Lane Priority Setting Device, Lane Priority Setting Method, and Computer Program for Lane Priority Setting

Abstract

Provided are a lane priority setting device, a lane priority setting method, and a computer program for lane priority setting. The lane priority setting device includes: a detection unit that detects a plurality of lanes in which a vehicle can advance without crossing a lane dividing line from the lane on which the vehicle is traveling; and a setting unit that, when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one lane included in the road other than the plurality of lanes across the lane dividing line, and the lanes other than at least one of the plurality of lanes are not adjacent to any one lane included in the road other than the plurality of lanes across the lane dividing line, sets the priority of at least one of the plurality of lanes to be higher than the priority of the lanes other than at least one of the plurality of lanes.

Description

Technical Field

[0001] The present disclosure relates to a lane priority setting device, a lane priority setting method, and a computer program for lane priority setting that set the priority of lanes in which a vehicle travels. Background Art

[0002] There is known a vehicle that can autonomously travel on a lane in which it is currently traveling based on map data and surrounding conditions.

[0003] In Patent Document 1, there is described a travel control device that controls the travel of a vehicle. The travel control device described in Patent Document 1 determines the lane in which the vehicle travels among a plurality of travel lanes when it recognizes that there are a plurality of travel lanes in the traveling direction of the own vehicle, based on the set vehicle speed.

[0004] Prior Art Documents

[0005] Patent Documents

[0006] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2019-202690 Summary of the Invention

[0007] The travel control device described in Patent Document 1 determines the travel lane and creates a travel route based on whether the set vehicle speed set based on surrounding conditions or the designation of an occupant is less than a threshold value.

[0008] When determining the selected lane based on the set vehicle speed, the surrounding conditions are not considered. Therefore, depending on the surrounding conditions, the lane determined in this way sometimes does not match the lane assumed by the driver. A travel control device that selects a lane in this way sometimes gives the driver a sense of discomfort and is not preferable.

[0009] An object of the present disclosure is to provide a lane priority setting device that can set the priority of lanes in a manner that does not give the driver a sense of discomfort.

[0010] The lane priority setting device of the present disclosure includes: a detection unit that detects a plurality of lanes in which the vehicle can advance without crossing the lane dividing line from the lane in which the vehicle is traveling; and a setting unit that, when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one lane other than the plurality of lanes included in the road across the lane dividing line, and the lanes other than at least one of the plurality of lanes are not adjacent to any one lane other than the plurality of lanes included in the road across the lane dividing line, sets the priority of at least one of the plurality of lanes to be higher than the priority of the lanes other than at least one of the plurality of lanes.

[0011] In the lane priority setting device of the present disclosure, preferably, the setting unit sets the priorities of the plurality of lanes such that the closer a lane is to at least one lane, the higher the priority becomes.

[0012] In the lane priority setting device of the present disclosure, preferably, the setting unit sets the priority of the lane with a smaller curvature of the driving path when advancing from the lane in which the vehicle is traveling among the plurality of lanes to be higher than the priority of the lane with a larger curvature.

[0013] In the lane priority setting device of the present disclosure, preferably, it further includes a driving control unit that controls to drive on the lane with the highest priority set among the plurality of lanes.

[0014] The present disclosure provides a lane priority setting method, including: detecting a plurality of lanes that enable the vehicle to advance without crossing the lane dividing line from the lane in which the vehicle is traveling; and when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one lane included in the road other than the plurality of lanes across the lane dividing line, and the lanes other than at least one of the plurality of lanes are not adjacent to any one lane included in the road other than the plurality of lanes across the lane dividing line, setting the priority of at least one lane among the plurality of lanes to be higher than the priority of the lanes other than at least one lane among the plurality of lanes.

[0015] The computer program for lane priority setting of the present disclosure recorded on a computer-readable medium causes a processor mounted on a vehicle to execute: detecting a plurality of lanes that enable the vehicle to advance without crossing the lane dividing line from the lane in which the vehicle is traveling; and when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one lane included in the road other than the plurality of lanes across the lane dividing line, and the lanes other than at least one of the plurality of lanes are not adjacent to any one lane included in the road other than the plurality of lanes across the lane dividing line, setting the priority of at least one lane among the plurality of lanes to be higher than the priority of the lanes other than at least one lane among the plurality of lanes.

[0016] According to the lane priority setting device of the present disclosure, the priority of the lane can be set in a manner that does not cause discomfort to the driver. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic structural diagram of a vehicle equipped with a lane priority setting device.

[0018] Figure 2 It is a hardware schematic diagram of the ECU.

[0019] Figure 3 It is a functional block diagram of the processor that the ECU has.

[0020] Figure 4 It is a diagram illustrating the first example of the lane priority setting.

[0021] Figure 5 It is a diagram illustrating the second example of the lane priority setting.

[0022] Figure 6 It is a flowchart of the lane priority setting process.

[0023] (Description of the reference numerals)

[0024] 1: Vehicle; 5: ECU; 531: Detection unit; 532: Setting unit; 533: Driving control unit. Detailed implementation manners

[0025] Hereinafter, with reference to the drawings, a lane priority setting device that can set the priority of lanes in a manner that does not cause discomfort to the driver will be described in detail. The lane priority setting device detects a plurality of lanes in which the vehicle can advance without crossing the lane dividing line from the lane in which the vehicle is traveling. Moreover, when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one of the lanes included in the road other than the plurality of lanes across the lane dividing line, and the lanes other than at least one of the plurality of lanes are not adjacent to any one of the lanes included in the road other than the plurality of lanes across the lane dividing line, the lane priority setting device sets the priority of at least one of the plurality of lanes to be higher than the priority of the lanes other than at least one of the plurality of lanes.

[0026] Figure 1 It is a schematic structure diagram of a vehicle equipped with a lane priority setting device.

[0027] The vehicle 1 has a camera 2, a GNSS receiver 3, a storage device 4, and an ECU 5. The camera 2, the GNSS receiver 3, the storage device 4, and the ECU 5 are communicably connected via an in-vehicle network conforming to a standard such as Controller Area Network.

[0028] The camera 2 is an example of a sensor for detecting the conditions near the vehicle. The camera 2 includes a two-dimensional detector composed of an array of photoelectric conversion elements sensitive to visible light, such as a CCD or a C-MOS, and an imaging optical system that images the image of the area to be photographed on the two-dimensional detector. The camera 2 is arranged, for example, at the upper front part inside the vehicle cabin facing forward, and photographs the conditions around the vehicle 1 through the windshield for each predetermined photographing cycle (for example, 1 / 30 second to 1 / 10 second), and outputs an image corresponding to the surrounding conditions.

[0029] The GNSS receiver 3 receives GNSS signals from GNSS (Global Navigation Satellite System) satellites for each predetermined cycle, and measures the own position of the vehicle 1 based on the received GNSS signals. The GNSS receiver 3 outputs a positioning signal representing the positioning result of the own position of the vehicle 1 based on the GNSS signals to the ECU 5 via the in-vehicle network for each predetermined cycle.

[0030] The storage device 4 is an example of a storage unit, and includes, for example, a hard disk device or a non-volatile semiconductor memory. The storage device 4 stores a high-precision map. In the high-precision map, for example, information indicating the lane dividing lines of each road included in a predetermined area shown in the high-precision map is included.

[0031] The ECU 5 is an ECU (Electronic Control Unit) having a communication interface, a memory, and a processor. The ECU 5 is an example of a lane priority setting device, and detects a plurality of lanes in front of the vehicle 1 based on the image received from the camera 2 via the communication interface, and sets the priority of each of the plurality of lanes.

[0032] Figure 2 is a hardware schematic diagram of the ECU 5. The ECU 5 includes a communication interface 51, a memory 52, and a processor 53.

[0033] The communication interface 51 is an example of a communication unit, and has a communication interface circuit for connecting the ECU 5 to the in-vehicle network. The communication interface 51 provides the received data to the processor 53. In addition, the communication interface 51 outputs the data provided from the processor 53 to the outside.

[0034] The memory 52 is an example of a storage unit, and includes a volatile semiconductor memory and a non-volatile semiconductor memory. The memory 52 stores various data used in the processing by the processor 53, such as parameters for setting a neural network for detecting lane dividing lines from an image generated by the camera 2. In addition, the memory 52 stores various application programs, such as a lane priority setting program for executing lane priority setting processing.

[0035] The processor 53 is an example of a control unit, and includes one or more processors and their peripheral circuits. The processor 53 may also include other arithmetic circuits such as a logical arithmetic unit, a numerical arithmetic unit, or a graphics processing unit.

[0036] Figure 3 is a functional block diagram of the processor 53 included in the ECU 5.

[0037] The processor 53 of the ECU 5 includes a detection unit 531, a setting unit 532, and a travel control unit 533 as functional blocks. Each of these units included in the processor 53 is a functional module installed by a computer program executed on the processor 53. Alternatively, each of these units included in the processor 53 may also be installed in the ECU 5 as an independent integrated circuit, microprocessor, or firmware.

[0038] The detection unit 531 inputs the image received from the camera 2 via the communication interface to an identifier that has been pre-learned to detect lane dividing lines, thereby detecting the lane dividing lines in front of the vehicle 1. The lane dividing lines are lane dividing lines displayed to demarcate lanes on a road.

[0039] The identifier can be set, for example, as a convolutional neural network (CNN) having a plurality of convolutional layers connected in series from the input side to the output side. By previously using an image including lane dividing lines as training data and inputting it to the CNN for learning, the CNN operates as an identifier for detecting lane dividing lines.

[0040] The detection unit 531 detects a plurality of lanes in which the vehicle 1 can advance without crossing the lane dividing lines from the lane in which the vehicle 1 is traveling, based on the lane dividing lines detected from the received image. For example, it is assumed that three lane dividing lines are detected in front of the current position of the vehicle 1, and driving paths can be created from the current position of the vehicle 1 to each of the two lanes in front of the vehicle 1 divided by the three lane dividing lines without crossing the lane dividing lines. In this case, the detection unit 531 detects each of the two lanes in front of the vehicle 1 as a lane in which the vehicle 1 can advance without crossing the lane dividing lines from the lane in which the vehicle 1 is traveling.

[0041] The detection unit 531 can also detect, based on the high-precision map stored in the storage device 4, a plurality of traffic lanes in which the vehicle 1 can advance without crossing the lane dividing line from the traffic lane on which the vehicle 1 is traveling. For example, the detection unit 531 receives a positioning signal from the GNSS receiver 3. The detection unit 531 acquires the high-precision map of the location corresponding to the positioning signal from the storage device 4. Then, the detection unit 531 detects, based on the information of the lane dividing line in the high-precision map, a plurality of traffic lanes in which the vehicle 1 can advance without crossing the lane dividing line from the traffic lane on which the vehicle 1 is traveling.

[0042] The setting unit 532 determines whether each of the plurality of traffic lanes detected as traffic lanes in which the vehicle 1 can advance without crossing the lane dividing line from the traffic lane on which the vehicle 1 is traveling is included in the same road. In the present disclosure, that a plurality of traffic lanes are "included in the same road" means that each of the plurality of traffic lanes corresponds to one of the plurality of traffic lanes determined by dividing one road. For example, when one of the plurality of traffic lanes is included in another road that branches off from the road including the currently traveling traffic lane and leads to a different location, one of the plurality of traffic lanes and the other traffic lanes are not included in the same road.

[0043] In addition, when the plurality of traffic lanes are included in the same road, the setting unit 532 determines whether each of the plurality of traffic lanes is adjacent to any other traffic lane included in the road across the lane dividing line.

[0044] Then, the setting unit 532 sets the priority of at least one traffic lane among the plurality of traffic lanes that is adjacent to any other traffic lane included in the road across the lane dividing line to be higher than the priority of the traffic lanes other than the at least one traffic lane among the plurality of traffic lanes, and stores it in the memory 52.

[0045] Figure 4 It is a diagram for explaining the first example of lane priority setting.

[0046] Figure 4 It shows a state in which the vehicle 1 is traveling on the traffic lane L111 in the road R1 including the traffic lane L111 divided by the lane dividing lines LL111 and LL112, and the traffic lane L112 divided by the lane dividing lines LL112 and LL113.

[0047] The detection unit 531 detects, in front of the vehicle 1, the traffic lane L121 divided by the lane dividing lines LL111 and LL121, and the traffic lane L122 divided by the lane dividing lines LL121 and LL112.

[0048] The paths P11 from the current position of the vehicle 1 towards the traffic lane L121 and P12 from the current position of the vehicle 1 towards the traffic lane L122 do not cross the traffic lane dividing line. Therefore, the detection unit 531 detects the traffic lanes L121 and L122 as multiple traffic lanes in which the vehicle 1 can advance without crossing the traffic lane dividing line from the traffic lane in which the vehicle 1 is traveling.

[0049] In Figure 4 this example, the multiple traffic lanes L121 and L122 are included in the same road R1. In addition, the traffic lane L112 corresponds to the traffic lane other than the multiple traffic lanes included in the road R1. Therefore, the setting unit 532 sets the priority of the traffic lane L122 adjacent to the traffic lane L112 to be higher than the priority of the traffic lane L121 not adjacent to the traffic lane L112.

[0050] The setting unit 532 may also set the priority of each of the multiple traffic lanes such that the priority of the traffic lane closer to at least one traffic lane becomes higher. For example, it is assumed that three traffic lanes in which the vehicle can advance without crossing the traffic lane dividing line from the traffic lane in which the vehicle is traveling are detected, and on the right side of the rightmost traffic lane among the three traffic lanes, other traffic lanes are adjacent across the traffic lane dividing line. In this case, the setting unit 532 sets it such that the priority of the rightmost traffic lane closest to the other traffic lanes among the three traffic lanes is the highest, the priority of the leftmost traffic lane farthest from the other traffic lanes is the lowest, and the priority of the central traffic lane is between the priority of the rightmost traffic lane and the priority of the leftmost traffic lane.

[0051] In addition, the setting unit 532 sets the priority of the traffic lane with a smaller bend in the driving path when advancing from the traffic lane in which the vehicle is traveling among the multiple traffic lanes to be higher than the priority of the traffic lane with a larger bend.

[0052] Figure 5 is a diagram illustrating a second example of traffic lane priority setting.

[0053] Figure 5 It shows a state in which the vehicle 1 is traveling on the traffic lane L212 in a road R2 including the traffic lane L212 divided by the traffic lane dividing lines LL211 and LL212.

[0054] The detection unit 531 detects, in front of the vehicle 1, the traffic lane L221 divided by the traffic lane dividing lines LL211 and LL221 and the traffic lane L222 divided by the traffic lane dividing lines LL221 and LL212.

[0055] The paths P21 from the current position of the vehicle 1 towards the traffic lane L221 and P22 from the current position of the vehicle 1 towards the traffic lane L222 do not cross the traffic lane dividing line. Therefore, the detection unit 531 detects the traffic lanes L221 and L222 as a plurality of traffic lanes in which the vehicle 1 can advance without crossing the traffic lane dividing line from the traffic lane in which the vehicle 1 is traveling.

[0056] In Figure 5 the example, the plurality of traffic lanes L221 and L222 are included in the same road R2. The road R2 does not include traffic lanes other than the plurality of traffic lanes. On the other hand, the bend of the path P21 when entering the traffic lane L221 is the angle α, and the path P22 when entering the traffic lane L222 is not bent. At this time, the setting unit 532 sets the priority of the traffic lane L222 with a smaller bend of the driving path higher than the priority of the traffic lane L221 with a larger bend of the driving path.

[0057] The travel control unit 533 outputs a control signal to the travel mechanism (not shown) of the vehicle 1 via the communication interface 51 so as to travel on the traffic lane with the highest priority set among the plurality of traffic lanes. The travel mechanism includes, for example, an engine or a motor that provides power to the vehicle 1, a brake that reduces the travel speed of the vehicle 1, and a steering mechanism that steers the vehicle 1.

[0058] The travel control unit 533 may also output a control signal to the travel mechanism so as to travel on the traffic lane with the highest priority set among the traffic lanes determined to be included in the path from the current position to the destination among the plurality of traffic lanes.

[0059] Figure 6 is a flowchart of the traffic lane priority setting process. The ECU 5 repeatedly executes the process at a predetermined time interval (for example, at intervals of 1 / 10 second) during the travel of the vehicle 1.

[0060] First, the detection unit 531 of the ECU 5 detects a plurality of traffic lanes in which the vehicle 1 can advance without crossing the traffic lane dividing line from the traffic lane in which the vehicle 1 is traveling (step S1).

[0061] Next, the setting unit 532 of the ECU 5 determines whether the plurality of traffic lanes are included in the same road (step S2). If it is determined that the plurality of traffic lanes are not included in the same road (step S2: "No"), the traffic lane priority setting process ends.

[0062] If it is determined that the plurality of traffic lanes are included in the same road (step S2: "Yes"), the setting unit 532 determines whether at least one of the plurality of traffic lanes is adjacent to any traffic lane other than the plurality of traffic lanes included in the road across the traffic lane dividing line (step S3).

[0063] When it is determined that at least one of the plurality of traffic lanes is adjacent to any one traffic lane other than the plurality of traffic lanes included in the road with a traffic lane dividing line therebetween (step S3: "Yes"), the setting unit 532 sets the priority of at least one traffic lane among the plurality of traffic lanes to be higher than the priority of the traffic lanes other than the at least one traffic lane among the plurality of traffic lanes (step S4), and ends the traffic lane priority setting process.

[0064] When it is determined that none of the plurality of traffic lanes is adjacent to any one traffic lane other than the plurality of traffic lanes included in the road with a traffic lane dividing line therebetween (step S3: "No"), the setting unit 532 sets the priority of the traffic lane with a smaller curvature of the driving path when advancing from the traffic lane in which the vehicle is traveling among the plurality of traffic lanes to be higher than the priority of the traffic lane with a larger curvature (step S5), and ends the traffic lane priority setting process.

[0065] By performing the traffic lane priority setting process in this way, the ECU 5 can set the priority of the traffic lanes in a manner that does not give the driver a sense of discomfort.

[0066] A computer program that realizes the functions of the respective parts of the processor 53 of the ECU 5 can also be provided in the form of being recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium.

[0067] Those skilled in the art can make various changes, substitutions, and modifications without departing from the spirit and scope of the present disclosure.

Claims

1. A lane priority setting device, comprising: a detection unit that detects a plurality of lanes in which the vehicle can advance without crossing the lane dividing line from the lane on which the vehicle is traveling; a setting unit that, when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one of the lanes included in the road other than the plurality of lanes across the lane dividing line, and the lanes other than the at least one lane among the plurality of lanes are not adjacent to any one of the lanes included in the road other than the plurality of lanes across the lane dividing line, sets the priority of the at least one lane among the plurality of lanes to be higher than the priority of the lanes other than the at least one lane among the plurality of lanes, where "included in the same road" means that each of the plurality of lanes corresponds to one of the plurality of lanes determined by dividing one road; and a driving control unit that controls the vehicle to travel on the lane with the highest set priority among the plurality of lanes.

2. The lane priority setting device according to claim 1, wherein the setting unit sets the priority of each of the plurality of lanes such that the closer the lane is to the at least one lane, the higher the priority becomes.

3. The lane priority setting device according to claim 1 or 2, wherein the setting unit sets the priority of the lane with a smaller curvature of the driving path when advancing from the lane on which the vehicle is traveling among the plurality of lanes to be higher than the priority of the lane with a larger curvature.

4. A lane priority setting method, comprising: detecting a plurality of lanes in which the vehicle can advance without crossing the lane dividing line from the lane on which the vehicle is traveling; when the plurality of lanes are included in the same road, at least one of the plurality of lanes is adjacent to any one of the lanes included in the road other than the plurality of lanes across the lane dividing line, and the lanes other than the at least one lane among the plurality of lanes are not adjacent to any one of the lanes included in the road other than the plurality of lanes across the lane dividing line, setting the priority of the at least one lane among the plurality of lanes to be higher than the priority of the lanes other than the at least one lane among the plurality of lanes, where "included in the same road" means that each of the plurality of lanes corresponds to one of the plurality of lanes determined by dividing one road; and controlling the vehicle to travel on the lane with the highest set priority among the plurality of lanes.

5. A computer-readable medium having recorded thereon a computer program for lane priority setting, the computer program for lane priority setting causing a processor mounted on a vehicle to execute: Detect a plurality of traffic lanes that enable the vehicle to move forward without crossing the traffic lane dividing line of the traffic lane in which the vehicle is traveling; and When the multiple traffic lanes are included in the same road, at least one traffic lane among the multiple traffic lanes is adjacent to any one traffic lane other than the multiple traffic lanes among the traffic lanes included in the road, across a traffic lane dividing line, and the traffic lanes other than the at least one traffic lane among the multiple traffic lanes are not adjacent to any one traffic lane other than the multiple traffic lanes among the traffic lanes included in the road, across a traffic lane dividing line, the priority of the at least one traffic lane among the multiple traffic lanes is set to be higher than the priority of the traffic lanes other than the at least one traffic lane among the multiple traffic lanes. The "included in the same road" means that each traffic lane among the multiple traffic lanes corresponds to one of the multiple traffic lanes determined by dividing one road; and control the vehicle to travel on the traffic lane with the highest priority among the multiple traffic lanes.

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