Travel control system

Abstract

The present application provides a kind of travel control system, can avoid the condition that driver and traffic participant are anxious in the sudden acceleration or sudden deceleration etc. in the driving in the case where its traffic participant movement prediction accuracy of external environment is low.For identifying the external environment of mobile body and obtaining identification result, prediction unit is used to predict the future position of traffic participant according to the identification result, planning unit is used to plan the movement of mobile body according to the future position, and judging unit is used to judge whether the prediction accuracy of prediction unit is reduced, wherein if the prediction accuracy of prediction unit is not reduced, the mobile body moves according to the first movement plan planned by the planning unit, if the prediction accuracy is reduced, the planning unit plans second movement plan, and the mobile body moves according to the second movement plan.

Description

TECHNICAL FIELD

[0001] The present application relates to a control system, and particularly relates to a travel control system. BACKGROUND

[0002] In the prior art, in order to enable a vehicle to smoothly travel in an environment where a large number of traffic participants (such as pedestrians and / or vehicles) exist, such as in an urban area, a travel control system can be used to predict the future positions of the traffic participants, and to plan the movement of the vehicle based on the predicted positions. However, when the prediction accuracy of the travel control system is low due to factors such as the number / type of traffic participants, the movement manner of the traffic participants, and the weather, the travel control system can cause the vehicle to suddenly accelerate or decelerate, which can cause anxiety for the driver and the traffic participants. SUMMARY

[0003] The present application provides a travel control system, which can avoid the situation of causing anxiety for the driver and the traffic participants due to sudden acceleration or sudden deceleration during travel when the prediction accuracy of the movement of the traffic participants in the external environment of the travel control system is low.

[0004] The present application provides a travel control system, comprising: an external environment recognition unit configured to recognize the external environment of a moving body to obtain a recognition result; a prediction unit configured to predict the future positions of traffic participants based on the recognition result; a planning unit configured to plan the movement of the moving body based on the future positions; and a judgment unit configured to judge whether the prediction accuracy of the prediction unit is reduced, wherein if the judgment unit judges that the prediction accuracy of the prediction unit is not reduced, the moving body moves according to a first movement plan planned by the planning unit, and if the judgment unit judges that the prediction accuracy is reduced, the planning unit plans a second movement plan, and the moving body moves according to the second movement plan.

[0005] In an embodiment of the present application, the planning unit makes the movement amount of the moving body in a unit time of the second movement plan smaller than the movement amount of the moving body in a unit time of the first movement plan.

[0006] In an embodiment of the present application, the planning unit plans the movement of the moving body by calculating the start moving time, the speed, the acceleration, and the jerk of the moving body.

[0007] In an embodiment of the present application, if the planning unit judges that the first movement plan or the second movement plan will interfere with the traffic participants based on the future positions, the planning unit makes the moving body not move.

[0008] In one embodiment of the present application, if the traffic participant continuously passes in front of the moving body, the prediction unit determines that the prediction accuracy is reduced.

[0009] In one embodiment of the present application, the prediction unit determines whether the prediction accuracy is reduced according to the number of the traffic participants, the type of the traffic participants, the moving direction of the traffic participants, the weather of the external environment, and the illumination of the external environment.

[0010] Based on the above, in the travel control system of the present application, when the prediction accuracy of the prediction unit is reduced, the planning unit changes the first moving plan originally scheduled to be executed into the second moving plan, so as to adapt to the situation where the prediction accuracy is reduced, and avoid the situation where the driver and the traffic participant are anxious due to sudden acceleration or sudden deceleration during travel.

[0011] In order to make the above features and advantages of the present application more obvious and easy to understand, the following specific embodiments are described in detail below, and the accompanying drawings are described as follows. BRIEF DESCRIPTION OF DRAWINGS

[0012] Figure 1 is a schematic diagram of a travel control system according to one embodiment of the present application;

[0013] Figures 2A to 2C is a speed curve diagram of a moving body using the travel control system according to Figure 1 one embodiment of the present application.

[0014] Figure 3 is a control flow diagram of the travel control system according to Figure 1 one embodiment of the present application.

[0015] MARKED FOR EXPLANATION:

[0016] 100: travel control system;

[0017] 110: external environment recognition unit;

[0018] 120: prediction unit;

[0019] 130: planning unit;

[0020] 140: determination unit;

[0021] A: first moving plan

[0022] A': revised first moving plan

[0023] B: second moving plan

[0024] B': revised second moving plan

[0025] P, P': block;

[0026] R: Block. Detailed Implementation

[0027] Figure 1 This is a schematic diagram of a driving control system according to an embodiment of the present invention. Please refer to it. Figure 1 The driving control system 100 of this embodiment is applied to mobile bodies such as automobiles. It formulates a movement plan for the mobile body and controls its start-up accordingly. For example, when the mobile body is about to enter an environment (such as a busy street) where traffic participants may be present within a specific range, while it is stationary (vehicle speed equal to 0) or at low speed, the driving control system 100 plans the movement of the mobile body based on predictions of the environment and thereby controls the start-up of the mobile body. Therefore, the driving control system 100 includes an external environment identification unit 110, a prediction unit 120, a planning unit 130, and a judgment unit 140. The external environment identification unit 110 identifies the external environment of the mobile body and obtains an identification result. The prediction unit 120 predicts the future positions of traffic participants (such as pedestrians, bicycles, and / or electric vehicles, etc., vulnerable traffic participants on the road) based on the identification result identified by the external environment identification unit 110. The planning unit 130 plans the movement of the mobile body based on the future positions of traffic participants predicted by the prediction unit 120. For example, planning unit 130 can plan the movement of a moving body by calculating its start time, speed, acceleration, and jerk. Judgment unit 140 is used to determine whether the prediction accuracy of prediction unit 120 has decreased.

[0028] The driving control system 100 of this embodiment is applied, for example, to a car. That is, the moving body is, for example, a car. In other embodiments, the driving control system 100 can be applied to other types of moving bodies, such as motorcycles, electric mobility scooters, boats, airplanes, etc., and the present invention is not limited thereto. Furthermore, in this embodiment, the external environment recognition unit 110 can be radar, lidar, sonar, camera devices, etc., and the present invention is not limited thereto, as long as it can recognize the external environment.

[0029] Figures 2A to 2C It is an application Figure 1 The speed curve of the moving body in the driving control system is shown, where the vertical axis is the displacement s of the moving body, the horizontal axis is time t, block P corresponds to the predicted position of the traffic participant predicted by the prediction unit 120 at time point t0, and block R corresponds to the predicted displacement range of the moving body that may interfere with the traffic participant predicted by the prediction unit 120 at time point t0. Figure 2A Using a single block P to represent one traffic participant, this illustrative example demonstrates that the prediction accuracy of prediction unit 120 is not reduced. Figure 2B Using two blocks P to represent two traffic participants, this example illustrates the decrease in prediction accuracy of prediction unit 120.Figure 2C The case where the prediction accuracy of the prediction unit 120 is reduced and the prediction is erroneous is exemplarily shown by further shifting the two blocks P to blocks P'.

[0030] The planning unit 130 first plans a movement plan in accordance with the future position of the traffic participant predicted by the prediction unit 120. If the judgment unit 140 judges at the time point t0that the prediction accuracy of the prediction unit 120 is not reduced as shown in Figure 2A , the moving body moves in accordance with this movement plan, i.e., the first movement plan A. If the judgment unit 140 judges at the time point t0that the prediction accuracy of the prediction unit 120 is reduced as shown in Figure 2B , the planning unit 130 plans another movement plan and the moving body moves in accordance with this movement plan, i.e., the second movement plan B. By this, the second movement plan B can be used to adapt to the case where the prediction accuracy is reduced, avoiding the situation where sudden acceleration or sudden deceleration, etc. occurs during driving, causing anxiety of the driver and the traffic participant. Specifically, the planning unit 130, for example, makes the movement amount of the moving body per unit time of the second movement plan B smaller than the movement amount of the moving body per unit time of the first movement plan A, so as to avoid the situation of sudden acceleration or sudden deceleration, etc. by the second movement plan B with more moderate driving speed, and make the driver and the traffic participant more easily perceive the movement tendency of the moving body. In the present embodiment, the second movement plan B can be calculated by modifying the first movement plan A, or the first movement plan A and the second movement plan B can be calculated separately, which is not limited by the present application. In addition, in the present embodiment, when the driving control system 100 is about to change the movement plan, the driver can be informed by image information, sound information or other kinds of information.

[0031] Suppose that the driving control system 100 does not execute the second movement plan B as described above at the time point t0, but maintains the first movement plan A, and the prediction of the prediction unit 120 at the time point t0is erroneous as shown in Figure 2C , the moving body needs to be accelerated in the first movement plan A to become the modified first movement plan A', which is still very close to the blocks P', thus still causing anxiety of the driver and the traffic participant. On the contrary, in the case where the driving control system 100 executes the second movement plan B as described above at the time point t0, if the driving control system 100 is as shown in Figure 2C at the time point t aIf the prediction unit 120 is determined to have an error in the prediction at the time point tO, the moving body can be decelerated in the second movement plan B to become a corrected second movement plan B', and the driver and the traffic participant can be effectively prevented from being anxious. Further, if the planning unit 130 determines that any of the movement plans will interfere with the traffic participant at any time point after the time point tO according to the future position of the traffic participant, the planning unit 130 can stop the movement of the moving body to ensure the safety of the traffic participant and the driver.

[0032] In the present embodiment, the prediction unit 120 can determine whether the prediction accuracy is reduced according to the number of traffic participants, the type of traffic participants, the moving direction of traffic participants, the weather of the external environment, and the illumination of the external environment. For example, if a single or multiple traffic participants continuously pass in front of the moving body, the number of traffic participants exceeds a predetermined number, the type of traffic participants is not only one, the traffic participants respectively move in different directions, the type of traffic participants includes children and / or the elderly, the weather is not good, and / or the illumination of the external environment is low, the prediction unit 120 determines that the prediction accuracy is reduced. Further, if the proportion of children, the elderly, and / or bicycles in all traffic participants is higher than a predetermined value, the prediction unit 120 can determine that the prediction accuracy is reduced accordingly. In addition, if it is in the morning rush hour and / or the evening rush hour and the number of traffic participants is large, the prediction unit 120 can determine that the prediction accuracy is reduced accordingly.

[0033] The at least part of the control flow of the travel control system 100 of the present embodiment is described below with reference to the accompanying drawings, which corresponds to the above-mentioned operation mode of the travel control system 100. Figure 3 is Figure 1 The control flowchart of the travel control system. First, the external environment recognition unit 110 determines whether a traffic participant exists (step S1). If the traffic participant does not exist, it returns to step S1. If the traffic participant exists, the prediction unit 120 predicts the future position of the traffic participant (step S2). Then, the planning unit 130 plans the first movement plan A according to the future position of the traffic participant (step S3). It is determined whether the moving body will interfere with the traffic participant (step S4). If the moving body will interfere with the traffic participant, the calculation is stopped (step S5) and returns to the above-mentioned interference determination (step S6). If the moving body will not interfere with the traffic participant, the determination unit 140 determines whether the prediction accuracy of the prediction unit 120 is reduced (step S7). If the prediction accuracy of the prediction unit 120 is not reduced, the control unit of the moving body controls the moving body to move with the first movement plan A (step S8). If the prediction accuracy of the prediction unit 120 is reduced, the second movement plan B is calculated (step S9), and the control unit of the moving body controls the moving body to move with the second movement plan B (step S10).

[0034] In summary, in the travel control system of the present application, when the prediction accuracy of the prediction unit decreases, the planning unit changes the first movement plan originally scheduled to be executed into the second movement plan with a more moderate travel speed, thereby adapting to the situation of decreased prediction accuracy, avoiding the situation of sudden acceleration or sudden deceleration in travel, etc. causing anxiety of the driver and the traffic participants, and making the driver and the traffic participants more easily perceive the movement tendency of the moving body.

[0035] Finally, it should be noted that the above examples are only used to illustrate the technical solutions of the present application, and are not intended to limit the same. Although the present application has been described in detail with reference to the foregoing examples, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacements for some or all of the technical features thereof. Such modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A travel control system characterized by comprising: The system includes: an external environment recognition unit configured to recognize an external environment of a moving body and obtain a recognition result; a prediction unit configured to predict a future position of a traffic participant based on the recognition result; a planning unit configured to plan movement of the moving body based on the future position; and a determination unit configured to determine whether prediction accuracy of the prediction unit is reduced, wherein if the determination unit determines that the prediction accuracy of the prediction unit is not reduced, the moving body moves based on a first movement plan planned by the planning unit, if the determination unit determines that the prediction accuracy is reduced, the planning unit plans a second movement plan, and the moving body moves based on the second movement plan, the planning unit makes a movement amount of the moving body per unit time of the second movement plan smaller than a movement amount of the moving body per unit time of the first movement plan.

2. The travel control system according to claim 1, wherein the planning unit plans movement of the moving body by calculating a start moving time, a speed, an acceleration, and a jerk of the moving body.

3. The travel control system according to claim 1, wherein if the planning unit determines that the first movement plan or the second movement plan will interfere with the traffic participant based on the future position, the planning unit makes the moving body not move.

4. The travel control system according to claim 1, wherein if the traffic participant continuously passes in front of the moving body, the prediction unit determines that the prediction accuracy is reduced.

5. The travel control system according to claim 1, wherein the prediction unit determines whether the prediction accuracy is reduced based on a number of the traffic participants, a type of the traffic participant, a moving direction of the traffic participant, weather of the external environment, and illuminance of the external environment. ​

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