WO2022201536A1

WO2022201536A1 - Travel assistance method and travel assistance device

Info

Publication number: WO2022201536A1
Application number: PCT/JP2021/013089
Authority: WO
Inventors: 祐香吉松; 慎也田中
Original assignee: 日産自動車株式会社
Priority date: 2021-03-26
Filing date: 2021-03-26
Publication date: 2022-09-29
Also published as: JPWO2022201536A1; JP7428294B2

Abstract

The present invention provides a travel assistance method for a vehicle, the method configured as follows. If a host vehicle (V1) is caused to travel by autonomous travel control that includes stop control, while the host vehicle (V1) is caused to travel without stopping, a device of the host vehicle searches for a stopping region for the host vehicle (V1) to stop at. After the host vehicle has passed the stopping region, the host vehicle (V1) is caused to advance with the stopping region set as a target site, and after the host vehicle has travelled by advancement to the stopping region, the host vehicle (V1) is caused to stop at the stopping region.

Description

Driving support method and driving support device

The present invention relates to a vehicle driving support method and a driving support device.

Acquire information indicating the surroundings of the set destination, determine whether or not an event requiring a change in the destination occurs based on the acquired information, and determine if there are any obstacles at the set destination. There is known an automatic driving device that controls automatic driving of a vehicle so that it stops at a new destination that has been searched for when an event such as the existence of the vehicle has occurred (Patent Document 1).

JP 2020-194455 A

In the above conventional technology, after searching again for a new destination that satisfies the predetermined conditions, the user heads for that destination. Therefore, it may be necessary to stop in the travel lane while searching for a new destination. Such a stop impedes the running of following vehicles.

The problem to be solved by the present invention is to provide a driving support method and a driving support device that can stop one's own vehicle without interfering with the driving of other vehicles.

According to the present invention, when an own vehicle is caused to travel under autonomous travel control including stop control, the device of the own vehicle searches for a stop area for the own vehicle to stop while the own vehicle is driven so as not to stop. After passing through the stop area, the own vehicle is advanced with the stop area as a target point, and after running forward to the stop area, the own vehicle is stopped in the stop area to solve the above problem.

According to the present invention, the own vehicle can be stopped without interfering with the running of other vehicles.

1 is a block diagram showing a driving support system including a driving support device of the present invention; FIG. 1. It is a top view which shows an example of the driving|running|working scene which performs autonomous driving control in the driving assistance system shown in FIG. 1 (part 1). 2 is a plan view showing an example of a driving scene in which autonomous driving control is executed by the driving support system shown in FIG. 1 (No. 2); FIG. 3 is a plan view showing an example of a driving scene in which autonomous driving control is executed by the driving support system shown in FIG. 1 (No. 3); FIG. FIG. 2 is a flow chart showing an example of a processing procedure in the driving support system of FIG. 1; FIG.

Hereinafter, embodiments of the present invention will be described based on the drawings. It should be noted that the following description is based on the premise that vehicles drive on the left side of the road in a country that has left-hand traffic laws. In countries that have right-hand traffic laws, vehicles drive on the right-hand side, so the following descriptions should be read symmetrically between right and left.

[Configuration of driving support system]
FIG. 1 is a block diagram showing a driving support system 1 according to the invention. As shown in FIG. 1 , the driving assistance system 1 includes an imaging device 11 , a distance measuring device 12 , map information 13 , a vehicle position detecting device 14 , a navigation device 15 , a vehicle control device 16 and a driving assistance device 17 . Devices included in the driving support system 1 are connected by a CAN (Controller Area Network) or other in-vehicle LAN, and can exchange information with each other.

The imaging device 11 is a device that recognizes objects around the own vehicle from images, and is, for example, a camera equipped with an imaging device such as a CCD, an ultrasonic camera, an infrared camera, or the like. A plurality of imaging devices 11 can be provided in one vehicle, and can be arranged, for example, in the front grille of the vehicle, under the left and right door mirrors, and in the vicinity of the rear bumper. This can reduce blind spots when recognizing objects around the vehicle.

Range finder 12 is a device for calculating the relative distance and relative speed between a vehicle and an object. Radar equipment, such as sonic radar, or sonar. A plurality of distance measuring devices 12 can be provided in one vehicle, and can be arranged, for example, in the front, right side, left side, and rear of the vehicle. Accordingly, it is possible to accurately calculate the relative distance and relative speed of the vehicle to surrounding objects.

Objects detected by the imaging device 11 and the distance measuring device 12 include road lane boundaries, center lines, road markings, median strips, guardrails, curbs, side walls of highways, road markings, traffic lights, pedestrian crossings, and construction work. Sites, accident sites, traffic restrictions, and the like. Objects also include obstacles that may affect the travel of the own vehicle, such as automobiles other than the own vehicle (other vehicles), motorcycles, bicycles, and pedestrians. The detection results of the imaging device 11 and the distance measuring device 12 are acquired by the driving support device 17 at predetermined time intervals.

In addition, the detection results of the imaging device 11 and the distance measuring device 12 can be integrated or synthesized by the driving support device 17, thereby complementing the missing information of the detected object. For example, based on self-position information, which is the position where the vehicle travels, obtained by the vehicle position detection device 14 described later, and the relative position (distance and direction) of the vehicle and the object, the driving support device 17 It can calculate the position information of objects. The calculated positional information of the object is integrated with the detection results of the imaging device 11 and the distance measuring device 12 and a plurality of information such as the map information 13 in the driving support device 17, and is combined with the environmental information around the own vehicle. Become. Also, using the detection results of the imaging device 11 and the distance measuring device 12 and the map information 13, it is possible to recognize objects around the own vehicle and predict their movements.

The map information 13 is information used for generating a travel route and/or for travel control, and includes road information, facility information, and attribute information thereof. Road information and road attribute information include road width, road curvature radius, road shoulder structures, road traffic regulations (speed limit, lane change availability), road junctions and junctions, increase/decrease in number of lanes, Information such as the location of the fall is included. The map information 13 of the present embodiment is high-definition map information that can grasp the movement trajectory for each lane, and includes two-dimensional position information and/or three-dimensional position information at each map coordinate, road/lane boundary information at each map coordinate, Road attribute information, up/down lane information, lane identification information, connection destination lane information, and the like are included.

The road/lane boundary information in the high-definition map information is information that indicates the boundary between the road on which the vehicle is traveling and other areas. The road on which the vehicle travels is a road on which the vehicle travels, and the shape of the road is not particularly limited. The boundaries exist on the left and right with respect to the traveling direction of the host vehicle, and the form is not particularly limited. Boundaries include road markings, road structures, etc. Road markings include lane boundaries, center lines, etc. Road structures include medians, guardrails, curbs, tunnels, highway sidewalls, etc. be At a point such as an intersection where the road boundary cannot be clearly specified, the road boundary is set in advance. This boundary is fictitious and is not an actual pavement marking or road structure.

The map information 13 is stored in a readable state in a recording medium provided in the driving support device 17, an in-vehicle device, or a server on the network. The driving support device 17 acquires the map information 13 as necessary.

The own vehicle position detection device 14 is a positioning system for detecting the current position of the own vehicle, and is not particularly limited, and a known system can be used. The vehicle position detection device 14 calculates the current position of the vehicle from radio waves received from GPS (Global Positioning System) satellites, for example. In addition, the vehicle position detection device 14 estimates the current position of the vehicle from the vehicle speed information obtained from the vehicle speed sensor and the acceleration information obtained from the acceleration sensor and the gyro sensor, and compares the estimated current position with the map information 13. The current position of the own vehicle may be calculated by

The navigation device 15 is a device that refers to the map information 13 and calculates a travel route from the current position of the vehicle detected by the vehicle position detection device 14 to the destination set by the driver. The navigation device 15 uses the road information and facility information of the map information 13 to search for a travel route for the vehicle to reach the destination from the current position. The travel route includes at least information about the road on which the vehicle travels, the lane in which the vehicle travels, and the travel direction of the vehicle, and is displayed linearly, for example. A plurality of travel routes may exist depending on the search conditions. The travel route calculated by the navigation device 15 is output to the travel support device 17 .

The vehicle control device 16 is an in-vehicle computer such as an electronic control unit (ECU: Electronic Control Unit), and electronically controls in-vehicle equipment that regulates the running of the vehicle. The vehicle control device 16 includes a vehicle speed control device 161 that controls the running speed of the vehicle and a steering control device 162 that controls the steering operation of the vehicle. The vehicle speed control device 161 and the steering control device 162 autonomously control the operations of these drive device and steering device according to control signals input from the driving support device 17 . As a result, the own vehicle can autonomously travel along the set travel route.

The drive devices controlled by the vehicle speed control device 161 include an electric motor and/or an internal combustion engine as a travel drive source, a power transmission device including a drive shaft and an automatic transmission that transmit the output from these travel drive sources to the drive wheels, A driving device for controlling a power transmission device is included. A braking device controlled by vehicle speed control device 161 is, for example, a braking device for braking wheels. A control signal corresponding to the set running speed is input from the driving support device 17 to the vehicle speed control device 161 . The vehicle speed control device 161 generates a signal for controlling these drive devices based on the control signal input from the driving support device 17, and transmits the signal to the drive device to autonomously control the traveling speed of the vehicle. to control.

On the other hand, the steering device controlled by the steering control device 162 includes a steering device that controls all the steering wheels according to the steering angle of the steering wheel (so-called steering wheel), for example, a steering actuator such as a motor attached to the steering column shaft. be Based on the control signal input from the driving support device 17, the steering control device 162 obtains the detection results of the imaging device 11 and the distance measuring device 12, the map information 13, and the current position information obtained by the vehicle position detection device 14. At least one of them is used to autonomously control the operation of the steering device so that the vehicle travels while maintaining a predetermined lateral position (position in the left-right direction of the vehicle) with respect to the set travel route. .

Information necessary for autonomous control in the vehicle speed control device 161 and the steering control device 162, such as the running speed, acceleration, steering angle, and attitude of the own vehicle, is detected using various sensors provided in the vehicle control device 16. Various sensors include a vehicle speed sensor, an acceleration sensor, a gyro sensor, a steering angle sensor, an inertial measurement unit (IMU), and the like. The vehicle control device 16 outputs the detection results of these sensors to the driving support device 17 .

The driving support device 17 controls the driving of the own vehicle by controlling and cooperating with the devices included in the driving support system 1, and controls the driving of the own vehicle, particularly stopping near the destination set by the driver. It is a supporting device. The driving support device 17 realizes driving support by the processor 18 . The processor 18 has a ROM (Read Only Memory) 182 storing a program, and a CPU (Central Processing Unit) 181 which is an operation circuit for functioning as the driving support device 17 by executing the program stored in the ROM 182. and a RAM (Random Access Memory) 183 functioning as an accessible storage device.

[Autonomous driving support part]
A program used in the driving support device 17 of the present embodiment includes an autonomous driving support unit 2 which is a functional block for realizing driving support of the own vehicle by the driving support device 17 . The autonomous driving support unit 2 has a function of causing the host vehicle to travel by autonomous driving control. Autonomous driving control refers to autonomously controlling the driving behavior of the own vehicle using the driving support device 17. The driving behavior includes acceleration, deceleration, starting, stopping, and turning to the right or left. It includes all driving actions such as rudder, lane change, and pull-over. Further, autonomously controlling the running motion means that the running support device 17 controls the running motion using the device of the own vehicle. In other words, the autonomous driving support unit 2 intervenes and controls these driving operations within a predetermined range. The uninterrupted driving behavior is controlled manually by the driver.

The autonomous driving support unit 2 of this embodiment particularly has a function of autonomously controlling the driving behavior of the own vehicle that stops near the destination set by the driver. Autonomous travel control of the present embodiment includes vehicle stop control. Stopping control refers to stopping the own vehicle at a set stop position by autonomous driving, and the driving support device 17 controls all driving operations necessary for stopping the own vehicle using devices of the own vehicle. do. 1, the autonomous driving support unit 2 includes a parking availability determination unit 21, a stop area search unit 22, a circuit route generation unit 23, a driving route generation unit 24, and a driving operation control unit 25. In FIG. 1, each part is extracted and shown for convenience.

The autonomous driving support unit 2 of the present embodiment supports driving for the self-vehicle to autonomously stop near the set destination in the driving scene shown in FIG. 2, for example. In the driving scene of FIG. 2, there are roads R1 and R2 extending in the vertical direction of the drawing, and roads R3 and R4 extending in the horizontal direction of the drawing. An intersection C1 exists where the roads R1 and R3 intersect, an intersection C2 exists where the roads R1 and R4 intersect, an intersection C4 exists where the roads R2 and R3 intersect, and the road R2 exists. and the road R4 intersect, there is an intersection C3. Roads R1, R2, R3, and R4 are left-hand traffic roads and are four-lane roads with two lanes in each direction.

Lane L1 of road R1 allows a vehicle to turn left at intersection C1 or go straight ahead, and lane L2 allows a vehicle to turn right at intersection C1 or go straight ahead. Similarly, lane L3 of road R1 allows a vehicle to turn left or go straight through intersection C2, lane L4 allows a vehicle to turn right or go straight through intersection C2, and lane L5 of road R4 allows a vehicle to turn right or go straight through intersection C2. Lane L6 allows a traveling vehicle to turn right or go straight through intersection C3, Lane L7 of road R2 allows a traveling vehicle to turn left or go straight through intersection C4, and Lane L8 allows a traveling vehicle to turn left or go straight through intersection C4. Lane L9 of road R3 allows a vehicle to turn left or go straight through intersection C1, and Lane L10 allows a vehicle to turn right or go straight through intersection C1.

In the driving scene of FIG. 2, the own vehicle V1 is autonomously driving in the position P1 of the lane L2 using the function of the autonomous driving control of the driving support device 17, along the driving route set by the navigation device 15. and is heading for the destination Px. The own vehicle V1 goes straight through the intersection C and enters the lane L4, and when it approaches the destination Px, it tries to stop in the first stop zone Z1 set in advance by stop control by autonomous driving. Other vehicles V2, V3 and V4 are stopped in lane L3 of road R1. Of these, the other vehicles V2 and V3 are stopped in front of the destination Px, and their bodies are included in the first stop area Z1 when viewed from above.

It should be noted that the own vehicle V1 in this embodiment does not necessarily have to be a privately-owned vehicle. It may be a vehicle used for various services. Here, car sharing refers to the shared use of a specific vehicle by multiple registered users who pay a fee. Refers to sharing passengers and transporting them to their respective destinations. Functions performed by each functional block of the autonomous driving support unit 2 in driving support when the host vehicle V1 stops near the destination Px will be described below.

The parking feasibility determination unit 21 has a function of detecting an obstacle existing in the stop area set as the target point and determining whether the own vehicle V1 can stop in the stop area. A target point is a point at which driving support by the autonomous driving support unit 2 is completed when the own vehicle V1 is able to stop. In the driving support by the autonomous driving support unit 2 of the present embodiment, in order for the own vehicle V1 to stop in the vicinity of the set destination Px by autonomous driving, the target point is set as the stop point for the own vehicle V1 to stop. A region is set near the destination Px. Here, whether or not the vehicle V1 can actually stop in the stop area set as the target point depends on whether a space for the vehicle V1 to stop can be secured in the stop area. Therefore, the driving support device 17 uses the function of the parking feasibility determination unit 21 to detect obstacles existing in the stop area set as the target point, and determines whether or not there is a space for the vehicle V1 to stop in the stop area. determine whether

The stop area of the own vehicle V1 is set by the stop area search unit 22, which will be described later. The parking availability determination unit 21 uses the imaging device 11 and the distance measuring device 12 to detect obstacles present in the stop area set as the target point. For example, pattern matching is performed on image data acquired by the imaging device 11 to recognize a set stop area and obstacles present in the stop area. Then, by combining the obstacle recognized from the image data and the distance to the obstacle detected by the distance measuring device 12, the type and position of the obstacle existing in the set area are recognized. Obstacles detected by the parking propriety determination unit 21 include all objects that can hinder the travel of the host vehicle V1, such as barricades and pylons (cones), in addition to other vehicles, motorcycles, bicycles, and pedestrians. .

When determining whether or not the host vehicle V1 can stop in the stop area set as the target point, the parking availability determination unit 21 determines whether the vehicle is in the stop area recognized using the imaging device 11 and the distance measuring device 12. Using the type and position of the obstacle, it is determined whether or not the host vehicle V1 can secure a travel distance required to complete at least the travel motions of approaching and stopping in the set stop area. In the determination, the parking availability determination unit 21 uses, for example, the vehicle speed of the own vehicle V1 detected by the vehicle control device 16 to calculate the travel distance required for the own vehicle V1 to stop, and also the set distance. In the area where the vehicle V1 can travel without contacting an obstacle, the distance in the traveling direction is calculated, and the two calculated distances are compared. If the travel distance required for the own vehicle V1 to stop is smaller than the distance in which the own vehicle V1 can travel without contacting any obstacles in the stop area, the parking propriety determination unit 21 determines that the travel distance for stopping the vehicle is Since the travel distance for completing the operation can be secured in the set stop area, it is determined that the host vehicle V1 can stop in the stop area. On the other hand, if the travel distance required for the own vehicle V1 to stop is greater than or equal to the distance in which the own vehicle V1 can travel without contacting any obstacles in the stop area, the parking propriety determination unit 21 determines that the vehicle is stopped. Since the traveling distance for completing the traveling operation of (1) cannot be secured in the set stop area, it is determined that the host vehicle V1 cannot stop in the stop area.

Alternatively, if a road sign, a road sign, or the like indicating that the vehicle is prohibited from stopping in the set stop area is detected from the image data acquired by the imaging device 11, the parking availability determination unit 21 can also determine that the host vehicle V1 cannot stop in the stop area because it complies with traffic regulations and the like. It should be noted that the vehicle V1 stopping in the set stop area means that at least part of the body of the vehicle V1 is included in the stop area when the stopped vehicle V1 is viewed from above. , the entire vehicle body of the own vehicle V1 does not necessarily have to be included in the stop area.

In the driving scene of FIG. 2, the host vehicle V1 travels from position P1 to position P2 along the trajectory T1. And the distance measuring device 12 is used to detect obstacles existing around the first stop zone Z1. As a result of the detection, the other vehicles V2 and V3 stopped on the first stop zone Z1 set in front of the destination Px are recognized, and the own vehicle V1 is located in the first stop zone Z1. Therefore, the parking permission/inhibition determination unit 21 determines that the host vehicle V1 cannot stop in the first stop area Z1.

Here, if the own vehicle V1 is a commercial vehicle such as a taxi or a bus, or a vehicle used for various services such as car sharing or ride sharing, it is determined that the own vehicle V1 cannot be parked in the first stop area Z1. The user of the vehicle may be notified to that effect at the point in time. In addition to the passengers currently in the vehicle V1, the users include users waiting for the arrival of the vehicle V1 near the first stop zone Z1 in order to use the vehicle V1 from now on. included. The notification is performed by display on the display portion of the navigation device 15, display on the mobile terminal of the user using a communication device (not shown), or the like. As a result, it is possible to suppress the sense of discomfort (for example, uneasiness) given to the user by the vehicle V1 passing through the first stop zone Z1.

The stop area search unit 22 has a function of autonomously searching for a stop area for the own vehicle V1 to stop. The stop area is an area in which the own vehicle V1 can secure a distance corresponding to the travel distance required to complete at least the traveling motions of approaching and stopping, and the own vehicle V1 reaches near the destination Px. If it is set in advance, it can be set, for example, in front of the destination Px. In particular, in the present embodiment, a stop area is an area where the vehicle V1 can secure a travel distance for changing lanes and moving toward the side of the road. Further, when the own vehicle V1 is a commercial vehicle such as a taxi, a bus, or a truck, and a dedicated parking space is provided at the destination Px, an area corresponding to the parking space may be set as the parking area. . Further, searching autonomously means that the driving support device 17 searches for a stop area using a device of the own vehicle by the function of the stop area search unit 22 . Whether or not the vehicle V1 can actually stop in the stop area searched by the stop area search unit 22 is separately determined by the parking availability determination unit 21 before executing the running operation for stopping.

When searching for the stop area of the own vehicle V1, the stop area search unit 22 searches for an area within a predetermined range using the imaging device 11 and the distance measuring device 12, and determines whether the stop area exists in the searched area. determine whether or not The predetermined range refers to a range within a predetermined distance (eg, 50 to 100 m) from the destination Px, and can be set to an appropriate value in consideration of the road conditions and traffic regulations on which the vehicle V1 travels. In this embodiment, the area searched by the stop area search unit 22 is called a search area. Specifically, using the imaging device 11 and the distance measuring device 12, an area within a range of a predetermined distance from the destination Px is searched, and in the searched search area, the lane on the shoulder side of the road (even if it is left-hand traffic) Detects obstacles existing in the left lane if the vehicle is driving on the right, or in the right lane if the vehicle is driving on the right. Then, in the lane on the shoulder side of the search area, a stop area where there are no obstacles and where the traveling distance required for completing the traveling operation required for stopping can be secured is searched. The obstacle detection method is the same as the detection method in the parking propriety determination unit 21. For example, by performing pattern matching on the image data acquired by the imaging device 11, obstacles present in the lane on the shoulder side are recognized. Then, the range finder 12 detects the distance to the obstacle. When the imaging device 11 does not recognize the obstacle and the distance measuring device 12 cannot detect the obstacle, the stop area search unit 22 determines that the obstacle does not exist. Further, the traveling distance required for completing the traveling operation necessary for stopping the vehicle is determined by using, for example, the vehicle speed of the own vehicle V1 detected by the vehicle control device 16, and stopping at a predetermined deceleration from the current vehicle speed of the own vehicle V1. It can be obtained as the distance required until

In addition, the stop area search unit 22 has a function of detecting a following vehicle running behind the host vehicle V1 using the imaging device 11 and the distance measuring device 12. Then, when a vehicle succeeding the own vehicle V1 is detected, a device of the own vehicle V1 searches for a stop area while running the own vehicle V1 at a vehicle speed equal to or higher than a predetermined vehicle speed so that the own vehicle V1 does not stop. On the other hand, when the following vehicle of the own vehicle V1 is not detected, the stop area may be searched autonomously while the own vehicle V1 is traveling at a vehicle speed equal to or higher than the predetermined vehicle speed, or the vehicle V1 may be driven at a vehicle speed lower than the predetermined vehicle speed. While the vehicle V1 is running or the own vehicle V1 is stopped, the device of the own vehicle V1 may be used to search for the stop area. The predetermined vehicle speed is not particularly limited as long as it does not hinder the running of the following vehicle. It is the vehicle speed of the preceding vehicle or the following vehicle detected by

In the driving scene of FIG. 2, the function of the parking availability determination unit 21 determined that the vehicle V1 could not be stopped in the first stop area Z1. Driving support by 2 cannot be completed. Therefore, the own vehicle V1 continues to travel under autonomous travel control along the trajectory T2 shown in FIG. Explore. In addition, when traveling by autonomous travel control is to be continued, it is possible to set a travel route in which the vehicle V1 travels straight like the locus T2 shown in FIG. It is not necessary, and you may change lanes or the like as necessary.

First, the stop area search unit 22 uses the imaging device 11 and the distance measuring device 12 to detect the following vehicle traveling behind the host vehicle V1. In the driving scene of FIG. 3, there is no vehicle running behind the own vehicle V1, so neither the imaging device 11 nor the distance measuring device 12 detects the following vehicle of the own vehicle V1. Therefore, while driving the own vehicle V1 from the position P2 to the position P3 along the trajectory T2 at the vehicle speed set by the driver, the area within the range from the destination Px to the intersection C2 is searched by the device of the own vehicle V1. do.

Next, in the search area searched while the vehicle V1 travels from the position P2 to the position P3 along the trajectory T2, is there a stop area for the vehicle V1 in the lane L3, which is the lane on the shoulder side? determine whether or not In the driving scene of FIG. 3, there is an area where no obstacle exists between the other vehicles V3 and V4. The stop area search unit 22 detects this area from the search area searched using the image pickup device 11 and the distance measuring device 12, and detects the vehicle V1 from the vehicle speed set by the driver to stop the vehicle V1 at a predetermined deceleration. Calculate the required mileage. If the calculated traveled distance is smaller than the length of the area between the other vehicles V3 and V4 in the traveling direction, the stop area searching unit 22 searches the area between the other vehicles V3 and V4 in the lane L3. is the stop area, and the area is recognized as the second stop area Z2. In lane L3, there is also an area in front of other vehicle V4 where no obstacles exist. However, stopping for passengers to get on and off the vehicle is prohibited before intersection C4. Not a candidate for a parking area.

Further, when the own vehicle V1 is a commercial vehicle such as a taxi or a bus, or a vehicle used for various services such as car sharing or ride sharing, the first stop area Z1 When there is an intersection within a distance (for example, 1 to 100 m) that allows users to move on foot, the road can be entered by turning right or left at the intersection without entering the oncoming lane. may autonomously search for the second stop area Z2. For example, in the driving scene of FIG. 3, if the intersection C2 is within a distance from the first stop area Z1 within a range where the user can move on foot, the vehicle enters the oncoming lanes Lx and Ly. The device of the host vehicle V1 searches for the second stop zone Z2 in the lane L5 of the road R4 that can be entered by turning left at the intersection C2. Thereby, the stop area Z2a of the lane L5 can be detected as a second stop area different from the second stop area Z2 of the lane L3. As a result, it becomes easier for the user to find the stop area while avoiding movement across the intersection. Although road markings such as white lines are not provided within the intersection, it is assumed that the oncoming lane extends into the intersection when determining whether to enter the oncoming lane.

The circuit route generation unit 23 has a function of generating a travel route for the vehicle V1 to travel forward from the current position to the target point, using the stop area of the vehicle V1 as the target point. After passing through the stop area, it has a function of generating a travel route for driving the host vehicle V1 forward with the stop area as a target point. Based on the current position of the vehicle V1 acquired by the vehicle position detection device 14, the circuit route generation unit 23 refers to the road information of the map information 13, and from the current position, the vehicle V1 set as the target point. uses the navigation device 15 to generate a travel route to an area for stopping. In particular, when the device of the vehicle V1 is searching for a stop area while the vehicle V1 is traveling at a vehicle speed equal to or higher than a predetermined vehicle speed so that the vehicle V1 does not stop, the stop area detected within the search area is detected. If the vehicle stops in the area immediately, the change in behavior of the own vehicle V1 due to deceleration and steering becomes large, giving the occupants a sense of discomfort. In the present invention, the vehicle V1 is autonomously stopped in the vicinity of the destination Px only by the device mounted on the vehicle V1 without causing discomfort to the occupants. Even if it is done, it passes through the stop area once and travels forward with the stop area as the target point. As a result, it is possible to avoid a large change in behavior that accompanies stopping the vehicle, and to suppress discomfort given to the occupants.

In the driving scene of FIG. 3, the stop area search unit 22 recognizes the area Z2 between the other vehicles V3 and V4 on the lane L3 as the second stop area within the search area. After passing through the second stop zone Z2, the function 23 generates a travel route that travels forward from the position P3 to the second zone Z2 with the second stop zone Z2 as the target point. According to the generated travel route, the host vehicle V1 travels along the trajectories T3, T4, T5, and T6 from position P3 to position P4, position P5, position P6, and then to position P2. Here, if the own vehicle V1 is a commercial vehicle such as a taxi or a bus, or a vehicle used for various services such as car sharing or ride sharing, it passes through the second stop area Z2 and stops at the target point. When the area Z2 is set, the user is notified that a new target point is set and that the vehicle will reach the second stop area Z2 after traveling around. As a result, the user who is going to use the vehicle can move to a new target position while the own vehicle V1 passes through the first stop zone Z1 and the second stop zone Z2 and travels around to the second stop zone Z2. can. The notification is performed by display on the display portion of the navigation device 15, display on the mobile terminal of the user using a communication device (not shown), or the like. Note that when the host vehicle V1 is traveling at a vehicle speed less than the predetermined vehicle speed, or when the host vehicle V1 is stopped and the vehicle V1 autonomously searches for the stop area, it is not always necessary to pass through the stop area and travel around. If the host vehicle V1 can stop in the stop area detected in the search area, the vehicle may stop immediately.

In the autonomous driving support unit 2 of this embodiment, although the stop area search unit 22 searches for the stop area, if the stop area is not found, an arbitrary point within the search area searched by the device of the own vehicle is set as the target point. , and after passing through a preset stop area, the vehicle V1 can be made to make a circuit by creating a traveling route that travels forward from the current position to the target point. good. Further, after passing through the stop area, the stop area may be searched autonomously using the function of the stop area search unit 22 while the vehicle is traveling around. For example, in the driving scene of FIG. 3, if the vehicle V1 cannot stop in the second stop area Z2 of the lane L3 because there is a side road for entering and exiting another facility, the circuit route generation unit 23 An arbitrary point within the second stop area Z2 is set as a target point, and a traveling route is generated that circles from the position P3 to the second stop area Z2. The own vehicle V1 is caused to travel to the position P2 via the positions P4, P5, and P6. During this round trip, the function of the stop area search unit 22 is used to search for a stop area. The area Z2a is detected, and the stop area Z2b of the lane L3 is detected while traveling along the trajectory T6. The stop area search unit 22 of this embodiment can also search for an area located behind the first stop area Z1, which is the initial target point, in the traveling direction, such as the stop area Z2b.

In addition, as in the driving scene of FIG. 2, when the parking availability determination unit 21 determines that the host vehicle V1 cannot stop in the preset first stop area Z1, the function of the stop area search unit 22 is used. Then, while the host vehicle is driven straight by autonomous driving control, the vehicle autonomously searches for the second stop area Z2, and after passing through the first stop area Z1 and the second stop area Z2, moves to the second stop area Z2 as the target point. , the host vehicle V1 may be driven forward. As in the driving scene in FIG. 3 , the function of the circuit route generating unit 23 generates a driving route that circulates from the position P3 after passing through the first stop region Z1 and the second stop region Z2 to the second stop region Z2. By doing so, it is possible to generate a travel route that travels the shortest circular route and reaches the target point.

In the traveling scene of FIG. 3, when the traveling route for the traveling route is generated by the traveling route generation unit 23, the own vehicle V1 is a commercial vehicle such as a taxi or a bus, or various vehicles such as a car sharing or ride sharing. When it is a vehicle used for service, it is on the same lane L3 as the first stop area Z1, and within a range where the user can move on foot from the first stop area Z1 (for example, 1 to 100 m) The existing second stop zone Z2 can be set as the target point. This can reduce the distance traveled by the user. In a similar case, a second stop zone Z2 existing between the first stop zone Z1 and the intersection C2, which is the nearest intersection located in front of the first stop zone Z1 in the traveling direction, is set as the target point. , and after passing through the second stop zone Z2, a travel route for traveling forward to the target point can be generated. This can prevent the user from crossing the intersection C2 and moving.

When there are a plurality of second stop areas Z2 searched by the stop area search unit 22, when the travel route is generated by the circuit route generation unit 23, lane change travel is selected from among the plurality of second stop areas Z2. A travel route can be generated by setting an area closest to the first stop area Z1, which is an area where a travel distance for performing an action can be secured, as a target point. In the case of the driving scene of FIG. 3, the second stop area Z2 of the lane L3 is set as the target point instead of the second stop area Z2a of the lane L5, and a travel route is generated for the self-vehicle V1 to travel around. As a result, the travel distance of the user can be reduced. Further, in a similar case, the area having the largest length in the traveling direction of the host vehicle V1 among the plurality of second stop areas Z2 can be set as the target point, and the traveling route can be generated. As a result, the running operation for stopping the vehicle can be completed with time to spare, and the occurrence of a situation that hinders the running of the following vehicle can be suppressed.

So far, the case where the target point is set to the second stop area Z2 when generating the travel route by the circuit route generation unit 23 has been described. After autonomously searching for the area Z2, the host vehicle V1 may be driven forward with the first stop area Z1 instead of the second stop area Z2 as the target point. After traveling forward to the target point, the function of the parking availability determination unit 21 detects obstacles around the first stop area Z1, and using the detection result of the obstacles around the first stop area Z1, It is determined whether or not the host vehicle V1 can stop in the first stop zone Z1. Then, when it is determined that the own vehicle V1 can stop in the first stop area Z1, the own vehicle is stopped in the first stop area Z1. In this way, when the situation changes and the own vehicle V1 can stop in the first stop zone Z1, which is the original target point set in advance, by stopping in the first stop zone Z1, the distance traveled by the user can be reduced. can be reduced.

On the other hand, when it is determined that the own vehicle V1 cannot stop in the first stop area Z1, from among the plurality of second stop areas Z2, from the stop area closest to the first stop area Z1 in the traveling direction of the own vehicle V1, Sequentially, it is determined whether or not the own vehicle V1 can stop in each of the first stop zone Z1 to the farthest stop zone. Specifically, for each region, the own vehicle V1 is caused to travel to the target point along the travel route generated by the circuit route generation unit 23 in order, and the function of the parking availability determination unit 21 determines the image pickup device 11 and the distance measurement. Obstacles around the stop area are detected using the device 12, and it is determined whether or not the own vehicle V1 can stop in the stop area. Then, until the parking availability determining unit 21 determines that the vehicle V1 can stop in any of the parking areas, the vehicle travels to the target point, detects surrounding obstacles, and determines whether the vehicle can stop. repeat. As a result, it is possible to determine whether or not the vehicle V1 can stop in the stop area within the search area without performing the round trip again.

In this case, the travel route generated by the circuit route generation unit 23 is not a route that passes through the stop area and travels forward in a circular motion, but is the shortest distance from the current position to the next stop area, which is the target point. It is a driving route for driving with. A plurality of second stop areas Z2 have already been detected within the search area, and their positions are recognized by the autonomous driving support unit 2. Therefore, even if the vehicle does not pass through the stop areas and make a round trip, the occupant will feel uncomfortable. This is because the own vehicle V1 can be stopped in the stop area of the target point without giving

If the stop area is not found even after searching using the function of the stop area search unit 22, the vehicle travels along the route generated by the circuit route generation unit 23 and reaches the target point. When the parking availability determining unit 21 determines that the vehicle cannot be stopped, the loop route generating unit 23 functions to generate a running route for looping through the stop area, and then loops again. When the number of round trips exceeds a specified number (for example, 3 to 5 times), the vehicle V1 is controlled so as to return to a predetermined return location. Alternatively, the autonomous driving support unit 2 terminates the execution of the driving support, notifies the driver that the execution of the driving support has ended, and requests the driver to switch to manual operation.

The travel route generation unit 24 stops the vehicle V1 in the stop region set as the target point after the vehicle V1 travels forward to the stop region along the route generated by the circuit route generation unit 23. have a function. Specifically, after the own vehicle V1 reaches the position where the round trip is completed, the function of the parking availability determination unit 21 uses the imaging device 11 and the distance measuring device 12 to move the vehicle to the stop area set as the target point. Detect existing obstacles. Then, when it is determined by the parking feasibility determination unit 21 that the vehicle V1 can stop in the stop area, a stop position is set for the vehicle V1 to stop in the stop area. Generate a trajectory that travels to the set stop position and stops. In generating the trajectory, the overall length and width of the vehicle body of the vehicle V1, the minimum turning radius of the vehicle V1, and the like are taken into consideration.

In the driving scene of FIG. 4, after the own vehicle V1 reaches the position P2 where the round trip is completed, the function of the parking availability determination unit 21 uses the imaging device 11 and the distance measuring device 12 to determine the second stop area. Detect an obstacle present in Z2. There are no obstacles in the second stop zone Z2, and a sufficient travel distance for completing the running motion for stopping the own vehicle V1 can be secured, so the own vehicle V1 can stop in the second stop zone Z2. I judge. The travel route generation unit 24 sets a position P7, which is the stop position of the vehicle V1, in the second stop area Z2, and generates a locus T7 that travels from the position P2 to the position P7.

The traveling motion control unit 25 has a function of causing the own vehicle V1 to travel along the trajectory generated by the traveling route generation unit 24. The traveling operation control unit 25 controls the vehicle speed control device 161 and the steering control device 162 of the vehicle control device 16 based on the detection results of the imaging device 11 and the distance measuring device 12, and autonomously controls the travel of the own vehicle V1. do. In the case of the driving scene of FIG. 4, the driving operation control unit 25 controls the vehicle V1 through the vehicle speed control device 161 and the steering control device 162 so that the vehicle V1 runs along the trajectory T7 and stops at the position P7. It autonomously controls the running of V1.

It should be noted that the driving support system 1 according to the present invention can be applied not only to driving by autonomous control, but also to a navigation system that supports manual driving by the driver. When the driving support system 1 is applied to autonomous driving control of a vehicle, both speed control and steering control are autonomously controlled, and one of speed control and steering control is autonomously controlled and the other is manually controlled. can also be applied.

[Processing of driving support system]
With reference to FIG. 5, the processing when the driving support device 17 executes the autonomous driving support and the stopping support of the host vehicle V1 will be described. FIG. 5 is an example of a flowchart showing an information processing procedure in the driving support system 1 of FIG. The processing described below is executed at predetermined time intervals by the processor 18 of the driving support device 17 .

Each step of the flowchart is processed by the driving support device 17 and executed using the devices and functional blocks included in the driving support system 1. Further, the following description assumes that the vehicle V1 is autonomously traveling along a set travel route under the autonomous travel control of the travel support device 17, the travel speed is controlled by the vehicle speed control device 161, and the steering operation is performed. is controlled by the steering control device 162.

First, in step S1, by the function of the parking availability determination unit 21, using the imaging device 11 and the distance measuring device 12, an obstacle present in the first stop area Z1, which is a preset target point, is detected, In subsequent step S2, the same function determines whether or not the host vehicle V1 can stop in the first stop zone Z1. If it is determined that the vehicle V1 can stop in the first stop zone Z1, the process proceeds to step S3, and the function of the travel route generator 24 determines whether the vehicle V1 can stop in the first stop zone Z1. After the determination, the stop position is set, and in the following step S4, a trajectory that travels to the stop position is generated. Then, in step S5, the vehicle travels to the stop position and stops along the trajectory generated in step S4 by the function of the traveling motion control unit 25 .

On the other hand, when it is determined in step S2 that the own vehicle V1 cannot stop in the first stop area Z1, the process proceeds to step S6, where the function of the stop area search unit 22 uses the imaging device 11 and the distance measuring device 12. to detect the following vehicle of the host vehicle V1. When the following vehicle is detected, the process proceeds to step S7, and the function of the stop area search unit 22 is used to move the vehicle V1 so that the vehicle V1 does not stop, for example, at a vehicle speed equal to or higher than a predetermined vehicle speed, while moving the vehicle V1 to the stop area. Explore autonomously. In subsequent step S8, it is determined whether or not there is a stop area for the host vehicle V1 based on the search results in step S7.

If the stop area can be searched, proceed to step S9, after passing through the stop area, set the stop area as a second stop area Z2 as a target point, and generate a traveling route by the circuit route generation unit 23, Move forward and run around. After completing the round trip, the process proceeds to step S10. In step S10, the function of the parking feasibility determination unit 21 determines whether or not the host vehicle V1 can stop in the second stop area Z2. When it is determined that the host vehicle V1 can stop in the second stop zone Z2, the process proceeds to step S3, and the same process as described above is performed. On the other hand, when it is determined that the host vehicle V1 cannot stop in the second stop zone Z2, the process proceeds to step S11. In step S11, it is determined whether or not the round trip has been repeated a specified number of times. When the number of laps has reached the specified number, the execution of the driving support by the autonomous driving support unit 2 is ended. On the other hand, if the number of round trips has not reached the prescribed number, the process proceeds to step S6 to search for a stop area again.

On the other hand, if the stop area does not exist in step S8, the process proceeds to step S12, where the first stop area Z1, which is the initial target point, is set as the target point, and the vehicle stops area search unit moves forward while traveling around the vehicle. 22 functions to search for a stop area. When the round traveling by forward movement is completed, the process proceeds to step S13. In step S13, an obstacle existing in the first stop zone Z1 is detected by the function of the parking availability determination unit 21, and in subsequent step S14, the same function allows the own vehicle V1 to stop in the first stop zone Z1. Determine whether or not When it is determined that the host vehicle V1 can stop in the first stop zone Z1, the process proceeds to step S3, and the same process as described above is performed. On the other hand, when it is determined that the host vehicle V1 cannot stop in the first stop zone Z1, the process proceeds to step S15.

In step S15, among the areas searched by the function of the stop area search unit 22, the area closest to the first stop area Z1 is set as the target point, and the vehicle travels to the stop area. In the following step S16, the function of the parking availability determination unit 21 detects an obstacle existing in the stop area closest to the first stop area Z1, and determines whether or not the vehicle V1 can stop in the stop area. . When it is determined that the host vehicle V1 can stop in the stop area, the process proceeds to step S3, and the same process as described above is performed. On the other hand, if it is determined that the host vehicle V1 cannot stop in the stop area, the process proceeds to step S17.

In step S17, among the stop areas searched by the function of the stop area search unit 22, the stop area closest to the first stop area Z1 next to the stop area determined in step S16 is set as the target point, and the vehicle is stopped. Run to area. In the following step S18, the function of the parking possibility determination unit 21 detects an obstacle existing in the stop area next to the first stop area Z1 after the stop area determined in step S16, and the host vehicle is detected in the stop area. Determine whether or not V1 can stop. When it is determined that the host vehicle V1 can stop in the stop area, the process proceeds to step S3, and the same process as described above is performed. On the other hand, if it is determined that the host vehicle V1 cannot stop in the stop area, the process proceeds to step S19.

In step S19, it is determined whether or not parking availability has been determined by the function of the parking availability determination unit 21 for all candidates detected as the stop area for the host vehicle V1 to stop within the search area. When parking availability is determined by the function of the parking availability determination unit 21 for all the candidates, execution of the travel assistance by the autonomous travel assistance unit 2 ends. On the other hand, if there is a candidate for which parking permission/refusal has not been determined by the function of the parking permission/refusal determination unit 21, the process proceeds to step S17, and the parking permission/refusal determination by the function of the parking permission/refusal determination unit 21 is repeated.

If the following vehicle is not detected in step S6, the process proceeds to step S20, and the function of the stop area search unit 22 is used to drive the own vehicle V1 at a vehicle speed lower than the predetermined vehicle speed or to stop the own vehicle V1. and autonomously searches for a parking area. In the subsequent step S21, it is determined whether or not the stop area could be searched from the search result of step S20. If the stop area of the own vehicle V1 can be found, the process proceeds to step S3, and the same process as described above is performed. On the other hand, if the stop area could not be searched, the process proceeds to step S12, and the first stop area Z1, which is the initial target point, is set as the target point, and the vehicle circulates. The processing after step S12 is as described above. Of the steps shown in the flowchart of FIG. 5, steps S1, S2, S6, S8, and S11 to S21 are not essential steps, and can be provided as required.

[Embodiment of the present invention]
As described above, according to the vehicle driving support method and support device of the present embodiment, when the own vehicle V1 is driven by the autonomous driving control including the stop control, the vehicle V1 is driven so as not to stop. A device of the own vehicle searches for a stop area for the vehicle V1 to stop, and after passing through the stop area, the own vehicle V1 is advanced with the stop area as a target point, and after traveling forward to the stop area, The host vehicle V1 is stopped in the stop area. As a result, the own vehicle V1 can be stopped in the searched stop area without interfering with the running of other vehicles. In addition, it is possible to search for a stop area using only the imaging device 11 and the distance measuring device 12 of the own vehicle V1 and stop the own vehicle V1. In addition, after passing through the stop area once, the vehicle can move forward and run around the area, thereby avoiding the vehicle from stopping during the search, and can run without interfering with the running of other vehicles.

Further, according to the vehicle driving support method and support device of the present embodiment, when the stop area is not found, the own vehicle V1 is set to an arbitrary point within the search area searched by the device of the own vehicle as the target point. While moving forward, the system of the own vehicle V1 searches for the stop area. This makes it easier to find an area for stopping the own vehicle V1.

Further, according to the vehicle travel assistance method and assistance device of the present embodiment, the travel distance required for the vehicle V1 to change lanes and move toward the side in the search area searched by the device of the vehicle V1 is The area that can be secured is determined to be the stop area. As a result, the own vehicle V1 can be stopped at a position where the user can easily get on and off.

Further, according to the vehicle driving support method and support device of the present embodiment, when the following vehicle of the own vehicle V1 is not detected, the own vehicle V1 is caused to travel at a vehicle speed lower than the predetermined vehicle speed or the own vehicle V1 is stopped. Then, the device of the host vehicle V1 searches for the stop area. This makes it possible to avoid unnecessary round trips.

Further, according to the vehicle driving support method and support device of the present embodiment, an obstacle around the first stop zone Z1 preset as the target point is detected, and an obstacle around the first stop zone Z1 is detected. Using the object detection result, it is determined whether or not the own vehicle V1 can stop in the first stop area Z1, and when it is determined that the own vehicle V1 cannot stop in the first stop area Z1, the autonomous traveling While continuing to travel under control, without stopping the own vehicle V1, the apparatus of the own vehicle V1 searches for a second stop area Z2 different from the first stop area Z1, and after passing through the second stop area. , the host vehicle V1 is advanced with the second stop zone Z2 as a target point, and after the vehicle V1 travels forward to the second stop zone Z2, obstacles around the second stop zone Z2 are detected, and the second stop zone Z2 is detected. When it is determined whether or not the vehicle V1 can stop in the second stop zone Z2 using the detection result of the obstacles around Z2, and it is determined that the vehicle V1 can stop in the second stop zone Z2. Then, the host vehicle V1 is stopped in the second stop zone Z2. Thus, the host vehicle V1 can be stopped in the second stop zone Z2 without interfering with the running of other vehicles. Further, the second stop area Z2 can be searched only by the imaging device 11 and the distance measuring device 12 of the own vehicle V1, and the own vehicle V1 can be stopped. Further, after passing through the second stop area, the vehicle can move forward and travel around the vehicle, thereby avoiding the vehicle from stopping during the search, so that the vehicle can travel without interfering with the travel of other vehicles.

Further, according to the vehicle driving support method and support device of the present embodiment, when it is determined that the vehicle V1 cannot stop in the first stop zone Z1, the vehicle V1 is driven straight by the autonomous driving control, A device of the own vehicle V1 searches for the second stop area Z2, and after passing through the first stop area Z1 and the second stop area Z2, the own vehicle V1 moves forward with the second stop area Z2 as a target point. Let As a result, it is possible to reach the target point by making a round trip along the shortest travel route.

Further, according to the vehicle driving support method and support device of the present embodiment, it is on the same lane as the first stop zone Z1, and the range in which the user is allowed to move on foot from the first stop zone Z1. The second stop area Z2 existing within the distance is set as the target point. As a result, it is possible to stop the vehicle at a location that is easy for the user to use, thereby reducing the distance traveled by the user.

Further, according to the vehicle driving support method and support device of the present embodiment, the first stop area Z1 existing between the first stop area Z1 and the nearest intersection located in front of the first stop area Z1 in the traveling direction. 2 The stop area Z2 is set as the target point. This prevents the user from crossing the intersection.

In addition, according to the vehicle driving support method and support device of the present embodiment, in the traveling direction forward of the first stop zone Z1, the user is allowed to move on foot from the first stop zone Z1. When an intersection exists in the distance, the second stop area Z2 is controlled by the device of the own vehicle V1 on a road where the intersection can be entered by turning right or left without entering the oncoming lanes Lx and Ly. Explore. This makes it easier for the user to find the stop area while avoiding moving across the intersection.

Further, according to the vehicle travel support method and support device of the present embodiment, when there are a plurality of the second stop regions Z2, the driving operation for lane change is performed in the plurality of the second stop regions Z2. , and is closest to the first stop zone Z1 as the target point. As a result, the distance traveled by the user can be reduced.

Further, according to the vehicle driving support method and support device of the present embodiment, when there are a plurality of the second stop regions, the length of the region in the traveling direction of the own vehicle among the plurality of the second stop regions The own vehicle V1 is made to make a lap with the region having the largest value as the target point. As a result, the running operation for stopping the vehicle can be completed with time to spare, and the occurrence of a situation that hinders the running of the following vehicle can be suppressed.

Further, according to the vehicle driving support method and support device of the present embodiment, when there are a plurality of the second stop areas Z2, after searching for the second stop areas Z2 with the device of the own vehicle V1, The own vehicle V1 is advanced with the first stop zone Z1 as a target point instead of the second stop zone Z2, and after traveling forward to the first stop zone, obstacles around the first stop zone Z1 are detected, Using the result of detection of obstacles around the first stop zone Z1, it is determined whether the own vehicle V1 can stop in the first stop zone Z1, and the own vehicle V1 stops in the first stop zone Z1. When it is determined that the vehicle V1 can be stopped in the first stop zone Z1, and when it is determined that the vehicle V1 cannot be stopped in the first stop zone Z1, one of the plurality of second stop zones Z2 is stopped. , the own vehicle V1 is caused to travel from the closest area to the first stop area Z1 to the farthest area from the first stop area Z1 in the traveling direction of the own vehicle V1, and the surrounding obstacles are detected. Detecting an object, determining whether or not the vehicle V1 can stop, and traveling to the target point and detecting surrounding obstacles until it is determined that the vehicle V1 can stop in any of the second stop areas. and determination of whether the host vehicle V1 can be stopped are repeated. As a result, if traffic conditions change and the vehicle can be stopped at the original target point, the vehicle can be stopped at the target point and the distance traveled by the user can be reduced.

DESCRIPTION OF SYMBOLS 1... Driving support system 11... Imaging device 12... Ranging device 13... Map information 14... Own vehicle position detection device 15... Navigation device 16... Vehicle control device 161... Vehicle speed control device 162... Steering control device 17... Driving support device 18 ... processor 181 ... CPU
182 ROM
183 RAM
2 Autonomous driving support unit 21 Parking availability determination unit 22 Stop area search unit 23 Circuit route generation unit 24 Travel route generation unit 25 Travel operation control units C1, C2, C3, C4 Intersections L1, L2, L3 , L4, L5, L6, L7, L8, L9, L10... lanes Lx, Ly... oncoming lanes P1, P2, P3, P4, P5, P6, P7... position Px... destinations R1, R2, R3, R4... roads T1, T2, T3, T4, T5, T6, T7... Trajectory V1... Own vehicle V2, V3, V4... Other vehicle Z1... First stop area Z2, Z2a, Z2b... Second stop area

Claims

In a vehicle driving support method for driving the own vehicle by autonomous driving control including stop control,
Search for a stop area for the own vehicle to stop by a device of the own vehicle while driving the own vehicle so as not to stop,
After passing through the stop area, advance the own vehicle with the stop area as a target point;
A driving support method for a vehicle, comprising stopping the own vehicle in the stop area after traveling forward to the stop area.
when the stop area is not found, advancing the own vehicle with an arbitrary point in the search area searched by the apparatus of the own vehicle as a target point;
2. The method of claim 1, wherein the stopping area is explored with equipment of the host vehicle while moving forward.
3. The system according to claim 1 or 2, wherein, within a search area searched by a device of the own vehicle, an area where a travel distance for the own vehicle to change lanes and move toward the side of the road can be ensured is determined as the stop area. described method.
4. The system according to any one of claims 1 to 3, wherein, when a vehicle following the own vehicle is not detected, the stop area is searched for by a device of the own vehicle while the own vehicle is traveling at a vehicle speed less than a predetermined vehicle speed or the own vehicle is stopped. or the method described in paragraph 1.
detecting obstacles around a first stop area preset as the target point;
Determining whether the own vehicle can stop in the first stop area using the detection result of the obstacles around the first stop area,
When it is determined that the own vehicle cannot stop in the first stop area, the self-vehicle does not stop while continuing to travel under the autonomous driving control, and the vehicle enters a second stop area different from the first stop area. Explore with vehicle equipment,
After passing through the second stop area, advance the own vehicle with the second stop area as a target point,
After traveling forward to the second stop area, detecting obstacles around the second stop area;
Determining whether the own vehicle can stop in the second stop area using the detection result of the obstacle around the second stop area,
The method according to any one of claims 1 to 4, further comprising stopping the own vehicle in the second stop area when it is determined that the own vehicle can stop in the second stop area.
when it is determined that the vehicle cannot stop in the first stop area, searching for the second stop area with a device of the own vehicle while driving the own vehicle straight under the autonomous driving control;
6. The method according to claim 5, wherein after passing through the first stop area and the second stop area, the vehicle is advanced with the second stop area as a target point.
setting the second stop area, which is on the same lane as the first stop area and which is within a distance from the first stop area within a range where the user is allowed to move on foot, as the target point; 7. The method according to Item 5 or 6.
Any one of claims 5 to 7, wherein the second stop area existing between the first stop area and the nearest intersection located in front of the first stop area in the traveling direction is set as the target point. The method described in section.
If there is an intersection in front of the first stop area in the traveling direction and within a distance from the first stop area that allows the user to move on foot, the user crosses the intersection without entering the oncoming lane. 7. A method according to claim 5 or 6, wherein the device of the own vehicle searches for the second stopping area on a road into which a right or left turn can be made.
When there are a plurality of the second stop areas, the second stop area closest to the first stop area is an area where a traveling distance for performing a lane change traveling operation can be secured among the plurality of second stop areas. The method according to any one of claims 5 to 9, wherein the own vehicle is advanced with the stop area as the target point.
wherein, when there are a plurality of the second stop areas, the vehicle is moved forward with the second stop area having the largest length in the running direction of the vehicle among the plurality of second stop areas as a target point. The method according to any one of 5-10.
when there are a plurality of the second stop areas, after searching for the second stop areas with a device of the own vehicle, advancing the own vehicle with the first stop area instead of the second stop area as a target point;
After traveling forward to the first stop area, detecting obstacles around the first stop area;
Determining whether the own vehicle can stop in the first stop area using the detection result of the obstacles around the first stop area,
If it is determined that the vehicle can be stopped in the first stop area, stop the vehicle in the first stop area,
When it is determined that the own vehicle cannot stop in the first stop area, the first stop area is sequentially selected from the area closest to the first stop area in the running direction of the own vehicle among the plurality of second stop areas. to the farthest area, run the vehicle as a target point, detect surrounding obstacles, determine whether the vehicle can stop,
Until it is determined that the vehicle can stop in one of the second stop areas, the driving to the target point, the detection of surrounding obstacles, and the determination of whether or not the vehicle can stop are repeated. A method according to any one of paragraphs.
In a vehicle driving support device equipped with a processor that drives the own vehicle by autonomous driving control including stop control,
The processor
A device of the own vehicle searches for a stop area for the own vehicle to stop while driving the own vehicle without stopping,
After passing through the stop area, advance the own vehicle with the stop area as a target point;
A driving support device for a vehicle, which stops the own vehicle in the stop area after traveling forward to the stop area.