the vertical or horizontal direction in the detection range As.
- the virtual target vehicle 3a is traveling in the same direction as the host vehicle 2.
- the virtual target vehicle 3a is traveling toward the host vehicle 2.
- An example standard rule defines the most stringent conditions for the host vehicle 2, in other words the conditions that minimize unreasonable risk, as a set of hypotheses defined for each scenario.
- the standard rule may assume that the target vehicle 3a traveling outside the sensor detection range is stationary, ie has a speed of zero.
- the standard rule may assume that the target vehicle 3a traveling outside the sensor detection range is traveling at a speed exceeding the upper limit speed.
- an example of a switching rule defines a set of hypotheses defined for each scenario, which is more relaxed than the conditions of the standard rule.
- the conditions that are more relaxed than the conditions of the standard rules may be conditions based on reasonable and foreseeable assumptions.
- the switching rule may assume that the target vehicle 3a traveling outside the sensor detection range is traveling at the minimum speed limit. .
- the target vehicle 3a traveling outside the sensor detection range is traveling at the upper speed limit.
- a safe distance d min between the host vehicle 2 and the target vehicle 3a is set. The safe distance d min may be calculated by the same calculation as when the target vehicle 3a is detected, except that the speed of the target vehicle 3a is assumed to be the speed limit of the road on which the vehicle is traveling.
- the maximum deceleration amax,brake the maximum acceleration amax,accel , the minimum deceleration amin ,brake , the maximum The safe distance d min may be calculated by assuming the reaction time ⁇ min and the like as reasonably predictable parameters.
- one of the conditions for applying the switching rule is that the target vehicle 3a cannot be detected (existence has not been confirmed) in the same lane as the lane in which the host vehicle 2 is traveling within the detection range of the sensor. be.
- switching rules As another application example of the switching rule, the target vehicle 3a running out of the blind spot will be described. In other words, the jumping out of the target vehicle 3a from the blind spot is the emergence of the target vehicle 3a from the shielded area.
- the switching rule sets the speed of the target vehicle 3a as the speed limit when assuming that the target vehicle 3a will run out of the blind spot. It is also assumed that the target vehicle 3a also stops at the stop line if the light is red, and stops temporarily if there is a stop line. We modify the standard rules in these respects.
- the virtual target vehicle 3a is set at the end of the blind spot area 91. If there is a traffic light at the intersection and the road on which the virtual target vehicle 3a is traveling has a red light, it is assumed that the virtual target vehicle 3a stops before the intersection. It is assumed that if the road on which the virtual target vehicle 3a is traveling has a stop line before the intersection, the virtual target vehicle 3a stops at the stop line. Even if there is no stop line, if the road on which the virtual target vehicle 3a is traveling is a non-priority road, it is assumed that the virtual target vehicle 3a travels at a speed that allows it to stop before the intersection.
- the virtual target vehicle 3a passes through the intersection at the speed limit of the road on which the virtual target vehicle 3a is traveling. do. If the virtual target vehicle 3a enters the intersection later than the host vehicle 2 traveling on the non-priority road, it may be assumed that the virtual target vehicle 3a travels at a speed that does not collide with the host vehicle 2 from behind. In this case, if the virtual target vehicle 3a enters the intersection before the host vehicle 2, it is assumed that the virtual target vehicle 3a passes through the intersection at the speed limit. A safe distance d min between the host vehicle 2 and the target vehicle 3a is set according to the speed thus assumed.
- one of the conditions for applying the switching rule is that there is a blind spot area 91 within the detection range.
- S110 of the method monitors for violations of the safety envelope.
- S110 includes S111 to S114.
- a safety judgment is made. The safety judgment is made by comparing the safe distance d min set for each situation with the current distance between the host vehicle 2 and the target moving body 3 . If the safety distance d min is shorter than the current distance, it is determined that the safety envelope is violated. That is, if the current distance is longer than the safety distance d min , it is determined that the safety envelope is not violated. A safety determination is made for each target moving body 3 .
- the acceleration a is evaluated. This evaluation is performed by comparing the limit value of the acceleration a with the current acceleration a of the host vehicle 2 .
- the limit value of the acceleration a can be determined based on the result of the safety judgment. If the result of the safety determination is that the safety envelope is violated, no limitation is imposed on the acceleration a. When it is determined that the vehicle is not safe, the acceleration a is limited or braking is required in the longitudinal direction or the lateral direction, which is determined as not violating the safety envelope. Since the safety judgment is performed for each target moving body 3, for example, a plurality of limit values for the acceleration a may be set in the vertical direction and the horizontal direction.
- the acceleration/deceleration profile calculated here instead of the position where the target vehicle 3a does not collide with the target vehicle 3a, the acceleration/deceleration profile calculated here is assumed to be a position where it is necessary to stop before the intersection or before the stop line. Other than this, calculation is performed in the same manner as when calculating the safety distance d min when judging a rear-end collision. Then, the acceleration a at each position determined from the calculated acceleration/deceleration profile is also set as the limit value of the acceleration a.
- Stopping before an intersection at a red light and before a stop line is driving in compliance with regulations.
- the limit value of acceleration a determined from the acceleration/deceleration profile when stopping before an intersection at a red light and the acceleration/deceleration profile when stopping before the stop line are required to ensure a safe stop when stopping to comply with regulations. is the limit value of the acceleration a.
- the multiple limit values are integrated and evaluated.
- the integration may be to take the most restrictive value of the multiple limit values as the limit value to be compared with the current acceleration a of the host vehicle 2 .
- S106 and S113 of the processing method are processes independent of S104 to S112.
- S106 and S113 may be executed in parallel with S104 to S112. Also, S106 and S113 may be executed before or after S104 to S112.
- the limit value of speed v is determined.
- An example of the limit value of the speed v is the speed limit obtained in S102.
- Another example of the limit value of speed v will be described.
- Another example of the limit value of the speed v is an example of setting a virtual target vehicle 3a as shown in FIG. 17 described above. In this example, it is assumed that the host vehicle 2 is traveling on the priority road and the virtual target vehicle 3a is coming out of the blind spot area 91. FIG. At this time, when the host vehicle 2 enters the intersection before the virtual target vehicle 3a, the host vehicle 2 has the right of way for the intersection between the host vehicle 2 and the virtual target vehicle 3a. . The lower limit speed at which the virtual target vehicle 3a does not collide is set as the limit value.
- the host vehicle 2 enters the intersection after the virtual target vehicle 3a
- the right-of-way of the intersection between the host vehicle 2 and the virtual target vehicle 3a is defined for the target vehicle 3a.
- An upper limit speed at which the virtual target vehicle 3a is not collided with or an upper limit speed at which an appropriate distance can be maintained from the target vehicle 3a is set as the limit value.
- the upper limit speed at which it can stop before the intersection is set as the limit value.
- the velocity v is evaluated. This evaluation is performed by comparing the limit value of the speed v with the current speed v of the host vehicle 2 .
- the plurality of limit values are integrated and evaluated. The amalgamation may be to take the most restrictive value of the multiple limit values as the limit value to be compared with the current speed v of the host vehicle 2 .
- the evaluation result in S112 and the evaluation result in S113 are output.
- the evaluation result is provided to control block 160 .
- the evaluation result may be included in the determination information and provided to the control block 160 .
- the judgment information includes the result of the safety judgment executed in S111.
- the decision information may include constraints defined by evaluation results. Constraints may include one or both of an acceleration constraint and a velocity constraint.
- FIG. 11 is executed when the host vehicle 2 is traveling on an unstructured road.
- a rule for setting the safety distance d min is determined.
- the rules that can be determined in S121 include free space standard rules and free space limited rules.
- the free space limited rule is a limited rule that is applied on the condition that the conditions for applying the free space limited rule are satisfied, that is, a limited rule.
- the free space standard rules apply where the switching rules do not apply.
- the free space limitation rule is a rule that applies when performing preset vehicle movements on unstructured roads.
- a condition for applying the free space limitation rule may be that the host vehicle 2 is located in a preset vehicle motion area.
- the application condition of the free space limitation rule can be the condition that it is possible to detect that the host vehicle 2 is performing a preset vehicle motion.
- the application condition of the free space limitation rule can also be an AND condition of the above two application conditions.
- the condition for applying the free space limitation rule is that at least one of the host vehicle 2 and the target vehicle 3a is located in an area in which the vehicle movement is set in advance. be able to.
- the application condition of the free space limitation rule is that, of the host vehicle 2 and the target vehicle 3a, it is possible to detect that a vehicle located in an area where a preset vehicle motion is performed is performing a preset vehicle motion. It can be assumed that
- a safety model that follows this driving policy defines collision between the trajectories of the host vehicle 2 and the target mobile body 3 as an irrational situation.
- a safety model may be defined by SOTIF modeling that makes the host vehicle 2 and the target vehicle 3 absent an unreasonable risk of track collision.
- the safety model referred to here may be the safety-related model itself, or may be a model forming part of the safety-related model. All or some of the standard rules and restricted rules in this embodiment may be defined based on the attributes of the safety-related model used in the dynamic driving task. The absence of orbital collision is guaranteed by at least one of the following first and second conditions. In (G), a rule that replaces an unreasonable situation with a dangerous situation may be adopted.
- the first condition is that the minimum distance ⁇ d between the trajectories of the host vehicle 2 and the target mobile body 3 shown in FIG. 18 is larger than the design value based on, for example, accident liability rules.
- each traveling distance until the host vehicle 2 and the target moving body 3 stop is always equal to or greater than a certain value.
- the second condition is that the angle ⁇ stop between the relative position vector when the host vehicle 2 is stopped and the traveling direction of the target moving body 3 shown in FIG. be.
- the dashed lines extending forward from the host vehicle 2 and the target vehicle 3a indicate the distances reached before the host vehicle 2 and the target vehicle 3a stop due to braking control. indicate the range.
- the figures indicated by dashed lines assume that the trajectory at the time when the reach range is calculated deviates to the right or left in the traveling direction after a predetermined time has elapsed from the time when the reach range is calculated. Therefore, the farthest position from the host vehicle 2 and the target vehicle 3a in the figure showing the range of reach has an arc shape.
- the arrival range indicated by the dashed line is the range reached when braking control is performed with the acceleration/deceleration profile for judging a rear-end collision on a road with a structure.
- the solid lines extending from the host vehicle 2 and the target vehicle 3a indicate the range reached without braking control for the host vehicle 2 and the target vehicle 3a to stop.
- the reachable range indicated by the solid line indicates the reachable range in the same time as the reachable range indicated by the dashed line.
- FIG. 23 shows an example of a vertical acceleration/deceleration profile on an unstructured road.
- the meanings of C f and C b in FIG. 23 are the same as in FIG.
- the acceleration of cf indicates the upper and lower limits of the acceleration when the vehicle moves forward. Moving forward as it is means not shifting to braking control for stopping. Since it moves forward as it is, the acceleration does not change.
- a max,accel is the upper limit value of the acceleration a set in the safety model
- -a max,brake is the lower limit value of the acceleration a set in the safety model.
- the acceleration a does not change when the vehicle moves forward.
- the upper and lower limits of the acceleration a are preset values.
- the acceleration of cb indicates the upper and lower limit values of the acceleration when the vehicle stops with braking control, and braking control is started at time t0.
- ⁇ is the reaction time.
- -a min,brake is the minimum deceleration, in other words the minimum value of deceleration.
- FIG. 24 shows an example of a lateral velocity profile on an unstructured road.
- the lateral velocity profile is common for cf and cb .
- ⁇ max is the maximum yaw rate and ⁇ max is the minimum yaw rate.
- c' max is the maximum value of curvature change and c' max is the minimum value of curvature change.
- the reaching ranges shown in FIGS. 20, 21 and 22 are determined based on the vertical and horizontal accelerations and velocity profiles shown in FIGS.
- the standard rule is a rule in which the arrival range determined in this way is defined as a safe range, and the safe range of the host vehicle 2 and the safe range of the target moving body 3 do not overlap.
- the safety range indicated by the dashed line is defined as the safety range during stop, and the safety range indicated by the solid line is defined as the safety range during passage.
- the passing safety range can also be called a non-stopping safety range.
- the distance from the host vehicle 2 to each point on the arc of the safety range is the safety distance d min .
- FIG. 25 shows the safety range set when the target moving body 3 is a person.
- the safe range for stopping and the safe range for passing can be set.
- the safe range is set to include the person.
- the safe range for passing includes the safe range for stopping.
- the size of these two safety ranges may be fixed, or may increase according to the speed of movement of the person.
- the safety margin can be shaped to extend relatively far in the direction of travel of the person. Different safe ranges for stopping and safe ranges for passing may be set for adults and children according to their foreseen behaviors.
- the safe range for stopping and the safe range for passing are determined according to the expected behavior of each. May be set.
- a safety model for unstructured roads sets a safety envelope that does not lead to an unreasonable situation of track collision.
- the safety envelope is set to establish one of the following first to third safety states.
- the first safe state is a state in which collision between tracks does not occur within the reachable range of the host vehicle 2 and the target moving body 3 until both of them stop.
- the second safe state as shown in FIG. 21, even when the host vehicle 2 stops with braking control and the target vehicle 3a passes without braking control, the track remains within the reachable range of both. This is a state in which no collision occurs.
- this second safe state when the target vehicle 3a brakes and stops while the host vehicle 2 moves forward, collision between the tracks is avoided in the reachable range of both.
- the standard rules for unstructured roads assume the following first to third actions as appropriate and rational actions that the host vehicle 2 should take in the event of an unreasonable situation.
- the first action if both the host vehicle 2 and the target moving body 3 are completely stopped, and if the target vehicle 3a is not positioned in front of the host vehicle 2, the host vehicle 2 moves forward. to move away from the target vehicle 3a.
- the first action even if both are completely stopped, if the target vehicle 3a is positioned in front of the host vehicle 2, the host vehicle 2 continues the completely stopped state until the unreasonable situation disappears. .
- the host vehicle 2 In the second action, when the host vehicle 2 falls into an irrational situation from the second or third safe state described above, the host vehicle 2 continues forward unless the target vehicle 3a is stopped. In the second action, if the target vehicle 3a stops while the host vehicle 3a is continuing to move forward, the host vehicle 2 continues to move forward unless the target vehicle 3a is positioned ahead.
- the host vehicle 2 executes the stopping operation.
- the host vehicle 2 performs a stop action other than the first and second actions. Whether or not the target vehicle 3a is positioned in front of the host vehicle 2 in the first and second actions is determined based on the second condition described above.
- the Free Space Only rule modifies the reach of the standard rule.
- a rule applied to entering/exiting the parking space 92 hereinafter referred to as an entering/exiting rule
- the entry/exit rule is applied when the host vehicle 2 is entering/exiting. Entry/exit rules may be applied when the host vehicle 2 is located near a parking space. The entry/exit rule may be applied when the target moving body 3 exists near the parking space 92 . Therefore, one of the application conditions of the entering/exiting rule is the condition that the host vehicle 2 is performing an entering/exiting operation. Another condition is that the host vehicle 2 is located near a parking space. Another condition is that the target moving body 3 is located near the parking space 92 . It should be noted that this parking space 92 exists on an unstructured road.
- the entry/exit rule is applied when there is a vehicle that is entering/exiting (hereinafter referred to as entering/exiting vehicle).
- the vehicle entering/exiting is the host vehicle 2 or the target vehicle 3a.
- the safety range for the entering/exiting vehicle is set to a fixed range.
- the safety range includes a safety range at stop and a safety range at passage. These two safe ranges are both fixed ranges.
- the entry/exit rules are rules that modify the free space standard rules.
- the size of the passing safety range is a size that includes the moving range of the vehicle during the entering/leaving operation.
- the stop safety range may also be a size that includes the movement range of the vehicle during the entering/exiting operation.
- FIG. 26 shows two safety ranges that are fixed ranges, with the target vehicle 3a being the vehicle entering and leaving the garage.
- the two safety ranges are delimited with respect to parking space 92 .
- Both safe ranges are rectangular. Both safety ranges are in contact with the parking space 92, and the safety range indicated by the dashed line is narrower than the safety range indicated by the solid line.
- the solid line safety range encompasses the dashed safety range.
- the safety range which is the fixed range, can also have a shape other than a rectangle. Since the safe range is a fixed range, the safe range for the target vehicle 3a does not change while the target vehicle 3a is parking.
- S122 is executed.
- a safe range is set. Setting the safe range also sets the safe distance d min .
- two safety ranges shown in FIGS. 21 and 22 are set based on the speed of the host vehicle 2.
- FIG. If the free space limitation rule is applied, the safety range for vehicles entering and leaving the garage is set as a fixed range. Of the host vehicle 2 and the target mobile object 3, the safe range is set by the same method as the free space standard rule for the mobile object that is not entering or leaving the garage.
- the host vehicle 2 sets the safety range using the same method as the free space standard rule. Further, in the processing method executed by the host vehicle 2, the safe range for the target vehicle 3a is set to a fixed range.
- S130 of the processing method the violation of the safety envelope is monitored.
- S130 includes S131 to S134.
- a safety judgment is made. For example, in the safety determination, it is determined whether or not the safety range set for the host vehicle 2 and the safety range set for the target moving body 3 overlap. If the safety margins overlap, it is determined that the safety envelope is violated. A safety determination is made for each target moving body 3 .
- the overlap of the safety ranges that are determined to be violations of the safety envelope can be regarded as the overlap of the safety ranges at the time of stop. It may also be determined that the safety envelope is violated when the safety range for stopping and the safety range for passing overlap. Furthermore, it may be determined that the safety envelope is violated when the safety ranges for passing overlap each other.
- the acceleration a is evaluated.
- S132 evaluates the acceleration a in the same manner as S112.
- S123 and S133 of the processing method are processes independent of S122 to S132.
- S123 and S133 may be executed in parallel with S122 to S132. Also, S123 and S133 may be executed before or after S122 to S132.
- the limit value of the speed v is determined.
- the processing of S123 is the same as that of S106. Therefore, the limit value of speed v includes the speed limit of the road on which the vehicle is traveling.
- a road means a place where a vehicle may travel, and a parking lot is also included in the road. If the host vehicle 2 is traveling in a parking lot, such as when the parking lot is marked with a speed limit, the speed limit of the parking lot may be obtained at S102.
- the evaluation result in S132 and the evaluation result in S133 are output.
- the evaluation result is provided to control block 160 .
- the evaluation result may be included in the determination information and provided to the control block 160 .
- the judgment information includes the result of the safety judgment executed in S131.
- the determination information may include any one of the above-described first action, second action, and third action.
- the processing method executed by the risk monitoring block 140 determines whether the rule for setting the safety distance d min is a standard rule or a limited rule based on the success or failure of the applicable condition (S104 , S121). Therefore, an appropriate safety distance d min can be set to monitor for safety violations.
- the limiting rules include switching rules that may apply when the road on which the host vehicle 2 is traveling is a road with lane structure 8 .
- the switching rule includes a rule that the target vehicle 3a is traveling in conformity with the regulations set for road traveling. By applying this switching rule to calculate the safety distance d min , it is possible to prevent setting an unnecessarily long safety distance d min .
- the limited rules include free space limited rules that may be applied when the road on which the host vehicle 2 is traveling is a road without lane structure 8 .
- An example of a free space limitation rule is an entry/exit rule. The entry/exit rule is applied when entering/exiting the parking space 92 .
- the traveling direction of the host vehicle 2 or the target vehicle 3a entering or exiting the parking lot can change significantly in a short period of time. Therefore, the direction of the safety range set for the vehicle entering and leaving the garage can also change significantly in a short period of time. Depending on the orientation of the safety range of the vehicle entering or leaving the garage, the safety range of another vehicle may become the position where the vehicle entering or leaving the garage must stop.
- the safety range for the entering/exiting vehicle located near the parking space 92 is set to a fixed range defined with the parking space 92 as a reference. Range. This reduces the possibility that the safety range of other vehicles will be a position where the vehicle entering and leaving the garage must stop, so that the vehicle entering and leaving the garage can enter and exit smoothly.
- the limit value for acceleration a includes a limit value for safely stopping when stopping to comply with regulations. Therefore, the host vehicle 2 can stop safely while complying with regulations.
- the limit value for the speed v includes the speed limit of the road on which the host vehicle 2 travels. Therefore, the host vehicle 2 can be prevented from traveling at a speed that does not comply with regulations.
- the second embodiment is a modification of the first embodiment.
- the content of the entry/exit rules differs from the entry/exit rules described in the first embodiment in the following points.
- the safety distance to be set differs depending on whether the target moving body 3 is a person or a vehicle.
- the entry/exit rule of the second embodiment is the same as that of the first embodiment when the target moving body 3 is the target vehicle 3a.
- the safety range for the person is the same as the safety range set when the target moving body 3 is a person by applying standard rules for unstructured roads.
- FIG. 27 shows a case where the target moving body 3 is a person. Both the safety margins set for the host vehicle 2 and the safety margins set for the person follow standard rules.
- the safety range shown by the solid line in FIG. 26 is indicated by a two-dot chain line.
- the safety range indicated by the two-dot chain line overlaps with the safety range set for humans. Therefore, the host vehicle 2 has to stop.
- the safety range set for the target vehicle 3a and the safety range set for the person overlap. becomes difficult. Therefore, the host vehicle 2 can easily continue the parking operation.
- the third embodiment is a modification of the first embodiment.
- the content of the entry/exit rules differs from the entry/exit rules described in the first embodiment in the following points.
- the entry/exit rule of the third embodiment differs from the entry/exit rule of the first embodiment in the safety range set for the vehicle entering/exiting.
- the stopping safety range and the passing safety range are set not only forward in the traveling direction but also backward in the traveling direction.
- the safety range when stopping and the safety range when passing set ahead in the traveling direction are the same as the safe range when stopping and when passing which are set by the free space standard rule.
- the stopping safety range and the passing safety range set backward in the direction of travel may be smaller than the corresponding safety ranges set forward in the direction of travel.
- An example of a reduction is to size the corresponding safety margin in the forward direction of travel multiplied by a fixed factor less than one.
- the host vehicle 2 is the vehicle entering and leaving the garage.
- the safety range for stopping and the safety range for passing are set not only forward in the direction of travel but also behind in the direction of travel, compared to the case where the safety range is set only forward in the direction of travel, Interruption of the parking operation of the host vehicle 2 due to the target vehicle 3a coming too close can be suppressed.
- the fourth embodiment is a modification of the first embodiment.
- the process of obtaining determination information regarding the safety envelope from the risk monitoring block 140 is omitted. Therefore, the planning block 4120 of the fourth embodiment obtains decision information regarding the safety envelope from the risk monitoring block 140 .
- the planning block 4120 plans the driving control of the host vehicle 2 according to the planning block 120 when the determination information that the safety envelope is not violated is acquired.
- the planning block 4120 imposes restrictions on the operation control based on the determination information in the stage of planning the operation control according to the planning block 120 . That is, planning block 4120 limits the operational controls to be planned. In either case, control block 4160 performs the operational control of host vehicle 2 planned by planning block 4120 .
- the fifth embodiment is a modification of the first embodiment.
- the process of obtaining determination information regarding the safety envelope from the risk monitoring block 5140 is omitted. Therefore, the risk monitoring block 5140 of the fifth embodiment acquires information representing the result of operation control executed by the control block 5160 on the host vehicle 2 . Risk monitoring block 5140 evaluates operational controls by performing safety judgments based on safety envelopes on the results of the operational controls.
- the sixth embodiment is a modification of the first and fifth embodiments.
- test block 6180 As shown in FIGS. 31 and 32, in the sixth embodiment, which is a modification of the first embodiment from the point of view of the processing system 1, the operational control by the processing system 1 is tested, for example, for safety approval.
- a test block 6180 has been added.
- the test block 6180 is provided with functions equivalent to those of the detection block 100 and the risk monitoring block 140 .
- illustration of a data acquisition path for monitoring and judging failure of detection information is omitted.
- the test block 6180 may be constructed by having the processing system 1 shown in FIG.
- the test block 6180 executes a test processing program different from the processing program that constructs the blocks 100, 120, 140, and 160 by a test processing system 6001 that is different from the processing system 1 as shown in FIG. It may be constructed by
- the test processing system 6001 is connected to the processing system 1 for testing operation control (not shown in the case of connection through the communication system 6), and has at least one memory 10 and a processor 12. It may be configured by a dedicated computer.
- the safety determination by test block 6180 may be performed each time a control cycle of information representing the result of operational control is stored in memory 10 of processing system 1 or another processing system 6001 . Also, the safety determination by the test block 6180 may be executed each time the plurality of control cycles are stored in the memory 10 .
- standard rules may be rules that define conditions based on reasonable and foreseeable assumptions.
- the switching rule to be switched is a rule that defines a condition that is stricter than the standard rule for the host vehicle 2, for example, a condition that minimizes unreasonable risk. good too.
- the switching rule to be switched may be a rule that defines a condition for the host vehicle 2 that is more relaxed than the standard rule.
- Restriction rules may be set with at least one of the selection of a specific scenario and scene, and the area to which specific laws and regulations apply as an application condition.
- a limiting rule may be set that applies to roads with regionally characteristic structures such as roundabouts and Michigan lefts.
- the free space standard rule may be positioned as a limited rule that is applied when the application condition that the host vehicle 2 is traveling on an unstructured road is satisfied with respect to the normal standard rule.
- the attributes of the safety-related model for defining rules may include the following attributes.
- a safety-related model may correspond to the concept of acceptable risk. The level of acceptable risk may be set by legislation or set by the developer of the autonomous driving system.
- a safety-related model may be able to provide a comprehensive range of reasonably foreseeable scenarios within the operational design domain.
- a safety-related model used within a dynamic driving task may focus only on behavior and motor control and may not include sensing.
- the safety-related model may incorporate assumptions about the behavior of other safety-related objects (road users).
- the safety-related model may be able to distinguish between road users who have generated dangerous scenarios (initiators) and road users who respond to dangerous scenarios (responders).
- a safety-related model may be capable of producing consistent and reproducible behavior.
- a safety-related model may be able to maintain the usability of the host vehicle 2 within the operational design domain.
- Safety-related models may enable, or at least not prohibit, the ability of vehicles with automated driving systems to drive in a way that supports coexistence with human drivers (in other words, to drive naturally). You may do so.
- a safety-related model may be based on an understanding of the current position, heading and velocity of other safety-related objects using reasonably foreseeable assumptions.
- a safety-related model may support the possibility that safety-related objects do not always move in a straight line, but move in different directions.
- Safety-related models may support scenarios related to visibility occlusion.
- a safety-related model may be able to show reasonable attention to the operating design domain of a vehicle equipped with an automated driving system while maintaining utility.
- a safety-related model may incorporate the widely accepted axiom that right-of-way is granted and not taken.
- a safety-related model may take into account that in certain scenarios, human road users may violate traffic rules.
- Safety-related models may support theoretical assurances that there are no collisions within reasonably foreseeable assumptions.
- Safety-related models may support empirical evidence-based methods for defining reasonably foreseeable behavior of other safety-related objects.
- the safety-related model may take into account regional differences in behavior, that is, regional traffic customs. At least one of the acceleration limit and/or speed limit used to monitor violations of the safety envelope shall be set to comply with local traffic customs in lieu of the regulations governing road use. It may be a limit value.
- the safety-related model may be designed so that it is impossible to cause conflicts in its output.
- the safety-related model and the standard and limit rules based on it perform a prioritization process for resolving conflicts to resolve safety risks. , or may be configured to be executed by a processor.
- a safety-related model may be traceable so that high-level behavior can be associated with specific parameters used within the safety-related model.
- the specific parameters may be parameters used to set the safety envelope, such as safety distance, speed, acceleration, response time, speed limits, acceleration limits, and the like.
- a safety-related model may support multiple different safety-related objects. For example, pedestrians and vehicles have different behaviors and assumptions, so the safety-related model should not only recognize differences in perception of different safety-related objects, but also support a dynamic range of different numbers and classes of objects. is preferred.
- Safety-related models may be configured to allow formal verification techniques that provide strong evidence, and to be expressible in formal notation to produce reproducible results of verification methods. All or part of the expressions in formal notation may be expressions in rules that embody the attributes of the safety-related model, such as expressions using standard rules, expressions using limited rules, and the like.
- the processing system 1 may not be configured to switch between standard rules and limited rules. For example, instead of switching between the standard rules and the limited rules, or in combination with switching between the standard rules and the limited rules, the processing system 1 uses the standard safety model and the limits applied when the applicable conditions are satisfied. You may make it switch from the general safety model. Instead of switching between the standard rule and the limited rule, or in combination with switching between the standard rule and the limited rule, the processing system 1 sets the standard driving policy and the limited driving policy to be applied when the applicable conditions are satisfied. The driving policy may be switched.
- a dedicated computer that constitutes the processing system 1 in the embodiment may include at least one of a digital circuit and an analog circuit as a processor.
- Digital circuits here include, for example, ASIC (Application Specific Integrated Circuit), FPGA (Field Programmable Gate Array), SOC (System on a Chip), PGA (Programmable Gate Array), and CPLD (Complex Programmable Logic Device). , at least one Such digital circuits may also have a memory that stores the program.
Abstract
Description
ホスト車両の運転制御に関する処理を遂行するために、プロセッサにより実行される処理方法であって、
ホスト車両の走行環境において検知される状態を記述した検知情報を取得することと、
検知情報に基づき、ホスト車両に対して監視すべき状況を判定することと、
検知情報に基づき、ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定することと、
安全エンベロープと、ホスト車両とターゲット移動体との間の位置関係との比較に基づいて、安全エンベロープの違反を監視することと、
安全エンベロープを設定するルールには、適用条件が成立したときに適用する限定ルールと、適用条件が不成立のときに適用する標準ルールとが含まれ、適用条件の成否に基づき、安全エンベロープを設定するルールを決定すること、とを含む。
ホスト車両の運転制御に関する処理を遂行するために、プロセッサにより実行される処理方法であって、
ホスト車両の走行環境において検知される状態を記述した検知情報を取得することと、
検知情報に基づき、ホスト車両に対して監視すべき状況を判定することと、
検知情報に基づき、ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定することと、
安全エンベロープおよびホスト車両とターゲット車両との間の位置関係とに基づき加速度に対する制限値を設定し、加速度に対する制限値とホスト車両の加速度との比較、および、ホスト車両の速度と速度に対する制限値との比較に基づいて、安全エンベロープの違反を監視することと、を含み、
加速度に対する制限値と、速度に対する制限値のうちの少なくとも一方は、道路走行に対して定められた法規に適合した走行をするための制限値である。
プロセッサを含み、ホスト車両の運転制御に関する処理を遂行する処理システムであって、
プロセッサは、
ホスト車両の走行環境において検知される状態を記述した検知情報を取得することと、
検知情報に基づき、ホスト車両に対して監視すべき状況を判定することと、
検知情報に基づき、ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定することと、
安全エンベロープと、ホスト車両とターゲット移動体との間の距離との比較に基づいて、安全エンベロープの違反を監視することと、
安全エンベロープを設定するルールには、適用条件が成立したときに適用する限定ルールと、適用条件が不成立のときに適用する標準ルールとが含まれ、適用条件の成否に基づき、安全エンベロープを設定するルールを決定すること、とを実行する。
プロセッサを含み、ホスト車両の運転制御に関する処理を遂行する処理システムであって、
プロセッサは、
ホスト車両の走行環境において検知される状態を記述した検知情報を取得することと、
検知情報に基づき、ホスト車両に対して監視すべき状況を判定することと、
検知情報に基づき、ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定することと、
安全エンベロープおよびホスト車両とターゲット車両との間の位置関係とに基づき加速度に対する制限値を設定し、加速度に対する制限値とホスト車両の加速度との比較、および、ホスト車両の速度と速度に対する制限値との比較に基づいて、安全エンベロープの違反を監視することと、を実行し、
加速度に対する制限値と、速度に対する制限値のうちの少なくとも一方は、道路走行に対して定められた法規に適合した走行をするための制限値である。
記憶媒体に記憶され、ホスト車両の運転制御に関する処理を遂行するためにプロセッサに実行させる命令を含む処理プログラムであって、
命令は、
ホスト車両の走行環境において検知される状態を記述した検知情報を取得することと、
検知情報に基づき、ホスト車両に対して監視すべき状況を判定することと、
検知情報に基づき、ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定することと、
安全エンベロープと、ホスト車両とターゲット移動体との間の距離との比較に基づいて、安全エンベロープの違反を監視することと、
安全エンベロープを設定するルールには、適用条件が成立したときに適用する限定ルールと、適用条件が不成立のときに適用する標準ルールとが含まれ、適用条件の成否に基づき、安全エンベロープを設定するルールを決定すること、とを含む。
記憶媒体に記憶され、ホスト車両の運転制御に関する処理を遂行するためにプロセッサに実行させる命令を含む処理プログラムであって、
命令は、
ホスト車両の走行環境において検知される状態を記述した検知情報を取得することと、
検知情報に基づき、ホスト車両に対して監視すべき状況を判定することと、
検知情報に基づき、ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定することと、
安全エンベロープおよびホスト車両とターゲット車両との間の位置関係とに基づき加速度に対する制限値を設定し、加速度に対する制限値とホスト車両の加速度との比較、および、ホスト車両の速度と速度に対する制限値との比較に基づいて、安全エンベロープの違反を監視することと、を含み、
加速度に対する制限値と、速度に対する制限値のうちの少なくとも一方は、道路走行に対して定められた法規に適合した走行をするための制限値である。
図6に示される第一実施形態の処理システム1は、ホスト移動体の運転制御に関連する処理(以下、運転制御処理と表記)を、遂行する。ホスト車両2の視点において、ホスト車両2は自車両(ego-vehicle)であるともいえる。処理システム1が運転制御処理の対象とするホスト移動体は、図7に示されるホスト車両2である。ホスト車両2は、例えば処理システム1の全てが搭載される場合等には、当該処理システム1にとっての自車両(ego-vehicle)であるといえる。
(A) 車両は、前方を走行している車両に、後方から追突しない。
(B) 車両は、他の車両間に強引な割り込みをしない。
(C) 車両は、自己が優先の場合でも、状況に応じて他の車両と譲り合う。
(D) 車両は、見通しの悪い場所では、慎重に運転する。
(E) 車両は、自責他責に関わらず、自己で事故を防止可能な状況であれば、そのために合理的行動を取る。
図9には、追突を判定する状況における安全距離dminも図示している。追突を判定する状況における安全距離dminと、先行車である車両cfの停止距離dbrake,frontと、後続車である車両crの空走距離dreaction,rearと、車両crの制動距離dbrake,rearとの間には、式1に示す関係がある。
(式1) dmin=dreaction,rear+dbrake,rear-dbrake,front
追突を判定する状況における安全距離dminは、先行車である車両cfが速度vfで走行中、最大減速度amax,brakeでブレーキをかけて停車したとき、後続車である車両crが反応時間ρ秒間、最大加速度amax,accelで加速し、その後、最小減速度amin,brakeでブレーキをかけて停車したとしても、追突しない距離としてもよい。各車両間の最大減速度amax,brake、最大加速度amax,accel、最小減速度amin,brakeは、同じ値であってもよく、異なっていてもよい。
切り替えルール適用時の安全距離dminを具体例により説明する。切り替えルールの適用例として、センサ検知範囲外を走行するターゲット車両3aとの安全距離dminを説明する。切り替えルールは、センサ検知範囲外を走行するターゲット車両3aの速度を制限速度とする点において、標準ルールを修正する。制限速度は、道路により異なる。そのため、切り替えルールにおいて、制限速度は変更可能なパラメータである。
フリースペース限定ルールを適用する適用条件を満たさない場合、フリースペース標準ルールを適用する。構造のない道路においてフリースペース標準ルールが前提とする運転ポリシは、例えばターゲット移動体3がターゲット車両3aの場合、次の(F)~(H)等に規定される。
(F) 車両同士は、互いにブレーキを掛ける。
(G) ブレーキにより不合理な状況に至ることを回避するシーンでは、ブレーキを掛けない。
(H) 車両は、前方における他の車両が不在の場合に、前進を許可される。ここで、フリースペース標準ルールでは、構造のある道路での標準ルール、すなわち(A)~(E)に基づいたルールのうち一部又は全部が適用されなくてもよい。
フリースペース限定ルールは、標準ルールにおける到達範囲を変更する。フリースペース限定ルールの一例として、駐車スペース92に対する入出庫に適用されるルール(以下、入出庫ルール)を説明する。
第一実施形態では、リスク監視ブロック140が実行する処理方法は、適用条件の成否に基づき、安全距離dminを設定するルールを、標準ルールとするか、限定ルールとするかを決定する(S104、S121)。したがって、適切な安全距離dminを設定して安全違反を監視することができる。
第二実施形態は、第一実施形態の変形例である。
第三実施形態は、第一実施形態の変形例である。
第四実施形態は、第一実施形態の変形例である。
第五実施形態は、第一実施形態の変形例である。
第六実施形態は、第一及び第五実施形態の変形例である。
以上、複数の実施形態について説明したが、本開示は、それらの実施形態に限定して解釈されるものではなく、本開示の要旨を逸脱しない範囲内において種々の実施形態及び組み合わせに適用することができる。
安全関連モデルは、複数の異なる安全関連オブジェクトをサポートしてもよい。例えば、歩行者と車両とは異なる行動及び仮定を持っているので、安全関連モデルは、異なる安全関連オブジェクト感の違いを認識するだけでなく、異なる数及びクラスのオブジェクトのダイナミックレンジをサポートすることが好ましい。
Claims (12)
- ホスト車両(2)の運転制御に関する処理を遂行するために、プロセッサ(12)により実行される処理方法であって、
前記ホスト車両の走行環境において検知される状態を記述した検知情報を取得すること(S100)と、
前記検知情報に基づき、前記ホスト車両に対して監視すべき状況を判定すること(S101)と、
前記検知情報に基づき、前記ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定すること(S105、S122)と、
前記安全エンベロープと、前記ホスト車両とターゲット移動体との間の位置関係との比較に基づいて、安全エンベロープの違反を監視すること(S110、S130)と、
前記安全エンベロープを設定するルールには、適用条件が成立したときに適用する限定ルールと、前記適用条件が不成立のときに適用する標準ルールとが含まれ、前記適用条件の成否に基づき、前記安全エンベロープを設定するルールを決定すること(S104、S121)、とを含む処理方法。 - 請求項1に記載の処理方法であって、
前記ターゲット移動体には、
構造のある道路における前記限定ルールは、ターゲット車両は、道路走行に対して定められた法規に適合した走行をしているとするルールを含んでいる、処理方法。 - 請求項1または2に記載の処理方法であって、
構造のない道路における前記限定ルールは、前記構造のない道路において、事前に設定された車両動作を行う際に適用されるルールである、処理方法。 - 請求項3に記載の処理方法であって、
前記限定ルールは、駐車スペースに対する入出庫動作時に適用されるルールである、処理方法。 - ホスト車両(2)の運転制御に関する処理を遂行するために、プロセッサ(12)により実行される処理方法であって、
前記ホスト車両の走行環境において検知される状態を記述した検知情報を取得すること(S100)と、
前記検知情報に基づき、前記ホスト車両に対して監視すべき状況を判定すること(S101)と、
前記検知情報に基づき、前記ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定すること(S105、S122)と、
前記安全エンベロープおよび前記ホスト車両とターゲット車両との間の位置関係とに基づき加速度に対する制限値を設定し、前記加速度に対する制限値と前記ホスト車両の加速度との比較、および、前記ホスト車両の速度と前記速度に対する制限値との比較に基づいて、安全エンベロープの違反を監視すること(S110、S130)と、を含み、
前記加速度に対する制限値と、前記速度に対する制限値のうちの少なくとも一方は、道路走行に対して定められた法規に適合した走行をするための制限値である、処理方法。 - 請求項5に記載の処理方法であって、
前記加速度に対する制限値に、前記法規に適合するために停止する際の制限値が含まれる、処理方法。 - 請求項5または6に記載の処理方法であって、
前記速度に対する制限値に、前記ホスト車両が走行している道路の制限速度が含まれる、処理方法。 - 請求項1~7のいずれか1項に記載の処理方法であって、
前記安全エンベロープを設定することは、安全距離を設定すること、又は、安全距離に基づいて前記境界、前記マージン又は前記緩衝区域を確定することを含む、処理方法。 - プロセッサ(12)を含み、ホスト車両(2)の運転制御に関する処理を遂行する処理システムであって、
前記プロセッサは、
前記ホスト車両の走行環境において検知される状態を記述した検知情報を取得すること(S100)と、
前記検知情報に基づき、前記ホスト車両に対して監視すべき状況を判定すること(S101)と、
前記検知情報に基づき、前記ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定すること(S105、S122)と、
前記安全エンベロープと、前記ホスト車両とターゲット移動体との間の位置関係との比較に基づいて、安全エンベロープの違反を監視すること(S110、S130)と、
前記安全エンベロープを設定するルールには、適用条件が成立したときに適用する限定ルールと、前記適用条件が不成立のときに適用する標準ルールとが含まれ、前記適用条件の成否に基づき、前記安全エンベロープを設定するルールを決定すること(S104、S121)、とを実行する、処理システム。 - プロセッサ(12)を含み、ホスト車両(2)の運転制御に関する処理を遂行する処理システムであって、
前記プロセッサは、
前記ホスト車両の走行環境において検知される状態を記述した検知情報を取得すること(S100)と、
前記検知情報に基づき、前記ホスト車両に対して監視すべき状況を判定すること(S101)と、
前記検知情報に基づき、前記ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定すること(S105、S122)と、
前記安全エンベロープおよび前記ホスト車両とターゲット車両との間の位置関係とに基づき加速度に対する制限値を設定し、前記加速度に対する制限値と前記ホスト車両の加速度との比較、および、前記ホスト車両の速度と前記速度に対する制限値との比較に基づいて、安全エンベロープの違反を監視すること(S110、S130)と、を実行し、
前記加速度に対する制限値と、前記速度に対する制限値のうちの少なくとも一方は、道路走行に対して定められた法規に適合した走行をするための制限値である、処理システム。 - 記憶媒体(10)に記憶され、ホスト車両(2)の運転制御に関する処理を遂行するためにプロセッサ(12)に実行させる命令を含む処理プログラムであって、
前記命令は、
前記ホスト車両の走行環境において検知される状態を記述した検知情報を取得すること(S100)と、
前記検知情報に基づき、前記ホスト車両に対して監視すべき状況を判定すること(S101)と、
前記検知情報に基づき、前記ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定すること(S105、S122)と、
前記安全エンベロープと、前記ホスト車両とターゲット移動体との間の距離との比較に基づいて、安全エンベロープの違反を監視すること(S110、S130)と、
前記安全エンベロープを設定するルールには、適用条件が成立したときに適用する限定ルールと、前記適用条件が不成立のときに適用する標準ルールとが含まれ、前記適用条件の成否に基づき、前記安全エンベロープを設定するルールを決定すること(S104、S121)、とを含む、処理プログラム。 - 記憶媒体(10)に記憶され、ホスト車両(2)の運転制御に関する処理を遂行するためにプロセッサ(12)に実行させる命令を含む処理プログラムであって、
前記命令は、
前記ホスト車両の走行環境において検知される状態を記述した検知情報を取得すること(S100)と、
前記検知情報に基づき、前記ホスト車両に対して監視すべき状況を判定すること(S101)と、
前記検知情報に基づき、前記ホスト車両の周囲の物理ベースの境界、マージン又は緩衝区域を定義することを含むように安全エンベロープを設定すること(S105、S122)と、
前記安全エンベロープおよび前記ホスト車両とターゲット車両との間の距離とに基づき加速度に対する制限値を設定し、前記加速度に対する制限値と前記ホスト車両の加速度との比較、および、前記ホスト車両の速度と前記速度に対する制限値との比較に基づいて、安全エンベロープの違反を監視すること(S110、S130)と、を含み、
前記加速度に対する制限値と、前記速度に対する制限値のうちの少なくとも一方は、道路走行に対して定められた法規に適合した走行をするための制限値である、処理プログラム。
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