WO2022186003A1 - 車線判断装置、車線変更判定プログラム及びデータ構造 - Google Patents
車線判断装置、車線変更判定プログラム及びデータ構造 Download PDFInfo
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- 230000008859 change Effects 0.000 title claims abstract description 167
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- 230000001133 acceleration Effects 0.000 description 4
- 238000004590 computer program Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 4
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/36—Input/output arrangements for on-board computers
- G01C21/3626—Details of the output of route guidance instructions
- G01C21/3658—Lane guidance
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/10—Path keeping
- B60W30/12—Lane keeping
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/143—Speed control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
- B60W30/18009—Propelling the vehicle related to particular drive situations
- B60W30/18163—Lane change; Overtaking manoeuvres
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/08—Interaction between the driver and the control system
- B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
- B60W2050/146—Display means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2530/00—Input parameters relating to vehicle conditions or values, not covered by groups B60W2510/00 or B60W2520/00
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/10—Number of lanes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/53—Road markings, e.g. lane marker or crosswalk
Definitions
- the present disclosure relates to lane determination devices, lane change determination programs, and data structures.
- a lane keeping function is provided to maintain the lane in which the vehicle is traveling.
- the lane keeping function is a function that controls vehicle speed and steering so that the vehicle keeps running in the center of the lane, and keeps the vehicle in the same lane without relying on the driver's operation.
- the lane keeping function is intended to reduce the burden on the driver.
- a foreground image is photographed by an in-vehicle camera, left and right road division lines of a driving lane are recognized from the photographed foreground image, and the vehicle width direction between the recognized left and right road division lines and the own vehicle is disclosed. and maintains the driving lane.
- the purpose of the present disclosure is to appropriately determine the driving lane according to the shape of the road in the direction in which the vehicle is traveling.
- the first acquisition unit acquires a continuation distance for each lane that indicates the distance that the vehicle can continue to travel while maintaining the lane.
- the first identification unit identifies the road and lane on which the vehicle is traveling.
- the first determination unit compares the traveling lane continuation distance indicating the continuation distance of the traveling lane with the other lane continuation distance indicating the continuation distance of the other lane running parallel to the traveling lane, and determines the distance from the traveling lane to the other lane. Judgment of propriety of lane change.
- the output unit outputs a determination result as to whether the lane change is appropriate.
- the driving lane continuation distance By comparing the driving lane continuation distance and the other lane continuation distance, it is determined whether or not it is appropriate to change the lane from the driving lane to another lane, and the judgment result of the appropriateness of the lane change is output.
- it is possible to appropriately determine the driving lane by outputting a determination result indicating that it is appropriate to change lanes. It is possible to perform automatic driving control of.
- the host vehicle changes lanes, it is possible to appropriately maintain the lane to which the vehicle is changing lanes as the driving lane. As a result, it is possible to appropriately maintain the driving lane according to the shape of the road in the traveling direction of the vehicle.
- FIG. 1 is a functional block diagram showing the overall configuration of a lane keeping control device according to one embodiment
- FIG. 2 is a diagram (part 1) showing lane data
- FIG. 3 is a diagram (part 2) showing lane data
- FIG. 4 is a diagram (part 3) showing lane data
- FIG. 5 is a diagram showing a road shape in which the number of lanes decreases
- FIG. 6 is a diagram (part 1) showing road numbers, road segment numbers, and lane numbers
- FIG. 7 is a diagram (part 1) showing the continuation distance
- FIG. 8 is a diagram showing a road shape in which the destination of the driving lane changes
- FIG. 1 is a functional block diagram showing the overall configuration of a lane keeping control device according to one embodiment
- FIG. 2 is a diagram (part 1) showing lane data
- FIG. 3 is a diagram (part 2) showing lane data
- FIG. 4 is a diagram (part 3) showing lane data
- FIG. 5 is a diagram showing a road shape in which the
- FIG. 9 is a diagram (part 2) showing road numbers, road segment numbers, and lane numbers
- FIG. 10 is a diagram (part 2) showing the continuation distance
- FIG. 11 is a diagram showing a road shape with an increasing number of lanes
- FIG. 12 is a diagram (part 3) showing road numbers, road segment numbers, and lane numbers
- FIG. 13 is a diagram (part 3) showing the continuation distance
- FIG. 14 is a flowchart (part 1)
- FIG. 15 is a diagram showing an icon prompting a lane change operation
- FIG. 16 is a diagram (part 1) explaining a case where the number of lanes decreases
- FIG. 17 is a diagram (part 2) for explaining a case where the number of lanes decreases
- FIG. 18 is a diagram (part 3) explaining a case where the number of lanes decreases
- FIG. 19 is a diagram (part 1) for explaining a case where the destination of the driving lane changes
- FIG. 20 is a diagram (part 2) explaining a case where the destination of the driving lane changes
- FIG. 21 is a diagram (part 3) for explaining a case where the destination of the driving lane changes
- FIG. 22 is a diagram (part 1) for explaining a case where the number of lanes increases
- FIG. 23 is a diagram (part 2) explaining a case where the number of lanes increases
- FIG. 24 is a diagram (part 3) explaining a case where the number of lanes increases
- FIG. 25 is a diagram (Part 1) for explaining a case where the driver is not prompted to perform a lane change operation;
- FIG. 26 is a diagram (part 2) illustrating a case where the driver is not prompted to perform a lane change operation;
- FIG. 27 is a diagram (part 3) illustrating a case where the driver is not prompted to change lanes;
- FIG. 28 is a diagram showing a case corresponding to an intersection straight passable lane,
- FIG. 29 is a diagram showing a case where the intersection does not correspond to the lane that allows straight passage,
- FIG. 30 is a diagram showing a data area;
- FIG. 31 is a diagram (part 1) for explaining the case of dynamically setting the continuation distance;
- FIG. 32 is a diagram (part 2) for explaining the case of dynamically setting the continuation distance
- FIG. 33 is a diagram (part 3) for explaining the case of dynamically setting the continuation distance
- FIG. 34 is a diagram (part 4) for explaining the case of dynamically setting the continuation distance
- FIG. 35 is a flowchart (part 2)
- FIG. 36 is a flowchart (part 3)
- FIG. 37 is a flowchart (part 4)
- FIG. 38 is a flowchart (part 5)
- FIG. 39 is a flowchart (part 6)
- FIG. 40 is a flowchart (Part 7)
- FIG. 41 is a diagram (part 1) for explaining a case of specifying a lane change destination
- FIG. 42 is a diagram (part 2) for explaining a case of specifying a lane change destination
- FIG. 43 is a diagram (part 3) for explaining a case of specifying a lane change destination.
- the lane keeping control device 1 includes a control section 2 and a lane data storage section 3 .
- the control unit 2 is composed of a microcomputer having a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and I/O (Input/Output).
- the microcomputer executes a computer program stored in a non-transitional substantive storage medium to execute processing corresponding to the computer program, and controls the overall operation of the lane keeping control device 1 .
- the lane keeping control device 1 operates in cooperation with a driving support system, such as a collision avoidance device, for ensuring safe and secure driving, and the lane keeping function is installed as one of the driving support functions.
- the lane keeping control device 1 has a lane judging function for judging whether a lane change from the driving lane to another lane is appropriate or not, as will be described later in detail.
- the lane keeping control device 1 corresponds to a lane determination device.
- the vehicle position detection unit 4 includes a GNSS (Global Navigation Satellite System) receiver, a vehicle speed sensor, and the like.
- the vehicle position detection unit 4 complements the GNSS position coordinates calculated based on the GNSS signals transmitted from the GNSS satellites with the vehicle speed detected by the vehicle speed sensor to detect the vehicle position indicating the position of the own vehicle.
- the vehicle position detector 4 Upon detecting the vehicle position, the vehicle position detector 4 outputs a detection signal including the detected vehicle position to the lane keeping control device 1 .
- GNSS is a general term for various satellite positioning systems such as GPS, GLONASS, Galileo, BeiDou, and IRNSS.
- the vehicle position detection unit 4 may be provided with an acceleration sensor, a gyro sensor, etc., and supplement the GNSS position coordinates with the acceleration detected by the acceleration sensor or the vehicle direction change amount detected by the gyro sensor.
- the vehicle external situation detection unit 5 includes an in-vehicle camera, millimeter wave sensor, radar, lidar (LiDAR: Light Detection and Ranging, Laser Imaging Detection and Ranging), and the like.
- the vehicle external situation detection unit 5 detects a vehicle surrounding image captured by an in-vehicle camera, sensor information obtained by detecting the vehicle surroundings by a millimeter wave sensor, radar information obtained by detecting the vehicle surroundings by a radar, and vehicle surroundings detected by a lidar.
- the vehicle external conditions are detected based on the detected rider information and the like.
- the vehicle external condition detection unit 5 Upon detecting a vehicle external condition, the vehicle external condition detection unit 5 outputs a detection signal including the detected vehicle external condition to the lane maintenance control device 1 .
- the vehicle external conditions detected by the vehicle external condition detection unit 5 include road edges indicating road edges, lane boundary lines indicating lane boundaries, and the like.
- the vehicle external condition detection unit 5 may include only an on-vehicle camera, and may detect the vehicle external condition only based on a vehicle surrounding image captured by the on-vehicle camera. That is, the vehicle external situation detection unit 5 may be configured to include at least one of an on-vehicle camera, millimeter wave sensor, radar, and lidar.
- the lane data storage unit 3 stores lane data corresponding to roads.
- the lane data storage unit 3 may share hardware with other computer resources in the storage medium described above.
- the lane data storage unit 3 may be composed mainly of a non-transitional physical storage medium provided independently for lane data.
- the lane data storage unit 3 may be configured to store lane data corresponding to relatively wide roads, or may be configured to store lane data corresponding to relatively narrow roads.
- the lane data storage unit 3 cooperates with an external server that manages lane data, and stores lane data corresponding to roads in a necessary area from the outside. They are sequentially downloaded from a server through a communication network and temporarily stored.
- the mode in which the control section 2 reads the lane data from the lane data storage section 3 is the mode in which the lane data is read from the lane data storage section 3 without being connected to a server, and the mode in which the lane data is read from the lane data storage section 3 by a so-called storage method.
- the lane data may be read from the lane data storage unit 3 while the downloaded lane data is temporarily accumulated in the lane data storage unit 3 by a so-called streaming method.
- the lane data is lane data corresponding to roads, and includes a road number as road identification information, a road segment number indicating a segment unit section of the road, and a lane number as lane identification information. , the type of each lane, the connection destination, and the continuation distance. That is, the data structure of the lane data includes, as components, continuous distances defined in association with road numbers and lane numbers.
- Road number A number uniquely assigned to each road, and has the same meaning as a road name. Even if the road name is changed, if it is "michinari", the number is the same.
- the Tomei Expressway connects Tokyo to Komaki
- the Meishin Expressway connects Komaki to Nishinomiya.
- the road and the Meishin Expressway are connected at Komaki.
- a road number is associated with position information indicating a road area.
- a road area is specified, for example, by a plurality of position coordinates.
- Road segment number A unique number assigned to each road segment.
- a segment is a unit that divides the road at a point where the situation regarding vehicle travel changes.
- the location where the vehicle traveling situation changes includes, for example, a lane occurrence point where a lane occurs, a lane disappearance point where a lane disappears, a lane boundary line change point where a lane boundary line changes, and the like.
- a lane origin point and a lane vanishing point have the same meaning as a lane start point and a lane end point, respectively.
- Lane number A number uniquely assigned to each lane of each road segment.
- FIGS. 2 to 4 respectively illustrate “Lane 1” to “Lane 4”.
- a lane number is associated with position information indicating a lane area.
- a lane area is specified, for example, by a plurality of position coordinates.
- Continuation distance The distance for each lane that the vehicle can continue to travel while maintaining the lane, and is calculated as the sum of the own segment distance and the continuation distance of the destination lane. However, the continuation distance is set to "0" in the following cases. (1) When the road number of the connecting lane is different, i.e. when connecting to another road (2) When there is no connecting destination, i.e. when the lane ends (3) There are multiple connecting destination candidates , if it is not possible to determine which one to connect to
- the lane data shown in FIG. 2 is provided with road numbers, road segment numbers, and lane numbers as shown in FIG. This data is obtained when the continuation distance is calculated as shown in FIG. Similarly, the lane data shown in FIG. 3, when the destination of the traveling lane changes in the direction in which the vehicle is traveling, as shown in FIG. is given, and the continuous distance is calculated as shown in FIG. As shown in FIG. 11, the lane data shown in FIG. 4 is provided with road numbers, road segment numbers, and lane numbers as shown in FIG. and, as shown in FIG. 13, data when the continuation distance is calculated. 5, 8, and 11, the lane center line is a line sandwiched between a road edge or a road outer line and a lane boundary line, or a line sandwiched between lane boundary lines. It means a line virtually generated in the center of the normal running area.
- the control unit 2 includes a first acquisition unit 2a, a first identification unit 2b, a first determination unit 2c, a second identification unit 2d, a second acquisition unit 2e, a third acquisition unit 2f, and a third identification unit. It includes a section 2g, a second determination section 2h, and an output section 2i. These units 2a to 2i correspond to functions executed by the lane change determination program. That is, the control unit 2 performs the functions of the units 2a to 2i by executing the lane change determination program.
- the second identification unit 2d identifies the vehicle position based on the detection signal input from the vehicle position detection unit 4.
- the second acquisition unit 2e refers to the lane data read from the lane data storage unit 3, and the position information of the vehicle position specified by the second specifying unit 2d and the position information associated with the road number of the lane data. , and acquires the road number corresponding to the vehicle position from among the road numbers of the lane data. That is, the second obtaining unit 2e obtains the road number of the road having the area including the vehicle position.
- the third acquisition unit 2f refers to the lane data read from the lane data storage unit 3, and the position information of the vehicle position specified by the second specifying unit 2d and the position information associated with the lane number of the lane data. , and acquires the lane number corresponding to the vehicle position from among the lane numbers of the lane data. That is, the third obtaining unit 2f obtains the lane number of the lane having the area including the vehicle position.
- the third identifying unit 2g identifies the vehicle external condition based on the detection signal input from the vehicle external condition detecting unit 5.
- the first specifying unit 2b determines whether the vehicle is traveling based on the road number acquired by the second acquiring unit 2e, the lane number acquired by the third acquiring unit 2f, and the vehicle external situation specified by the third specifying unit 2g. Identify roads and lanes of travel within.
- the first acquisition unit 2 a acquires the continuous distance corresponding to the road and lane specified by the first specifying unit 2 b from among the continuous distances of the lane data read from the lane data storage unit 3 .
- the second determination unit 2h determines whether or not the road number of the road on which the vehicle is traveling has changed, thereby determining whether or not the road has changed.
- the presence or absence of a lane change is determined by determining whether or not the vehicle has changed. That is, when determining that the road number of the road on which the vehicle is traveling has changed, the second determination unit 2h determines whether there is a road change, and determines that the lane number of the lane on which the vehicle is traveling has changed. If determined, it is determined whether or not there is a lane change.
- the first determination unit 2c determines a running lane continuation distance that indicates the continuation distance of the running lane, and the number of other lanes that run parallel to the running lane. It compares with other lane continuation distance which shows the continuation distance, and judges the propriety of the lane change from the driving lane to the other lane.
- the other lane has the same meaning as the parallel lane, and is one or more.
- the vehicle in an area where traffic regulations stipulate left-hand traffic, if the vehicle is traveling in the left lane of two lanes on one side, one of the lanes on the right side becomes the other lane, and the lane on the left side of the three lanes on one side becomes the other lane. If the vehicle is traveling in lanes, the two lanes, the center lane and the right lane, can be other lanes.
- the first judgment unit 2c calculates a difference distance indicating the difference between the other lane continuation distance and the traveling lane continuation distance, and calculates the calculated difference distance, It compares with a preset distance. When the first determination unit 2c determines that the difference distance is longer than the predetermined distance, the first determination unit 2c determines whether it is appropriate to change the lane from the driving lane to another lane. On the other hand, when determining that the other lane continuous distance is not longer than the traveling lane continuous distance, the first determination unit 2c determines whether or not the lane is changed from the traveling lane to the other lane.
- the first determination unit 2c determines that the other lane continuous distance is longer than the traveling lane continuous distance, but if it determines that the difference distance is not longer than the predetermined distance, the lane change from the traveling lane to the other lane is not permitted. judge.
- the output unit 2i When the first determination unit 2c determines that it is appropriate to change lanes, the output unit 2i outputs a notification signal indicating the appropriateness of changing lanes to the notification system 6 as a result of the determination when the vehicle is manually driven.
- the notification system 6 includes, for example, a meter display, a head-up display, a speaker, etc.
- the notification system 6 When a notification signal is input from the output unit 2i, the notification system 6 notifies the driver to perform a lane change operation. That is, the notification system 6 displays an icon prompting the driver to perform a lane change operation on a meter display or a head-up display, or outputs guidance from a speaker to prompt the driver to perform a lane change operation.
- a lane change operation is a driving operation that involves a steering operation or the like that crosses a lane boundary line, and is a driving operation that changes the driving lane.
- the output unit 2i outputs a notification signal indicating the suitability of lane change to the cruise control system 7 as the determination result when the automobile is automatically driven.
- the travel control system 7 is a system that performs control related to travel such as acceleration control, deceleration control, steering control, etc.
- a notification signal is input from the output unit 2i, the travel control system 7 performs lane change automatic travel control.
- Automatic driving control for lane change is control for changing the driving lane by performing steering control across the lane boundary line without the lane change operation by the driver.
- the driving control system 7 determines the road conditions of the lane change destination, the surrounding conditions of the own vehicle, the vehicle speed, etc., and automatically drives the lane change on the condition that the environment in which the lane change can be performed safely and securely is established. control.
- a notification to the effect that the automatic driving control for changing lanes will be performed may be performed.
- FIG. Here, the case where the automobile is manually driven will be described.
- the control unit 2 performs lane keeping control processing for controlling vehicle speed and steering so that the vehicle keeps running in the center of the lane while the lane keeping function is in operation.
- a lane change determination process for determining whether a lane change is appropriate or not is periodically performed at a predetermined cycle (for example, a cycle of several milliseconds). The lane change determination process will be described below.
- the control unit 2 starts the lane change determination process and identifies the vehicle position based on the detection signal input from the vehicle position detection unit 4 (S1). After specifying the vehicle position, the control unit 2 reads lane data around the specified vehicle position from the lane data storage unit 3 (S2, corresponding to the first acquisition procedure). In this case, if the control unit 2 cooperates with an external server that manages lane data as described above, the lane data is downloaded from the external server through the communication network and temporarily stored in the lane data storage unit 3. Lane data is read from the lane data storage unit 3.
- the control unit 2 identifies the vehicle external condition based on the detection signal input from the vehicle external condition detection unit 5 (S3).
- the control unit 2 identifies the road number and lane number corresponding to the vehicle position from the lane data read from the lane data storage unit 3, and stores the road number and lane number corresponding to the identified vehicle position and the identified vehicle.
- the road and lane on which the vehicle is traveling are identified based on the external conditions (S4, corresponding to the first identification procedure).
- the control unit 2 determines whether there is a road change and whether there is a lane change (S5). If the control unit 2 determines that neither the road number nor the lane number identified last time has changed although the vehicle position has changed, it determines that neither the road change nor the lane change has occurred (S5: NO), and changes the lane. The determination process is ended, and the process waits for establishment of the start event of the next lane change determination process.
- control unit 2 determines that either the road number or the lane number identified last time has changed due to the change in the vehicle position, it determines that either the road change or the lane change is present (S5 : YES) to identify the road segment number of the driving lane. After identifying the road segment number of the driving lane, the control unit 2 identifies other lanes that run parallel to the driving lane based on the identified road segment number (S6).
- the control unit 2 acquires the continuous distance of the traveling lane as the traveling lane continuous distance from the lane data read from the lane data storage unit 3, and acquires the specified continuous distance of the other lane as the other lane continuous distance ( S7), the acquired traveling lane continuation distance and the other lane continuation distance are compared (S8). In this case, as described above, if the number of lanes on one side of the road on which the vehicle is traveled is "2," the control unit 2 selects one other lane. is two or more, the traveling lane continuous distance is compared with two or more other lane continuous distances.
- the control unit 2 determines that all other lane continuation distances are not longer than the traveling lane continuation distance and that there is no other lane continuation distance longer than the traveling lane continuation distance (S8: NO), the lane change judgment processing is terminated. Then, it waits for establishment of the start event of the next lane change determination process. That is, the control unit 2 determines that the traveling lane continuation distance is longer than all the other lane continuation distances, and that maintaining the traveling lane rather than changing from the traveling lane to the other lane is the most efficient way without changing lanes thereafter. In a situation where the vehicle can continue to travel for a long time, the notification for prompting the driver to change lanes is not performed.
- the controller 2 determines that any other lane continuation distance is longer than the traveling lane continuation distance and that there is another lane continuation distance longer than the traveling lane continuation distance (S8: YES), the traveling lane continuation distance Among the other lane continuous distances longer than the other lane continuous distance, the longest other lane continuous distance is specified as a comparison target (S9).
- the control unit 2 calculates the difference distance between the longest other lane continuation distance specified as the comparison object and the traveling lane continuation distance, compares the calculated difference distance with a predetermined distance, and travels. It is determined whether or not the lane change from the lane to the other lane is appropriate (S10, corresponding to the first determination procedure).
- control unit 2 When the control unit 2 determines that the difference distance is longer than the predetermined distance and determines that it is appropriate to change the lane (S10: YES), it outputs a notification signal to the notification system 6 to prompt the driver to change the lane.
- the notification system 6 is made to perform notification (S11, corresponding to the output procedure).
- the control unit 2 prompts the driver to change lanes between a vehicle speed meter 22 indicating the vehicle speed and a tachometer 23 indicating the number of times the engine has been run on the meter display 21, for example.
- the icon 24 is displayed.
- control unit 2 determines that, in a situation in which it is possible to continue driving for the longest time with the lane keeping function in the lane after the lane change, it is better to change the lane from the driving lane to another lane than to maintain the driving lane. A notification is made to prompt the driver to perform the operation.
- FIG. 15 exemplifies the icon 24 including the message "You can continue driving longer in the right lane.” Any message is fine. Further, the control unit 2 may display the icon 24 for a predetermined period of time, or may continue to display the icon 24 until the driver starts the lane change operation. In addition, in a situation where the driving lane continuation distance is relatively long, that is, there are relatively many opportunities for lane change operation, and there is a sufficient margin for lane change operation, the control unit 2 displays the icon 24 in blue, On the other hand, the icon 24 may be displayed in red in a situation where the driving lane continuation distance is relatively short, that is, there are relatively few opportunities for lane change operation, and there is not enough opportunity for lane change operation.
- control unit 2 may notify the driver of the margin of opportunity for the lane change operation. Further, the control unit 2 displays specific numerical values of the traveling lane continuation distance, the other lane continuation distance, and the difference distance in addition to the message satisfying the purpose of prompting the driver to perform the lane change operation, and performs the lane change operation.
- the driver may be provided with information that can be used to determine whether or not to proceed.
- control unit 2 determines that the difference distance is not longer than the predetermined distance, and determines whether or not to change the lane (S10: NO)
- the control unit 2 ends the lane change determination process, and the next lane change determination process start event wait for the establishment of
- the control unit 2 continues the lane keeping function and continues traveling when the lane is changed from the driving lane to the other lane and when the lane is not changed, although the other lane continuation distance is longer than the traveling lane continuation distance.
- the notification for prompting the driver to change lanes is not performed.
- the continuous distance "600 m” of the lane number "1” and the continuous distance "5600 m” of the lane number "2", which is another lane running parallel to the driving lane, are compared.
- the starting point of the lane with the road segment number "103" is used as a reference, it means that "you can continue driving only 600 m ahead" in the lane number "1", which is the driving lane.
- the lane number "2", which is another lane running parallel to the driving lane means that "you can continue driving for 5600 m ahead”.
- the lane maintenance control device 1 determines whether it is appropriate to change the lane from the travel lane to another lane, A notification is provided to prompt the driver to perform a lane change operation.
- the lane change operation is performed as shown in FIG.
- the lane maintenance control can be continued for a long time in the lane after the lane change by prompting the driver to perform the lane change operation.
- the control unit 2 may add a reason when notifying the driver to urge the driver to perform the lane change operation described in FIG. Please change lanes to ", or a guidance may be output by voice.
- the lane maintenance control device 1 determines whether it is appropriate to change the lane from the travel lane to another lane, A notification is provided to prompt the driver to perform a lane change operation.
- the driving lane when the driving lane is connected to, for example, an expressway exit lane or a transfer lane to another road, there is a possibility that a change in the destination of the driving lane will lead to another road.
- the driver In order not to fall into such a situation, the driver must always understand the destination of the lane from the road signs and road markings, etc., but in this case, he must pay attention to the road signs and road markings while driving. However, the effort becomes a burden on the driver.
- the lane change operation is performed as shown in FIG. The lane keeping control can be continued for a long time in the lane after the lane change by prompting the driver to perform the lane change operation.
- the effort required to pay attention to road signs, road markings, etc. during driving can be reduced, and the burden on the driver can be reduced.
- the reason may be added, for example, "The destination of the driving lane will change. Please change lanes" or the like may be displayed, or guidance may be output by voice.
- the lane maintenance control device 1 determines whether it is appropriate to change the lane from the travel lane to another lane, A notification is provided to prompt the driver to perform a lane change operation.
- the driving lane when the lane width of the driving lane gradually widens due to the increase in the number of lanes, and a new lane boundary line starts in the center of the widened area and the first lane diverges into two lanes, the driving lane If the vehicle continues to drive, steering control may be performed to drive in the center of the widened lane, or it may be determined that control is impossible due to the widening of the lane, and lane keeping control may end without being able to continue. There is On the other hand, by performing the control of the present embodiment described above, the lane change operation is performed as shown in FIG. The lane keeping control can be continued for a long time in the lane after the lane change by prompting the driver to perform the lane change operation.
- the reason may be attached, for example, "The number of lanes will increase ahead. Lane change to the right lane. Please,” or the like may be displayed, or guidance may be output by voice.
- a notification signal indicating the suitability is output to the running control system 7 .
- the travel control system 7 performs automatic travel control by calculating a route setting for smooth control or continuous travel in the same lane.
- the route setting may be referred to as a path plan or a planned travel trajectory.
- the above explanation is based on the premise that it is possible to continue driving in all lanes, but traffic rules differ depending on the country or region, and it is possible that continuing to drive in some lanes may be a violation. be. A case where it is not possible to continue traveling in all lanes due to traffic regulations will be described below.
- the rightmost lane on the highway is the overtaking lane, and it is illegal to continue driving in the overtaking lane when other lanes are vacant.
- Germany when there are multiple lanes, it is stipulated to drive in the rightmost lane, and all lanes other than the rightmost lane are overtaking lanes. could become For reference, the Geneva Convention on Road Traffic and its successor, the Vienna Convention, stipulate as a general rule that German-style lanes should be selected for driving.
- the left lane In the United States, it varies by state. For example, in California, the left lane can remain as a passing lane. For example, in Maine, Massachusetts, Missouri, Montana, New Jersey, and Washington, as in Germany, you must stay in the right lane if the right lane is clear. In Texas, on roads with a sign "Left Lane For Passing Only", the left lane is the overtaking lane. You may stay in the left lane on unmarked roads.
- the lane number “1” has a longer travelable distance in which the lane can be maintained, so the lane keeping control device 1 determines whether or not there is a lane change from the driving lane to another lane, and does not notify the driver to urge the lane change operation.
- this embodiment can be used not only on roads without intersections, such as highways, but also on general roads with intersections.
- general roads there are sections with no lanes at intersections and the like, so a different measure than that for expressways is required in creating lane data. That is, the intra-intersection connection information is prepared in advance for each intersection passing through the target general road.
- the intra-intersection connection information is network data that can specify the connection between the entry lane for entering the intersection and the exit lane for exiting the intersection.
- the lane keeping control device 1 determines whether or not the lane allows the vehicle to proceed to the lane on the opposite side of the intersection while continuing the lane keeping control based on the intra-intersection connection information.
- intersection straight passable lane Assuming that a lane in which the lane on the opposite side of the intersection can be entered while the lane maintenance control is continued is called an intersection straight passable lane, in FIG. , the entry lane with the lane number "2" entering the intersection B corresponds to the intersection straight passable lane.
- the lane maintenance control device 1 not only determines the connection relationship by the traveling direction indicator before the intersection, but also determines whether or not the lane maintenance control can be continued, thereby determining whether the intersection is a straight passable lane. determine whether As shown in FIG. 29, if the angle formed by the road entering the intersection and the exit road leaving the intersection is relatively large and the lane maintenance control device 1 cannot determine the driving lane, the intersection can be passed straight through. cannot be determined. In FIG. 29, all of the entry lanes with lane numbers "1", "2", and "3" entering the intersection C do not correspond to the intersection straight passable lanes.
- traffic flow is controlled by traffic lights and traffic is negotiated between vehicles using stop signs, etc., and it is not always possible to continue driving if the intersection allows straight passage.
- stopping and confirmation at intersections for example, it is linked with a system that acquires information on the lighting status and lighting cycle of traffic lights, a system that acquires information on traffic of other vehicles in lanes that intersect with the driving lane, etc. can be realized.
- the lane data includes the road number, road segment number, lane number, type of each lane, connection destination, and continuous distance as components.
- the road number, road segment number, and lane number are components used for associating the shape of the lane map data, the type of each lane, the connection destination, and the continuous distance.
- Components directly related to the change determination process are four attributes: road number, lane type, connection destination, and continuation distance. Any means of adding these attributes to the lane map data as attributes may be used. It is sufficient if the driving road and driving lane corresponding to the current vehicle position, and the road number, type, connection destination, and continuation distance corresponding to that location can be acquired, and the amount of data when storing the attributes described above. may be reduced.
- the amount of data is reduced by giving a continuous distance only to the end point of each lane of each road in the lane map data. can be reduced. That is, only the continuous distance that cannot be known from only the provided data area is given, and it is possible to calculate the continuous distance corresponding to the vehicle position by searching network data within the data area.
- the continuous distances "740 m”, “5740 m”, and “5740 m” are set at the end points of the lane numbers "1", “2", and "3" of the road segment number "504", If the vehicle position is in the section of the road segment number "501", the vehicle A duration distance corresponding to the position can be calculated.
- the continuous distance of lane number "1” in the section of road segment number "501” is “1100 m”
- the continuous distance of lane number "2” is “1840 m”
- the continuous distance of lane number "3” is “6840 m”
- the continuous distance of lane number "4" is “6840 m”.
- the traveling lane continuation distance and the other lane continuation distance are compared, the propriety of changing the lane from the traveling lane to the other lane is judged, and the judgment result of the propriety of the lane change is outputted.
- it is possible to appropriately determine the driving lane by outputting a determination result indicating that it is appropriate to change lanes. It is possible to perform automatic driving control of.
- the host vehicle changes lanes, it is possible to appropriately maintain the lane to which the vehicle is changing lanes as the driving lane.
- the continuous distance defined in association with the road number and lane number is acquired.
- the continuous distance can be read together with the road number and lane number.
- the driving lane continuation distance and the other lane continuation distance are compared.
- the driving lane continuation distance and the other lane continuation distance are compared immediately after that, so that it is possible to immediately determine whether the lane change from the driving lane to the other lane is appropriate. If it is determined that it is suitable, it is possible to immediately perform a notification prompting the driver to perform a lane change operation, or immediately perform lane change automatic travel control.
- the difference distance indicating the difference between the other lane continuation distance and the traveling lane continuation distance is not longer than a predetermined distance, it is not possible to change the lane from the traveling lane to the other lane. I tried to judge no. If the distance that the lane keeping control can be continued for a long time is not sufficiently extended even if the lane is changed, it is possible to prevent unnecessary notification and lane change automatic driving control from being performed.
- a situation in which the driver can safely and securely perform the lane change operation may be added as a condition for notifying the driver to perform the lane change operation.
- the notification may be permitted in a straight section with relatively good visibility, prohibited in a curve section with relatively poor visibility, and permitted after passing the curve section and entering the straight section.
- notification may be prohibited in a rainfall section or a snowfall section, and notification may be permitted after passing through the rainfall section or the snowfall section.
- the continuation distance may be a fixed value, which is static information, or a variable value, which is dynamic information.
- an external server manages lane data
- the continuous distance of the blocked lane is calculated in the same way as the overtaking lane described above. is set to "0"
- An external server can always update the continuous distance according to traffic conditions, and by delivering the latest continuous distance to the lane keeping control device 1 through the communication network, only when the road shape changes in the direction in which the vehicle is traveling.
- the lane can be appropriately maintained even when traffic conditions temporarily change due to a traffic accident, construction work, or the like.
- the continuous distance of a lane that is blocked due to a traffic accident, construction, etc. is not limited to "0", and the continuous distance of the lane may be set based on the distance to the end of the blocked section. If there is a traffic jam, the lane continuation distance may be set based on the distance to the end of the congested section. As shown in FIG. 31, when there is traffic congestion in the traveling direction of the lane, the driver will operate to change lanes to other lanes. There is a possibility that the lane change operation cannot be performed with enough time to perform the lane change operation.
- FIGS. 31 to 34 illustrate the case where traffic congestion occurs in the direction of travel of the lane, the same applies when the direction of travel of the travel lane is blocked due to a traffic accident, construction work, or the like.
- the predetermined distance for determining whether it is appropriate to change the lane from the driving lane to another lane may be a fixed value, or may be a variable value according to the road type of the driving road and the lane type of the driving lane.
- the road type of the traveling road is classified into, for example, an exclusive road for automobiles and an ordinary road.
- the lane type of the driving lane is classified into, for example, an overtaking lane, a hill-climbing lane, other lanes, and the like.
- the control unit 2 identifies the road and lane on which the vehicle is traveling (S4), and identifies the road type of the identified road (S21). Then, the lane type of the identified driving lane is specified (S22), a predetermined distance is set according to the specified road type and lane type (S23), and the processing from step S5 is performed.
- the predetermined distance By changing the predetermined distance according to the road type of the driving road and the lane type of the oblique line, it is possible to appropriately determine whether the lane change from the driving lane to another lane is appropriate according to the road type of the driving road and the lane type of the driving lane. can be determined.
- the control unit 2 is not limited to specifying both the road type of the traveled road and the lane type of the traveled lane. Alternatively, only the lane type of the driving lane may be specified, and the predetermined distance may be changed according to the lane type of the driving lane.
- the traveling lane continuation distance is compared with the other lane continuation distance of 2 or more. If the vehicle is traveling on the left side, it changes lanes from the driving lane to another lane on the adjacent right side, and then changes lanes from the lane after the lane change to another lane on the adjacent right side, that is, the lane is changed multiple times within a predetermined period. may be done. In that case, the control unit 2 may notify the number of times of lane changes performed within a predetermined period, count down, and notify the remaining number of times of lane changes.
- the other lane with the longest continuation distance is selected as the lane.
- the other lane with the longest continuous distance and the longest Of other lanes whose distance difference from the continuation distance is equal to or less than the reference distance the lane closest to the driving lane may be specified as the lane change destination.
- the control unit 2 determines whether or not there are a plurality of other lanes having a difference distance longer than the predetermined distance (S31).
- control unit 2 determines whether there are a plurality of other lanes with a difference distance longer than a predetermined distance (S31: YES), it determines whether there is another lane whose distance difference from the longest continuous distance is equal to or less than a reference distance. (S32).
- the controller 2 determines that there are not a plurality of other lanes with a difference distance longer than the predetermined distance (S31: NO), or determines that there is no other lane with a distance difference from the longest continuous distance equal to or less than the reference distance (S32 : NO), specifies the other lane with the longest continuous distance as the lane change destination (S33), outputs a notification signal to the notification system 6, and causes the notification system 6 to perform notification to prompt the driver to perform the lane change operation. (S11).
- the controller 2 determines that there is another lane whose distance difference from the longest continuous distance is equal to or less than the reference distance (S32: YES), the other lane has the longest continuous distance and the distance difference from the longest continuous distance is equal to or less than the reference distance.
- the other lane closest to the driving lane is specified as a lane change destination (S34), a notification signal is output to the notification system 6, and the notification system 6 is made to perform notification prompting the driver to perform the lane change operation. (S11).
- the corrected continuous distance is calculated by subtracting the lane movement cost distance from the continuous distance, and the other lane with the longest corrected continuous distance is specified as the lane change destination.
- the lane movement cost distance is a distance obtained by multiplying the unit lane movement cost distance required for lane change from the driving lane to the adjacent lane by the number of lane changes.
- the control unit 2 determines whether or not there are a plurality of other lanes having a difference distance longer than the predetermined distance (S41).
- control unit 2 determines that there are not a plurality of other lanes with a difference distance longer than a predetermined distance (S41: NO), it specifies the other lane with the longest continuous distance as a lane change destination (S42), and outputs a notification signal to the notification system. 6 to cause the notification system 6 to perform a notification prompting the driver to perform a lane change operation (S11).
- control unit 2 determines that there are a plurality of lanes with difference distances longer than the predetermined distance (S41: YES), it calculates the lane movement cost distance (S43), subtracts the lane movement cost distance from the continuation distance, and continues correction. A distance is calculated (S44).
- the control unit 2 specifies the other lane with the longest corrected continuous distance calculated as the lane change destination (S45), outputs a notification signal to the notification system 6, and issues a notification to prompt the driver to perform the lane change operation. Let the system 6 do it (S11).
- the other lane continuation distance is longer than the travel lane continuation distance and the difference distance is longer than the predetermined distance, it is determined whether it is appropriate to change the lane from the travel lane to the other lane. It is also possible to omit the comparison and determine whether it is appropriate to change from the driving lane to the other lane simply when the other lane continuous distance is longer than the driving lane continuous distance.
- the controller and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring a processor and memory programmed to perform one or more functions embodied by the computer program.
- the controller and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits.
- the controller and techniques described in this disclosure can be implemented by a combination of a processor and memory programmed to perform one or more functions and a processor configured with one or more hardware logic circuits. It may also be implemented by one or more dedicated computers configured.
- the computer program may also be stored as computer-executable instructions on a computer-readable non-transitional tangible storage medium.
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Abstract
Description
道路番号=道路毎にユニークに付与されている番号であり、道路名と同じ意味である。道路名が変更されても「道なり」であれば同じ番号である。例えば日本の東名高速道路と名神高速道路との接続箇所を例示すると、東名高速道路は東京から小牧までの区間であり、名神高速道路は小牧から西宮までの区間であるが、実世界では東名高速道路と名神高速道路とが小牧で接続しており、東京方面から小牧を経由して西宮方面に走行する場合、又は西宮方面から小牧を経由して東京方面に走行する場合に、車線変更操作を伴うことなく走行し続けることができる。このような場合に、道路が「道なり」であると判断することができる。逆に、道路名が同じであっても「道なり」であると判断することができない場合には、道路番号を変更して異なる道路と見做す必要がある場合がある。日本の国道には道路番号が同一であっても交差点での右左折や分岐を伴う道路が多く存在するので、そのような道路を異なる道路と見做し、「道なり」でないと判断することができる。道路番号は、道路の領域を示す位置情報と対応付けられている。道路の領域は、例えば複数の位置座標で特定される。
但し、以下の場合には継続距離を「0」とする。
(1) 接続先車線の道路番号が異なる、即ち、別の道路に接続している場合
(2) 接続先が存在しない、即ち、車線が終了している場合
(3) 接続先候補が複数あり、何れに接続するのかを確定することができない場合
(1)自車進行方向において車線数が減少する場合
図5に示した自車進行方向において車線数が減少する道路形状では、道路セグメント番号「101」の「合流前加速」の車線の区間で自車が車線番号「1」から「2」へ車線変更すると、車線維持制御装置1は、道路セグメント番号「103」の「通常車線」の区間に進入したことを契機とし、走行車線である車線番号「1」の車線の継続距離「600m」と、走行車線に対して並走する他車線である車線番号「2」の車線の継続距離「5600m」とを比較する。この場合、図16に示すように、道路セグメント番号「103」の車線の開始地点を基準とすると、走行車線である車線番号「1」では「この先600mしか走行し続けられない」という意味であり、走行車線に対して並走する他車線である車線番号「2」では「この先5600mを走行し続けられる」という意味である。即ち、車線を維持して走行し続けられる走行可能距離は車線番号「2」の車線の方が長いので、車線維持制御装置1は、走行車線から他車線への車線変更の適を判定し、車線変更操作を運転者に対して促す報知を行う。cc
図8に示した自車進行方向において走行車線の行先が変化する道路形状では、道路セグメント番号「201」の「合流前加速」の車線の区間で自車が車線番号「1」から「2」へ車線変更すると、車線維持制御装置1は、道路セグメント番号「203」の「通常車線」の区間に進入したことを契機とし、走行車線である車線番号「1」の車線の継続距離「700m」と、走行車線に対して並走する他車線である車線番号「2」の車線の継続距離「5700m」とを比較する。この場合、図19に示すように、道路セグメント番号「203」の車線の開始地点を基準とすると、走行車線である車線番号「1」では「この先700mしか走行し続けられない」という意味であり、走行車線に対して並走する他車線である車線番号「2」では「この先5700mを走行し続けられる」という意味である。即ち、車線を維持して走行し続けられる走行可能距離は車線番号「2」の車線の方が長いので、車線維持制御装置1は、走行車線から他車線への車線変更の適を判定し、車線変更操作を運転者に対して促す報知を行う。
図11に示した自車進行方向において車線数が増加する道路形状では、道路セグメント番号「301」の「合流前加速」の車線の区間で自車が車線番号「1」から「2」へ車線変更すると、車線維持制御装置1は、道路セグメント番号「303」の「通常車線」の区間に進入したことを契機とし、走行車線である車線番号「1」の車線の継続距離「700m」と、走行車線に対して並走する他車線である車線番号「2」の車線の継続距離「5700m」とを比較する。この場合、図22に示すように、道路セグメント番号「303」の車線の開始地点を基準とすると、走行車線である車線番号「1」では「この先700mしか走行し続けられない」という意味であり、走行車線に対して並走する他車線である車線番号「2」では「この先5700mを走行し続けられる」という意味である。即ち、車線を維持して走行し続けられる走行可能距離は車線番号「2」の車線の方が長いので、車線維持制御装置1は、走行車線から他車線への車線変更の適を判定し、車線変更操作を運転者に対して促す報知を行う。
車線維持制御装置1において、走行車線継続距離と他車線継続距離とを比較し、走行車線から他車線への車線変更の適否を判定し、車線変更の適否の判定結果を出力するようにした。車線変更の適を判定すると、車線変更が適する旨の判定結果を出力することで、走行車線を適切に判断することができ、車線変更操作を運転者に対して促す報知を行わせたり車線変更の自動走行制御を行わせたりすることができる。そして、自車が車線変更することで、車線変更先の車線を走行車線として適切に維持することができる。これにより、自車進行方向の道路形状に応じて走行車線を適切に維持することができる。
Claims (16)
- 車線毎の当該車線を維持して走行継続可能な距離を示す継続距離を取得する第1取得部(2a)と、
自車が走行中の走行道路及び走行車線を特定する第1特定部(2b)と、
前記走行車線の継続距離を示す走行車線継続距離と、前記走行車線に対して並走する他車線の継続距離を示す他車線継続距離とを比較し、前記走行車線から前記他車線への車線変更の適否を判定する第1判定部(2c)と、
前記車線変更の適否の判定結果を出力する出力部(2i)と、を備える車線判断装置。 - 車両位置を特定する第2特定部(2d)と、
前記車両位置に対応する道路を識別可能な道路識別情報を取得する第2取得部(2e)と、
前記車両位置に対応する車線を識別可能な車線識別情報を取得する第3取得部(2f)と、を備え、
車両外部状況を特定する第3特定部(2g)と、
前記第1特定部は、前記道路識別情報、前記車線識別情報及び前記車両外部状況を用いて前記走行道路及び前記走行車線を特定し、
前記第1取得部は、前記道路識別情報及び前記車線識別情報に対応付けられて定義されている前記継続距離を取得する請求項1に記載した車線判断装置。 - 前記第1取得部は、前記道路識別情報及び前記車線識別情報と共に車線データの構成要素として定義されている前記継続距離を取得する請求項2に記載した車線判断装置。
- 道路変更及び車線変更の有無を判定する第2判定部(2h)を備え、
前記第1判定部は、前記道路変更又は前記車線変更の有が前記第2判定部により判定されたことを条件として、前記走行車線継続距離と前記他車線継続距離とを比較する請求項1から3の何れか一項に記載した車線判断装置。 - 前記第1判定部は、前記他車線継続距離が前記走行車線継続距離よりも長く、且つ前記他車線継続距離と前記走行車線継続距離との差分を示す差分距離が所定距離よりも長い場合に、前記走行車線から前記他車線への車線変更の適を判定する請求項1から4の何れか一項に記載した車線判断装置。
- 前記第1判定部は、走行道路の道路種別及び走行車線の車線種別の少なくとも何れかに応じた前記所定距離を用い、前記走行車線から前記他車線への車線変更の適を判定する請求項5に記載した車線判断装置。
- 前記第1判定部は、前記差分距離が前記所定距離よりも長い他車線が複数である場合に、最長継続距離との距離差が基準距離以下の他車線の中で走行車線に最も近い他車線を対象として前記走行車線から前記他車線への車線変更の適を判定する請求項5又は6に記載した車線判断装置。
- 前記第1判定部は、前記差分距離が前記所定距離よりも長い他車線が複数である場合に、前記継続距離から車線移動コスト距離を差し引いた補正継続距離が最長の他車線を対象として前記走行車線から前記他車線への車線変更の適を判定する請求項5又は6に記載した車線判断装置。
- 前記第1判定部は、前記他車線継続距離が前記走行車線継続距離よりも長くても、前記差分距離が前記所定距離よりも長くない場合に、前記走行車線から前記他車線への車線変更の否を判定する請求項5から8の何れか一項に記載した車線判断装置。
- ユーザに報知情報を報知する報知システム(6)と連携し、
前記出力部は、前記判定結果を前記報知システムに出力する請求項1から9の何れか一項に記載した車線判断装置。 - 車両走行を制御する走行制御システム(7)と連携し、
前記出力部は、前記判定結果を前記走行制御システムに出力する請求項1から9の何れか一項に記載した車線判断装置。 - 前記第1取得部は、継続距離を静的な情報として取得する請求項1から11の何れか一項に記載した車線判断装置。
- 前記第1取得部は、継続距離を動的な情報として取得する請求項1から11の何れか一項に記載した車線判断装置。
- 車線判断装置(1)の制御部(2)に、
車線毎の当該車線を維持して走行継続可能な距離を示す継続距離を取得する第1取得手順と、
自車が走行中の走行道路及び走行車線を特定する第1特定手順と、
前記走行車線の継続距離を示す走行車線継続距離と、前記走行車線に対して並走する他車線の継続距離を示す他車線継続距離とを比較し、前記走行車線から前記他車線への車線変更の適否を判定する第1判定手順と、
前記車線変更の適否の判定結果を出力する出力手順と、を実行させる車線変更判定プログラム。 - 自車が走行中の走行車線を維持する車線判断装置(1)に用いられ、道路を識別可能な道路識別情報と、車線を識別可能な車線識別情報とを構成要素として含む車線データのデータ構造であって、
前記道路識別情報及び車線識別情報に対応付けられて定義され、車線毎の当該車線を維持して走行継続可能な距離を示す継続距離を構成要素として含む車線データのデータ構造。 - 前記継続距離は、前記道路識別情報及び前記車線識別情報に基づいて車両進行に関する状況が変化する箇所を境界として区分された道路セグメント毎に、格納されたセグメント距離を構成要素として含む請求項15に記載した車線データのデータ構造。
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WO2015190212A1 (ja) * | 2014-06-10 | 2015-12-17 | クラリオン株式会社 | 車線選択装置、車両制御システム及び車線選択方法 |
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JP2007145251A (ja) * | 2005-11-29 | 2007-06-14 | Aisin Aw Co Ltd | 運転支援装置 |
WO2015190212A1 (ja) * | 2014-06-10 | 2015-12-17 | クラリオン株式会社 | 車線選択装置、車両制御システム及び車線選択方法 |
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