WO2023002579A1 - 走行軌道生成装置 - Google Patents

走行軌道生成装置 Download PDF

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Publication number
WO2023002579A1
WO2023002579A1 PCT/JP2021/027186 JP2021027186W WO2023002579A1 WO 2023002579 A1 WO2023002579 A1 WO 2023002579A1 JP 2021027186 W JP2021027186 W JP 2021027186W WO 2023002579 A1 WO2023002579 A1 WO 2023002579A1
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Prior art keywords
vehicle
trajectory
point
planned
reference value
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Ceased
Application number
PCT/JP2021/027186
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English (en)
French (fr)
Japanese (ja)
Inventor
凜 伊藤
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Mitsubishi Electric Corp
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Mitsubishi Electric Corp
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Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to JP2023536271A priority Critical patent/JP7527491B2/ja
Priority to PCT/JP2021/027186 priority patent/WO2023002579A1/ja
Priority to DE112021007998.0T priority patent/DE112021007998T5/de
Priority to US18/577,710 priority patent/US20240326862A1/en
Publication of WO2023002579A1 publication Critical patent/WO2023002579A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0011—Planning or execution of driving tasks involving control alternatives for a single driving scenario, e.g. planning several paths to avoid obstacles
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection
    • 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
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B60W2720/106—Longitudinal acceleration

Definitions

  • the present disclosure relates to a travel trajectory generation device that generates a travel trajectory for a vehicle in semi-automatic driving that partially includes automatic driving or manual driving.
  • the vehicle is controlled according to recognition information regarding the state of the own vehicle and its surrounding environment, and a target state of the vehicle determined based on the recognition information.
  • a trajectory to be followed is generated, and the vehicle is controlled according to the generated trajectory.
  • Patent Literature 1 discloses a vehicle driving support device that determines the movable range of an object from a blind spot, and based on this, includes driving support control that prevents the vehicle from colliding with the object.
  • Patent Document 1 In order to prevent a collision between the vehicle and an object, a sudden change in course and a reduction in speed are required, so the calculated target passing position and target speed will differ greatly from the previous time and this time. For this reason, in Patent Document 1, there is a problem that a running track is generated in which the behavior of the vehicle abruptly changes, deteriorating ride comfort.
  • the present disclosure has been made to solve the above problems, and aims to provide a travel trajectory generator capable of continuing automatic driving with good ride comfort even when the target state of the vehicle changes significantly.
  • a traveling trajectory generating device for generating a traveling trajectory of a vehicle stores a plurality of reference values including information regarding the state of the vehicle referred to when generating the traveling trajectory as a plurality of previous reference values.
  • a storage unit stores a plurality of current reference values to be referred to when generating the travel trajectory in the current calculation cycle, based on at least a target state, which is a target value of the vehicle state quantity of the vehicle, and the plurality of previous reference values. and a trajectory generator that generates the travel trajectory based on the plurality of current reference values calculated by the reference value calculator.
  • the traveling trajectory generation device instead of referring to the target state as it is when generating the traveling trajectory, multiple current reference values calculated based on the target state and multiple previous reference values are used. , even if the target state changes significantly, the effect can be mitigated, and comfortable automatic driving can be continued.
  • FIG. 1 is a system configuration diagram showing a schematic configuration of a vehicle equipped with a traveling trajectory generation device according to Embodiment 1;
  • FIG. 2 is a diagram schematically showing an own vehicle coordinate system used in Embodiment 1.
  • FIG. 1 is a functional block diagram of an automatic driving system in which a travel trajectory is generated by the travel trajectory generation device of Embodiment 1;
  • FIG. It is the figure which showed lane information typically.
  • 4 is a flow chart showing a flow of calculation of a reference value in a reference value calculation unit; It is the figure which showed typically the extraction method of an initial reference value.
  • FIG. 4 is a diagram schematically showing reference speed;
  • FIG. 4 is a diagram schematically showing a reference lane transition rate;
  • FIG. 4 is a diagram schematically showing reference passing positions;
  • FIG. 4 is a schematic diagram for explaining calculation of a reference lateral deviation;
  • FIG. 4 is a schematic diagram for explaining calculation of a reference lateral deviation;
  • FIG. 4 is a diagram schematically showing changes in reference lateral deviation when the recognized position of an obstacle changes suddenly;
  • FIG. 4 is a diagram schematically showing changes in reference lateral deviation when the recognized position of an obstacle changes suddenly;
  • FIG. 10 is a functional block diagram of an automatic driving system in which a travel trajectory is generated by a travel trajectory generation device according to Embodiment 2; It is a figure which shows an example of a running track typically.
  • FIG. 4 is a diagram for explaining the concept of processing for selecting selection planning points
  • FIG. 10 is a diagram for explaining the concept of processing to remove planned removal points from previous planned points and add additional planned points to obtain current planned points.
  • FIG. 10 is a diagram illustrating a process of extracting a reference value corresponding to each planning point of the current planning point from the previous planning point reference value and the additional planning point reference value, and using the reference value as the current planning point reference value
  • 4 is a flow chart showing a flow of calculation of a reference value in a reference value calculation unit
  • FIG. 2 is a diagram showing a hardware configuration that implements the traveling trajectory generation device of Embodiments 1 and 2
  • FIG. FIG. 2 is a diagram showing a hardware configuration that implements the traveling trajectory generation device of Embodiments 1 and 2
  • FIG. 1 is a system configuration diagram showing an example of a schematic configuration of a vehicle 1 equipped with a traveling trajectory generation device according to Embodiment 1.
  • a vehicle 1 includes a steering wheel 2, a steering shaft 3, a steering unit 4, an EPS (Electric Power Steering) motor 5, a power train unit 6, and a brake unit 7 as a drive system.
  • EPS Electronic Power Steering
  • a front camera 11 a ranging sensor 12, a GNSS (Global Navigation Satellite System) sensor 13, a yaw rate sensor 16, a speed sensor 17, an acceleration sensor 18, a steering angle sensor 20 and a steering torque sensor 21 are provided. .
  • GNSS Global Navigation Satellite System
  • a navigation device 14 a V2X (Vehicle-to-Everything) receiver 15, a vehicle control unit 30, an EPS controller 40, a powertrain controller 41 and a brake controller 42 are provided.
  • the traveling trajectory generation device of Embodiment 1 is implemented as part of the vehicle control unit 30 .
  • a steering wheel 2 installed for the driver to drive the vehicle 1 is coupled to a steering shaft 3 .
  • a steering unit 4 is connected to the steering shaft 3 .
  • the steering unit 4 rotatably supports two tires of the front wheels as steered wheels, and is steerably supported by the body frame. Therefore, the torque generated by the operation of the steering wheel 2 by the driver rotates the steering shaft 3, and the steering unit 4 steers the front wheels in the lateral direction. This allows the driver to control the amount of lateral movement of the vehicle when the vehicle 1 moves forward and backward.
  • the steering shaft 3 can also be rotated by the EPS motor 5. By controlling the current flowing through the EPS motor 5 with the EPS controller 40, the front wheels can be freely moved independently of the operation of the steering wheel 2 by the driver. can be steered.
  • the vehicle control unit 30 is an integrated circuit such as a microprocessor, and includes an A/D (Analog/Digital) conversion circuit, a D/A (Digital/Analog) conversion circuit, a CPU (Central Processing Unit), and a ROM (Read Only Memory). , RAM (Random Access Memory), etc.
  • A/D Analog/Digital
  • D/A Digital/Analog
  • CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • the vehicle control unit 30 includes a front camera 11, a ranging sensor 12, a GNSS sensor 13, a navigation device 14, a V2X receiver 15, a steering angle sensor 20 for detecting steering angle, a steering torque sensor 21 for detecting steering torque, and a yaw rate sensor. , a speed sensor 17 for detecting the speed of the vehicle, an acceleration sensor 18 for detecting the acceleration of the vehicle, an EPS controller 40, a powertrain controller 41 and a brake controller 42 are connected.
  • the vehicle control unit 30 processes information input from connected sensors according to a program stored in the ROM, transmits a target steering angle to the EPS controller 40, and transmits a target driving force to the powertrain controller 41. , to transmit the target braking force to the brake controller 42 .
  • the front camera 11 is installed at a position where the demarcation line in front of the vehicle can be detected as an image, and detects the environment ahead of the vehicle, such as lane information and the positions of obstacles, based on the image information.
  • the camera for detecting the environment in front of the vehicle 1 is taken as an example, but cameras for detecting the environment behind and to the sides may also be installed.
  • the distance measuring sensor 12 emits radio waves, light, or sound waves, and detects the reflected waves to output the relative distance and relative speed to obstacles existing around the own vehicle.
  • a well-known distance measurement sensor such as millimeter wave radar, LiDAR (Light Detection and Ranging), laser range finder, ultrasonic radar, or the like can be used.
  • the GNSS sensor 13 receives radio waves from positioning satellites with an antenna, and outputs the absolute position and absolute azimuth of the vehicle 1 by performing positioning calculations.
  • the navigation device 14 has a function of calculating the optimum travel route for the destination set by the driver, and stores road information on the travel route.
  • Road information is map node data that express road alignment, and each map node data includes latitude, longitude and altitude information indicating the absolute position at each node, lane width, cant angle, inclination angle information, etc. .
  • the V2X receiver 15 has the function of acquiring and outputting information through communication with other vehicles and roadside units.
  • the information to be acquired includes information on the surrounding environment, such as the positions and speeds of other vehicles and pedestrians, road entry prohibited areas due to construction work, and the like.
  • the communication method of the V2X receiver 15 is either DSRC (Dedicated Short Range Communications) or C-V2X (Cellular-V2x), or any other communication method. I don't mind.
  • the V2X receiver 15 is assumed to be a receiver compatible with the communication method adopted by communication targets such as other vehicles and roadside units.
  • the EPS controller 40 controls the running trajectory of the vehicle 1 by controlling the EPS motor 5 so as to achieve the target steering angle transmitted from the vehicle control unit 30 .
  • the powertrain controller 41 controls the powertrain unit 6 so as to achieve the target driving force transmitted from the vehicle control unit 30.
  • a vehicle using only an engine as a driving force source is taken as an example, but a vehicle using only an electric motor as a driving force source, a vehicle using both an engine and an electric motor as driving force sources, etc. This embodiment can be applied.
  • the brake controller 42 controls deceleration of the vehicle 1 by controlling the brake unit 7 so as to achieve the target braking force transmitted from the vehicle control unit 30 .
  • FIG. 2 is a diagram schematically showing the host vehicle coordinate system used in this embodiment. That is, the x-axis and the y-axis in FIG. 2 are a vehicle coordinate system in which the center of gravity of the vehicle is the origin, the x-axis is in front of the vehicle, and the y-axis is in the left-hand direction.
  • the positive direction of the x-axis is the reference direction for the angle ⁇ , and the positive direction is the counterclockwise direction.
  • FIG. 3 is a functional block diagram of the automatic driving system 100 in which the travel trajectory is generated by the travel trajectory generation device 70 of Embodiment 1.
  • the automatic driving system 100 includes a vehicle control unit 30 to which an information acquisition section 50, an EPS controller 40, a powertrain controller 41 and a brake controller 42 are connected.
  • the information acquisition unit 50 has a function of acquiring information on the vehicle 1, information on the surrounding environment of the vehicle 1, and information on the occupants of the vehicle. It has a unit 53 and an occupant information acquisition unit 54 .
  • the information acquisition unit 50 can also be called an information acquisition device.
  • the information acquired by the information acquisition unit 50 is called travel information.
  • the vehicle information acquisition unit 510 acquires vehicle information, which is information about the vehicle 1 .
  • the vehicle information includes a state quantity representing the state of the vehicle 1, that is, a vehicle state quantity.
  • Vehicle information acquisition unit 510 includes GNSS sensor 13 , yaw rate sensor 16 , speed sensor 17 , acceleration sensor 18 , steering angle sensor 20 and steering torque sensor 21 .
  • the obstacle information acquisition unit 52 acquires obstacle information, which is information about obstacles around the vehicle 1 .
  • Front camera 11 , ranging sensor 12 and V2X receiver 15 are included in obstacle information acquisition unit 52 .
  • the road information acquisition unit 53 acquires road information by performing matching processing between the map information recorded by the navigation device 14 and the position of the vehicle. N points of map data in the vicinity of the own vehicle in the own vehicle traveling lane and adjacent lanes are converted into the own vehicle coordinate system and output as lane information.
  • the occupant information acquisition unit 54 is a device that acquires settings related to automatic driving by the occupant, and is mounted on the vehicle 1 as a tablet terminal or touch panel, for example. The crew can use such equipment to make settings related to automatic driving.
  • the road information acquisition unit 53 stores the relative position of the preceding vehicle with respect to the own vehicle obtained by the distance measuring sensor 12, converts the past N points of relative positions into the current own vehicle coordinate system, and outputs the result as lane information.
  • the lane is an imaginary line representing the center of the lane, which is the center of the white lines (division lines) on both sides of the vehicle on the road. If the vehicle is X0m ahead and Y0m to the left, and at time t1, the vehicle moves Xem ahead and Yem to the left. , Y0-Yem on the left. This is the method of converting the relative position into the current vehicle coordinate system. are obtained as the first point (X0-Xe, Y0-Ye) and the second point (X1, Y1).
  • the road information acquisition unit 53 can also output the lane shape obtained from the front camera 11.
  • the lane number defined for each lane is included in the lane information as identification information, and the points corresponding to the same element number in the point sequence that constitutes each lane are aligned perpendicular to the tangential direction of the lane. It is assumed that there is
  • FIG. 4 is a diagram schematically showing lane information according to the present embodiment, and shows three lanes represented by a plurality of dot sequences.
  • the lane with the lane number 2 is the lane in which the vehicle 1 travels.
  • Each point sequence is represented by ⁇ Q l, i ⁇ , where l is the unique lane number defined for the lane, i is the element number, and N is the number of elements. be able to.
  • each point Q l,i is a position vector (qx l,i , qy l,i ) in the own vehicle coordinate system, and can be represented by the following formula (2).
  • artificial lane information is obtained using a known method such as that disclosed in Japanese Unexamined Patent Application Publication No. 2020-75558. can also be generated. Further, information indicating the area in which the vehicle can travel, which is acquired by the ranging sensor 12 and the front camera 11, can be used as the lane information.
  • the vehicle control unit 30 has a target setting section 60 , a traveling trajectory generation device 70 and a vehicle control section 80 .
  • the target setting unit 60 has a function of calculating a target state, which is a target value of the vehicle state quantity, based on the travel information obtained from the information acquisition unit 50, and a function of outputting the calculated target state to the travel trajectory generation device 70.
  • Vehicle state quantities included in the target state include, for example, vehicle body position, heading, speed, acceleration, rotation speed, steering angle, steering angular velocity, lateral deviation from the center of the following lane, following lane number, and combinations thereof.
  • the following lane number and speed are used in this embodiment.
  • the target state is represented by a scalar value for each state quantity, but it can also be represented by a data string representation, a parametric representation, or a combination thereof. Let the following lane number in the target state be the target following lane number and the speed be the target speed.
  • the travel trajectory generation device 70 has a function of calculating a travel trajectory for the vehicle 1 to follow the preceding vehicle, and has a function of outputting information on the calculated travel trajectory to the vehicle control unit 80 .
  • the vehicle control unit 80 uses the information on the traveling trajectory obtained from the traveling trajectory generation device 70 and the vehicle state quantity obtained from the information acquisition unit 50 to determine the target steering angle and the powertrain controller 41 to be transferred to the EPS controller 40. and a target braking force to be transferred to the brake controller 42 and output.
  • the vehicle control unit 80 can also be called a vehicle control device.
  • the traveling trajectory generation device 70 has a reference value calculation unit 71 , a reference value storage unit 72 and a trajectory generation unit 73 .
  • the reference value calculator 71, the reference value storage 72, and the trajectory generator 73 will be described below.
  • the reference value calculation unit 71 newly calculates the current reference value based on the travel information obtained from the information acquisition unit 50, the target state obtained from the target setting unit 60, and the previous reference value obtained from the reference value storage unit 72. , to the reference value storage unit 72 and the trajectory generation unit 73 .
  • the running trajectory generation device is a device that periodically repeats the computation for generating the running trajectory. Reference values are also distinguished by adding "this time” and "previous time”.
  • the reference value is information relating to the state of the vehicle 1 that is referred to when generating the travel trajectory. It shall contain the following lane number and lane transition rate information to be used. Let these pieces of information about the reference values be the reference passing position ⁇ P i ⁇ , the reference speed ⁇ v i ⁇ , the reference following lane number L, and the reference lane transition rate ⁇ i ⁇ .
  • the lane transition rate ⁇ i ⁇ represents the degree of transition from the current following lane to the target following lane at element i, the details of which will be described later.
  • passing position, speed, and lane transition rate are represented by a data string with a data length of M
  • reference passing position ⁇ P i ⁇ , reference speed ⁇ v i ⁇ , and reference lane transition rate ⁇ i ⁇ are represented by the following equations (3), (4) and (5), respectively.
  • each data of the passing position is a position vector (px i , py i ) in the own vehicle coordinate system, and is represented by the following formula (6).
  • the reference values are not limited to these, and may include, for example, information such as the arrival position, heading, speed, acceleration, rotation speed, steering angle, steering angular velocity, and lateral deviation relative to the passing position.
  • the passing position, speed, and lane transition rate are represented by data strings, and the following lane number is represented by scalar values, but they can also be represented by scalar values and data strings.
  • the data length is 1 when the passing position, speed and lane transition rate are represented by scalar values.
  • a parametric representation can also be used.
  • the reference value storage unit 72 has a function of storing the reference value output from the reference value calculation unit 71 and outputting the stored reference value to the reference value calculation unit 71 as the previous reference value in the next calculation cycle. are doing.
  • the trajectory generation unit 73 has a function of generating a travel trajectory to be followed by the vehicle based on the travel information and the reference value obtained from the reference value calculation unit 71.
  • a method for generating a traveling trajectory from a passing position and speed is known. Generating a trajectory is disclosed.
  • using a Bayesian filter is disclosed as an example of the state estimation calculation. Note that the generated travel trajectory is represented by a point sequence including the vehicle state quantity.
  • FIG. 5 is a flow chart showing the flow of reference value calculation in the reference value calculator 71 .
  • the reference value calculator 71 first sets constraints used for adjusting a specific reference value (step S1).
  • a preset upper limit acceleration absolute value a lim and a lane change time t lc are set as constraints.
  • the reference value corresponds to, for example, a target passing position, a target speed, and the like.
  • the constraint is, for example, a condition that "the acceleration must be equal to or less than the upper limit acceleration absolute value a lim ", and is a condition that must be observed in order to follow the target value. Therefore, if there is a target passing position that does not comply with the restrictions, priority is given to the restrictions and the target passing position is tracked.
  • Restrictions are not set for all reference values. For example, no restrictions are set for calculation of passing positions and reference following lane numbers.
  • the constraints can also be changed according to the driving information and the target state.
  • the information related to the operation of the passenger is acquired by the passenger information acquisition unit 54, and the constraint is changed according to the operation.
  • the crew member's operation in the crew member information acquisition unit 54 is, for example, the crew member's operation on the tablet type terminal when the crew member information acquisition unit 54 is a tablet type terminal.
  • the passenger can use this tablet terminal to make settings related to automatic driving, such as "change lane" or "increase vehicle speed.”
  • the vehicle state quantity to be restricted is not limited to acceleration and lane change time, but is speed, jerk, steering angle, steering angular velocity, steering angular acceleration, rotational speed, rotational acceleration, vehicle body side slip angle, tire Sideslip angles and combinations thereof can also be used.
  • step S2 it is determined whether or not the number of iterations of the calculation for trajectory generation by the running trajectory generating device 70 is the first time since the running trajectory generating device 70 was activated, If it is the first time (Yes), the process proceeds to step S3, otherwise (No), the process proceeds to step S4.
  • the initial value of each reference value is set based on the target state or travel information.
  • the initial value of the reference speed is the current speed of the vehicle 1
  • the initial value of the reference following lane number is the driving lane number of the vehicle 1
  • the initial value of the reference lane transition rate is zero. Note that the initial value of the passing position is not defined here.
  • the initial value of the reference speed may be the target speed
  • the initial value of the reference following lane number may be the target following lane number.
  • step S4 the reference value stored in the reference value storage unit 72 is read as the previous reference value, and the process proceeds to step S5.
  • step S5 an initial reference value is set based on the previous reference value.
  • the previous reference value is used as the initial value, and for the reference value represented by the data string, data corresponding to the current time is extracted and used as the initial reference value.
  • the method of extracting data corresponding to the current time is not limited.
  • the distance traveled by the vehicle 1 is estimated based on the elapsed time from the calculation, and the distance between the passing position and the vehicle position in the previous calculation is closest to the estimated travel distance of the vehicle 1, and the initial reference value is obtained.
  • FIG. 6 is a diagram schematically showing the method of extracting the initial reference values described above.
  • ⁇ P ' i ⁇ be the passing position in the previous reference value
  • the dashed line indicates the position of the vehicle 1 at the time of the previous calculation.
  • 1 position, ie, the passing position P'1 is shown by a semicircle.
  • the initial reference value is the third element of each reference value represented by the data string, which is closest to the estimated moving distance of the passing position P'3 .
  • the data at the current time is extracted from the passing position information, but it is also possible to add time information to each reference value and extract the data closest to the current time.
  • the data length of each reference value does not necessarily have to be the same.
  • one point of data is extracted from the previous reference values, but a value interpolated based on distance information or time information can also be used as the initial reference value.
  • step S6 After setting the initial reference value in step S3 or step S5, the process proceeds to step S6.
  • step S6 a new reference value is calculated based on the constraint set in step S2, the initial reference value set in step S3 or step S5, and the target state obtained from the target setting unit 60.
  • FIG. A method of calculating the reference value will be described below.
  • v t be the target speed
  • L t be the target following lane number
  • s i be the distance from the first point to each point in the point sequence ⁇ Q Lt,i ⁇ representing the target following lane. (7).
  • s1 is set to 0 .
  • the reference value ⁇ v i ⁇ is obtained by the following formula (8).
  • sgn is a function generally called a sign function and is represented by the following formula (9).
  • FIG. 7 is a diagram schematically showing the reference speed obtained by the above method.
  • the horizontal axis is the distance s
  • the vertical axis is the velocity v.
  • the reference speed is such that the target speed is reached by a gentle curve with the initial value of the reference speed as the origin.
  • the reference passing positions ⁇ P i ⁇ are represented by the following formulas (10), (11) and (12), respectively.
  • the reference value is obtained by the following method.
  • the reference following lane number L is set to be the same as the initial value L0 as shown in the following formula (13).
  • the predicted elapsed time t i to each point is determined by the following formula (14).
  • the reference lane transition rate ⁇ i ⁇ is calculated by Equation (15) below.
  • the lane transition rate is a value obtained by dividing the predicted elapsed time by the lane change time. Since the trajectory is generated so as to complete the lane change at the lane change time tlc , dividing the predicted elapsed time by the lane change time indicates how far the lane change has progressed at the i-th point.
  • the lane change time is a preset time.
  • the time is set so that the occupant does not feel stress when changing lanes, or the occupant can change the lane through the occupant information acquisition unit 54 according to his/her preference. You can set It can also be included in the target state.
  • the reference passing position ⁇ P i ⁇ is calculated by the following formula (16).
  • the passing position is obtained by applying a trigonometric function to the lane transition rate. It is also possible to obtain the passing position by
  • FIG. 8 and 9 are diagrams schematically showing the reference lane transition rate and the reference passing position, respectively, obtained by the above method.
  • the horizontal axis is the predicted elapsed time t
  • the vertical axis is the reference lane transition rate ⁇ i .
  • the initial value of the reference lane transition rate is set as the origin, and the reference lane transition rate increases in proportion to the predicted elapsed time to reach 100%, that is, 1.
  • the horizontal axis is the reference passing position px in the x-axis direction
  • the vertical axis is the reference passing position py in the y-axis direction.
  • the trajectory is such that it reaches the target following lane LT with a gentle curve.
  • the running trajectory generation device 70 generates a running trajectory based on the current reference value adjusted using the target state of the vehicle 1 and the previous reference value, that is, the target value. In this mode, sudden changes in the following lane and speed are mitigated, and comfortable autonomous driving can be achieved.
  • the constraint can be changed according to the travel information and the target state.
  • the constraint used in the value calculator 71 can also be changed according to the value of the degree of urgency. For example, the higher the degree of urgency, the wider the range of vehicle state variables allowed by the restrictions. Also, if the degree of urgency is higher than a predetermined threshold, the constraint can be equal to the limit of the vehicle's maneuverability.
  • the degree of urgency is related to the responsiveness required for each state quantity other than the degree of urgency included in the target state.
  • the state quantities other than the degree of urgency included in the target state are the vehicle body position, heading, speed, acceleration, rotation speed, steering angle, steering angular velocity, and lateral deviation from the center of the following lane
  • the responsiveness is can be defined by the time it takes for the state quantity to converge within a certain error with respect to the target value, and the state quantity with high responsiveness affects ride comfort.
  • the responsiveness of the lane number to be followed can be defined as the responsiveness of the lane change rate.
  • the reference value includes a reference lateral deviation that represents the lateral deviation that the vehicle should take with respect to the reference passing position
  • the reference value calculator 71 has a function of determining the reference lateral deviation according to the position of the obstacle.
  • the constraint includes the lateral deviation change rate upper limit u lim .
  • the reference lateral deviation is represented by a data string ⁇ d i ⁇ . An example of how to obtain the reference lateral deviation will be described below.
  • FIG. 10 and 11 are diagrams schematically showing calculation of the reference lateral deviation.
  • FIG. 10 is a diagram showing processing when an obstacle OB exists on the left side with respect to the orientation of the vehicle 1 at the reference passing position P i , and FIG. , and shows a process when an obstacle OB exists on the right side.
  • each reference passing position in FIGS. 10 and 11 The distance from each reference passing position in FIGS. 10 and 11 to the point where the straight line extending in the direction perpendicular to the tangent line of the reference passing position and the boundary of the area occupied by the obstacle OB intersect is calculated.
  • the tangent to the reference passing position is, for example, the slope of the straight line connecting the reference passing position P i ⁇ 1 and the reference passing position P i and the slope of the straight line connecting the reference passing position P i and the reference passing position P i+1 .
  • a straight line with a slope of ⁇ i and passing through the reference passing position P i is defined as a tangent line at the reference passing position P i .
  • the reference passage positions are connected by interpolation such as spline interpolation, the reference passage positions are continuously connected with a curve by the spline interpolation . can be defined.
  • ⁇ dl1 i ⁇ be the distance when the straight line is extended to the left with respect to the direction of the vehicle 1 at each reference passing position
  • ⁇ dr1 i ⁇ be the distance when it is extended to the right. If there is no intersection with the boundary of the area occupied by the obstacle OB, a sufficiently large value is substituted for the distance. It is assumed that the lateral width of the vehicle body of the vehicle 1 is Wv , and the safety margin M obs with respect to the obstacle OB is set in advance. In FIG. 10, the distance represented by the arrow extending on the opposite side of the arrow representing the distance ⁇ dl1 i ⁇ is the minimum lateral deviation ⁇ dl2 i ⁇ , and in FIG.
  • the minimum lateral deviation ⁇ dr2 i ⁇ can be obtained by the following equations (17) and (18), respectively.
  • the distance indicated by the arrow at the reference passing position P i ⁇ 1 is the lateral deviation ⁇ dl3 i ⁇ 1,i ⁇
  • the distance indicated by the arrow at the reference passing position P i+1 is the lateral deviation ⁇ dl3 i+1,i ⁇ .
  • These lateral deviations are provided at the reference passing positions before and after the reference passing position P i in order to set a realistic minimum lateral deviation ⁇ dl2 i ⁇ by setting the upper limit of lateral deviation change rate u lim . lateral deviation.
  • the distance represented by the arrow at the reference passing position P i ⁇ 1 is the lateral deviation ⁇ dr3 i ⁇ 1,i ⁇ with respect to the minimum lateral deviation ⁇ dr2 i ⁇ at the reference passing position P i .
  • the distance indicated by the arrow at the reference passing position P i+1 is the lateral deviation ⁇ dr3 i+1,i ⁇ .
  • the minimum lateral deviation ⁇ dl2 1 ⁇ at the reference passing position P 1 which is the initial position shown in FIG. 10 and the minimum lateral deviation ⁇ dr2 1 ⁇ at the reference passing position P 1 which is the initial position shown in FIG. It is obtained from the lateral deviation d 0 included in the reference value at by the following equations (19) and (20).
  • the element j corresponds to the reference passing position P i for which the minimum lateral deviation ⁇ dl2 i ⁇ and the minimum lateral deviation ⁇ dr2 i ⁇ are obtained as described above, and the element i is the reference passing position P i It corresponds to reference passing position P i ⁇ 1 and b reference passing position P i+1 which are reference passing positions before and after.
  • the difference between the lateral deviation at element j and the lateral deviation at element j ⁇ 1 is a certain value ⁇ dl2 j or less. must be. That is, in order to achieve the minimum lateral deviation dl2 j at element j, the lateral deviation at element j-1 must be at least greater than dl2 j - ⁇ dl2 j . This is the meaning of the lateral deviation to be ensured at element i.
  • the constant value ⁇ dl2 j corresponds to
  • ⁇ u lim in formulas (23) and (24), and since i j ⁇ 1, it can be expressed by formula (25) below. .
  • the lateral deviation at the time of previous trajectory generation is used as the initial value, and the lateral deviation can be changed according to the constraints. Also, sudden changes in vehicle behavior can be suppressed.
  • 12 and 13 are diagrams schematically showing changes in the reference lateral deviation when the recognized position of the obstacle OB changes suddenly.
  • the solid line represents the reference passing position
  • the dashed line represents the running track obtained by considering the reference passing position and the reference lateral deviation.
  • the obstacle OB is close to the reference passing position, so the traveling trajectory that avoids the obstacle is generated by taking a large reference lateral deviation.
  • the recognized position of the obstacle OB changes significantly from the time of FIG. 12, and the obstacle OB moves away from the reference passing position, so avoidance is no longer necessary.
  • the reference lateral deviation at the time of previous trajectory generation is used as an initial value, and the reference lateral deviation that gradually approaches 0 is calculated. As a result, even when the recognized position of the obstacle OB changes suddenly, it is possible to suppress the sudden change of the trajectory and improve the ride comfort.
  • FIG. 14 is a functional block diagram of an automatic driving system 200 in which a travel trajectory is generated by the travel trajectory generation device of the second embodiment.
  • symbol is attached
  • the system configuration of the vehicle 1 equipped with the automatic driving system 200 is the same as in FIG.
  • the vehicle control unit 30 has a target setting section 60, a traveling trajectory generation device 70A, and a vehicle control section 80.
  • the traveling trajectory generating device 70A has a configuration in which a planned point selecting unit 74, a planned point storing unit 75 and a trajectory extracting unit 76 are added to the traveling trajectory generating device 70 of the first embodiment. It is characterized by using design points for calculation.
  • the planned points are almost the same as the points that make up the travel trajectory, but what is different from the points that make up the travel trajectory is the way the points are connected.
  • up to one point on the front side and one point on the back side of the travel track can be connected to a point at a certain time, but only one point on the front side of the travel track can be connected to a planning point at a certain time.
  • any number of points can be connected after the time, and a tree structure is adopted.
  • FIG. 15 schematically shows an example of a travel trajectory
  • FIG. 16 schematically shows an example of a tree structure of planned points.
  • the travel trajectory is represented by a series of points TP 1 to TP 6 , and the points at a certain time are connected to points before and after the time except for the start point and the end point. be.
  • the planned points are represented by a series of points LP 1 to LP 7 , and only one point is connected to the point at a certain time, excluding the start point and the end point, on the front side of the time.
  • the planned point selection unit 74 selects one planned point from the previous planned points stored in the planned point storage unit 75 as a selected planned point, and uses the identification number of the selected planned point. It has a function of outputting a selected planned point number to the reference value calculator 71 and the trajectory generator 73 .
  • the method of selecting the planned points is not particularly limited, but there are, for example, a method of determining the planned points to be selected by a random number value and a method of deciding the planned points to be selected based on the target state or travel information.
  • the planned point selection unit 74 does not execute the planned point selection process when the trajectory generation calculation is the first time, and outputs an invalid value as the selected planned point number.
  • the reference value calculation unit 71 calculates a new reference value based on the travel information, the target state, the previous planned point reference value stored in the reference value storage unit 72, and the selected planned point number obtained from the planned point selection unit 74. , to the trajectory generator 73 .
  • the previous planned point reference value is a planned point reference value corresponding to the planned point obtained in the previous calculation cycle.
  • the design point reference values are not necessarily of the same configuration as the reference values, and there is a corresponding design point reference value for every design point.
  • the trajectory generation unit 73 outputs a plurality of planned points generated based on the travel information, the reference value, the selected planned point number, and the previous planned points to the planned point storage unit 75 and the trajectory extraction unit 76, and also outputs the planned points corresponding to the planned points. It has a function of calculating a planned point reference value and outputting it to the reference value storage unit 72 .
  • connection information between points is attached to each planning point.
  • the method of expressing the connection information is not particularly limited.
  • a point with a large moving distance from the vehicle position can be defined as a "child”
  • the connection information can be represented by the identification numbers of the parent and child points of each point.
  • the reference value storage unit 72 stores the plan point reference value output from the trajectory generation unit 73, and in the next calculation cycle, stores the stored plan point reference value as the previous plan point reference value to the reference value calculation unit 71. It has a function to output.
  • the planned point storage unit 75 stores the planned points output from the trajectory generation unit 73, and outputs the stored planned points to the planned point selection unit 74 and the trajectory generation unit 73 as previous planned points in the next calculation cycle. It has the function to
  • the trajectory extraction unit 76 has a function of extracting a plurality of points from the planned points output from the trajectory generation unit 73 and outputting them to the vehicle control unit 80 as a travel trajectory.
  • the method of extracting the planned point is not particularly limited, for example, the planned point closest to the target arrival position obtained from the target setting unit 60 is set as the terminal planned point, and the branch obtained by tracing the planned point earlier in time from the terminal planned point. There is a method in which a point sequence without a is used as a running trajectory.
  • a planned point whose distance from the target arrival position is equal to or less than a predetermined distance can be set as the terminal planned point candidate, and the planned terminal point with the lowest cost among the terminal planned point candidates can be set as the terminal planned point.
  • the cost of each terminal planned point candidate is calculated by combining the vehicle state quantity and a preset weight with respect to each planned point that is passed through when tracing the planned point that is earlier in time from the terminal planned point candidate, for example. , and the planned point with the lowest added value is the terminal planned point.
  • the probability of collision with an obstacle is incorporated into the vehicle state quantity of each planning point, it is possible to select planning points that take into consideration the probability of collision with an obstacle. It is also possible to give time information to planned points, and to select planned points within a predetermined time period from a preset target arrival time as terminal planned point candidates.
  • FIG. 17 is a flow chart showing the flow of calculation of the planned point reference value in the trajectory generator 73.
  • the trajectory generation unit 73 first determines whether or not the number of iterations of the calculation for trajectory generation in the trajectory generation device 70A is the first time since the trajectory generation device 70A was activated (step S21), if it is the first time (Yes), the process proceeds to step S22, otherwise (No), the process proceeds to step S23.
  • step S22 the initial state in trajectory generation, that is, the initial value is determined based on the vehicle state quantity obtained from the information acquisition unit 50, and the process proceeds to step S24.
  • step S23 the initial state in trajectory generation is determined from the selected planning points. That is, the plan point corresponding to the selected plan point number obtained from the plan point selection unit 74 is extracted from the previous plan points obtained from the plan point storage unit 75, and the vehicle state quantity at the extracted plan point is the initial state, That is, the initial value is set, and the process proceeds to step S24.
  • step S24 based on the initial state determined in step S22 or step S23, for example, using the vehicle model disclosed in International Publication No. WO 2020/129208, by performing a state estimation calculation on the vehicle state quantity, Generate a trajectory. That is, by using the passing position and speed included in the reference values and setting the information obtained from the planned point corresponding to the selected planned point number among the previous planned points to the initial state, the vehicle travels according to the technique disclosed in the above-mentioned known document. Generate a trajectory.
  • a method of generating a traveling track using traveling information for example, a method of generating a traveling track using obstacle information and road information is known.
  • step S25 in which a unique identification number is determined for each planning point constituting the travel trajectory, and the identification number of each planning point and the parent and child of each planning point are included in the information of each planning point. Add the identification number of , and make it an additional planned point.
  • each planned point is given an identification number, here identification numbers 8, 9, and 10.
  • FIG. 18 the planning point with identification number 8 is designated as additional planning point AP 1
  • the child is designated as additional planning point AP 2 with identification number 9 as the identification number information of the parent and child.
  • the parent identification number information is set to 1 for the additional planning point AP1.
  • the parent and child identification number information of the additional planned points AP2 and AP3 are omitted.
  • the previous planned point LP 1 is the selected planned point selected by the planned point selection unit 74.
  • FIG. Identification numbers 1 to 7 are given to the previous planned points LP 1 to LP 7 respectively.
  • plan point closest to the parent of the travel trajectory composed of the three plan points generated in step S24 matches the selected plan point
  • the plan point closest to the parent is added as an additional plan point.
  • the planned point on the parent side that is, the uppermost planned point of the travel trajectory is the selected planned point.
  • the second and third planning points are given identification numbers 8 and 9, without assigning an identification number to this planning point.
  • the planning point with identification number 8 is designated as additional planning point AP 1
  • the child of additional planning point AP 1 is designated as additional planning point AP 2 with identification number 9
  • the parent of additional planning point AP 1 is the selected planning point.
  • the previous planned point is LP 1 .
  • step S26 After generating the additional planning points, the process proceeds to step S26, and based on the reference values and the additional planning points, the planning point reference values corresponding to each additional planning point are calculated and used as the additional planning point reference values.
  • Planned point reference values can be obtained by assigning the identification number of each planned point to the reference value.
  • a value obtained by data interpolation can be used, and the usage rate of the reference value storage unit 72 can be reduced.
  • step S27 After generating the additional planning point reference values, the process proceeds to step S27, and unnecessary planning points are selected as removal planning points.
  • the method of selecting unnecessary planning points is not particularly limited, but for example, planning points located behind the vehicle and planning points earlier than the current time can be selected. If the planned points are divided into a plurality of tree structures when the planned removal points are excluded, one of the plurality of tree structures may be selected, and the planned points included in the other tree structures may be used as the planned removal points.
  • the tree structure may be selected in any way, but for example, a tree structure containing the planning point closest to the vehicle position can be selected.
  • step S28 After selecting the planned removal point, the process moves to step S28, and the planned point and the planned point reference value are updated. That is, the removal planned points are removed from the previous planned points, and the additional planned points are added to obtain the current planned points.
  • the concept of this processing will be described with reference to FIG.
  • the previous planned point LP 0 is located behind the vehicle position and is taken as a removal planned point
  • the remaining planned points are completely separated from the previous planned point LP 1 and the previous planned point LP 3 and subsequent. It is assumed that the previous planned point LP 1 is closest to the vehicle position among the planned points, the previous planned points LP 3 to LP 7 are set as removal plan points, and additional planned points AP 1 to AP 3 are added to the previous planned points LP 1 and LP 2 . is added as the planning point this time.
  • step S28 reference values corresponding to each planning point of the current planning point are extracted from the previous planning point reference value and the additional planning point reference value, and set as the current planning point reference value.
  • FIG. 21 shows the previous planning point reference value, the additional planning point reference value, and the current planning point reference value in a table, and indicates the reference value for the identification number of the corresponding planning point on a one-to-one basis.
  • Each identification number in FIG. 21 corresponds to each identification number in FIG.
  • reference values 1 and 2 of planning points assigned identification numbers 1 and 2 are extracted from the previous planning point reference values, and identification numbers 8 to 2 are extracted from the additional planning point reference values.
  • the reference values 8 to 10 of the design points assigned with 10 are extracted and used as the current design point reference values.
  • steps S21 to S28 Through the processing of steps S21 to S28, a series of trajectory generation processing by the traveling trajectory generation device 70A is completed, and the processing of steps S21 to S28 is repeated for the next trajectory generation.
  • FIG. 22 is a flow chart showing the flow of reference value calculation in the reference value calculation unit 71 .
  • the reference value calculation flow is basically the same as the flow of the reference value calculation unit 71 of the automatic driving system 100 of Embodiment 1 described using FIG. Since the processing in S6 is the same as that in FIG. 5, redundant description will be omitted.
  • step S2 If it is determined in step S2 that the number of iterations of the calculation for trajectory generation by the trajectory generating device 70A is not the first since the trajectory generating device 70A was activated (No), the process proceeds to step S7. do.
  • step S7 the reference values corresponding to the selected planning points are extracted from the previous planning point reference values output from the reference value storage section 72, the reference values are determined based on the extracted planning point reference values, and are used as initial references. value.
  • the reference value can be obtained by removing the identification number information of each planning point from the planning point reference value.
  • step S6 After setting the initial reference value in step S3 or step S7, the process proceeds to step S6, and the constraint set in step S2, the initial reference value set in step S3 or step S7, and the target obtained from the target setting unit 60 A new reference value is calculated based on the state.
  • This processing is the same as in the first embodiment.
  • the traveling trajectory generating device 70A reuses the traveling trajectory generated in the past, so it is possible to improve the calculation efficiency. Also, by setting the cost from the branched planned points and selecting the traveling trajectory, it is possible to obtain a traveling trajectory with good ride comfort. In addition, if the probability of collision with an obstacle is incorporated into the vehicle state quantity at each planning point, it is possible to improve the probability of generating a travel trajectory with a low probability of collision with an obstacle.
  • Each component of traveling trajectory generation devices 70 and 70A of Embodiments 1 and 2 described above can be configured using a computer, and realized by the computer executing a program. That is, the running trajectory generators 70 and 70A are realized by, for example, a processing circuit 500 shown in FIG. A processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) is applied to the processing circuit 500, and functions of each section are realized by executing a program stored in a storage device.
  • a processor such as a CPU (Central Processing Unit) or a DSP (Digital Signal Processor) is applied to the processing circuit 500, and functions of each section are realized by executing a program stored in a storage device.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • Dedicated hardware may be applied to the processing circuit 500 .
  • the processing circuit 500 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination of these.
  • ASIC Application Specific Integrated Circuit
  • FPGA Field-Programmable Gate Array
  • each function of the constituent elements may be realized by individual processing circuits, or these functions may be collectively realized by one processing circuit.
  • FIG. 24 shows a hardware configuration when the processing circuit 500 is configured using a processor.
  • the function of each part of the traveling trajectory generators 70 and 70A is realized by a combination of software or the like (software, firmware, or software and firmware).
  • Software or the like is written as a program and stored in memory 520 .
  • the processor 510 functioning as the processing circuit 500 implements the function of each part by reading and executing a program stored in the memory 520 (storage device). That is, it can be said that this program causes a computer to execute the procedure and method of operation of the components of the traveling trajectory generating devices 70 and 70A.
  • the memory 520 is, for example, RAM, ROM, flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), non-volatile or volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, or any storage medium that will be used in the future.
  • each component of the traveling trajectory generation devices 70 and 70A is realized by either hardware or software.
  • the configuration is not limited to this, and may be a configuration in which some components of the traveling trajectory generation devices 70 and 70A are realized by dedicated hardware, and other components are realized by software or the like.
  • the processing circuit 500 as dedicated hardware implements the functions of some components
  • the processing circuit 500 as the processor 510 executes programs stored in the memory 520 for some other components. Its function can be realized by reading and executing it.
  • traveling trajectory generators 70 and 70A can implement the functions described above using hardware, software, etc., or a combination thereof.
  • each embodiment can be freely combined, and each embodiment can be appropriately modified or omitted.

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