Route generating apparatus and route generating method

Abstract

The present application provides a kind of path generation device (100), with: speed information acquisition unit, which obtains the speed information of the vehicle (1) in the lane driving;Detection unit (13), which detects the object of the surrounding area of the vehicle (1);Peripheral recognition unit (16), which recognizes the adjacent vehicle in the adjacent lane driving in the object detected by detection unit (13);Congestion determination unit (17), which determines whether the lane is congested according to the speed information obtained by speed information acquisition unit, and determines whether the adjacent lane is congested according to the recognition result of peripheral recognition unit (16);And path generation unit (18), which generates the target path of the vehicle (1). Path generation unit (18) is determined to be congested in the lane and determined to be not congested in the adjacent lane by congestion determination unit (17), compared with the lane being determined to be congested and the adjacent lane being determined to be congested, to generate the target path away from the adjacent lane side.

Description

TECHNICAL FIELD

[0001] The present application relates to a path generation device and a path generation method that generate a target path of a vehicle having an automatic driving function or a driving assistance function. BACKGROUND

[0002] A device that generates a target path of an automatic driving vehicle is known (see, for example, Patent Literature 1). In the device described in Patent Literature 1, the positions of road markings on the left and right sides of a travel lane are recognized using a camera or a radar sensor, the center points of opposing 2 points on the left and right road markings are calculated, and a plurality of center points are connected to thereby generate a target path.

[0003] With the spread of vehicles having an automatic driving function or a driving assistance function, it is possible to improve the safety and convenience of the entire transportation society and realize a sustainable transportation system. In addition, by improving the efficiency and smoothness of transportation, it is possible to reduce CO2 emissions and reduce the load on the environment.

[0004] However, when the subject lane is congested and the adjacent lane is not congested, as in the device described in Patent Literature 1, when a target path is generated only along the center of the subject lane, the occupant can feel uneasy due to the passage of other vehicles on the side of the subject vehicle.

[0005] PRIOR ART DOCUMENTS

[0006] PATENT LITERATURE

[0007] Patent Literature 1: Japanese Patent Application Publication No. 2018-118589 (JP 2018-118589 A). SUMMARY

[0008] A path generation device according to one aspect of the present application includes a speed information acquisition unit that acquires speed information of a subject vehicle traveling on a subject lane, a detection unit that detects objects in a surrounding area of the subject vehicle, a surrounding recognition unit that recognizes a neighboring vehicle traveling on a neighboring lane adjacent to the subject lane among the objects detected by the detection unit, a congestion determination unit that determines whether the subject lane is congested based on the speed information acquired by the speed information acquisition unit and determines whether the neighboring lane is congested based on a recognition result of the surrounding recognition unit, and a path generation unit that generates a target path of the subject vehicle. The path generation unit generates the target path further away from the neighboring lane side when it is determined by the congestion determination unit that the subject lane is congested and it is determined that the neighboring lane is not congested, as compared to when it is determined that the subject lane is congested and it is determined that the neighboring lane is congested.

[0009] Another aspect of the present application is a path generation method of generating a target path of a host vehicle traveling in a host lane, including: identifying a neighboring vehicle traveling in a neighboring lane adjacent to the host lane, among objects of a surrounding area of the host vehicle detected by a detection unit, determining whether the host lane is congested based on a speed of the host vehicle and determining whether the neighboring lane is congested based on an identification result of the neighboring vehicle, and generating the target path of the host vehicle. The generating of the target path includes, when it is determined that the host lane is congested and it is determined that the neighboring lane is not congested, generating the target path further from the neighboring lane side than when it is determined that the host lane is congested and it is determined that the neighboring lane is congested. BRIEF DESCRIPTION OF DRAWINGS

[0010] The object, features and advantages of the present application will be further clarified by the following description of embodiments with reference to the attached drawings.

[0011] Figure 1 is a block diagram schematically illustrating a main part configuration and a processing flow of a path generation device of an embodiment of the present application.

[0012] Figure 2 is a diagram for explaining generation of a target path normally performed by Figure 1 a path generation unit of

[0013] Figure 3A is a diagram illustrating a target path in a case where the host lane is congested and the neighboring lane is not congested.

[0014] Figure 3B is a diagram illustrating Figure 3A a modified example of

[0015] Figure 4A is a diagram illustrating a target path in a case where both the host lane and the neighboring lane are congested.

[0016] Figure 4B is a diagram illustrating Figure 4A a modified example of

[0017] Figure 5A is a diagram illustrating a target path in a case where the host lane is not congested.

[0018] Figure 5B is a diagram illustrating Figure 5A a modified example of

[0019] Figure 6A is a diagram illustrating Figure 3A a modified example of

[0020] Figure 6B is a diagram illustrating Figure 3B a modified example of

[0021] Figure 6C is a diagram illustrating Figure 4AA diagram of a variation.

[0022] Figure 6D It is shown Figure 4B A diagram of a variation.

[0023] Figure 6E It is shown Figure 5A A diagram of a variation.

[0024] Figure 6F It is shown Figure 5B A diagram of a variation.

[0025] Figure 6G It is shown Figure 5A and Figure 6E A diagram of a variation.

[0026] Figure 6H It is shown Figure 5B and Figure 6F A diagram of a variation.

[0027] Figure 7A This is a diagram illustrating the target path when the current lane and the adjacent lane to the left are congested, while the adjacent lane to the right is not congested.

[0028] Figure 7B This is a diagram illustrating the target path when the current lane and the adjacent lane to the right are congested, while the adjacent lane to the left is not congested.

[0029] Figure 7C This is a diagram illustrating the target path when the current lane is congested, but the adjacent lanes on the left and right are not congested.

[0030] Figure 8A This is a diagram illustrating the target path when the lane is not congested.

[0031] Figure 8B It is shown Figure 8A A diagram of a variation.

[0032] Figure 8C It is shown Figure 8A Another variation of the figure.

[0033] Figure 9 This is a flowchart illustrating the offset determination process implemented by the path generation apparatus according to an embodiment of the present invention. Detailed Implementation

[0034] The following is for reference Figures 1-9An embodiment of the present application will be described. The path generation device of the embodiment of the present application is applied to a vehicle having a driving assist function that controls a travel actuator, and assists a driver of the host vehicle or automatically drives the host vehicle. The "driving assist" in the present embodiment includes driving assist that assists a driving operation of the driver and automatic driving that automatically drives the vehicle regardless of the driving operation of the driver, and corresponds to automatic driving of levels 1 to 4 defined by SAE, and the "automatic driving" corresponds to automatic driving of level 5.

[0035] In the driving assist process or the automatic driving process, the host vehicle is controlled so as to generate a target path, for example, along the center of the subject lane, based on a recognition result of the surroundings of the host vehicle obtained by a camera or the like, and travel along the generated target path. However, when the target path is generated along the center of the subject lane only, the occupant can feel uneasy due to the passage of other vehicles beside the host vehicle when the subject lane is congested and the adjacent lane is not congested. Therefore, in the present embodiment, the path generation device is configured so as to be able to reduce the uneasiness of the occupant due to the passage of other vehicles beside the host vehicle even when the subject lane is congested and the adjacent lane is not congested.

[0036] Figure 1 is a block diagram schematically showing an example of the main part configuration and the processing flow of the path generation device (hereinafter referred to as the device) 100 of the embodiment of the present application. As shown in Figure 1 the device 100 is mainly configured by an electronic control unit (ECU) 10. The ECU 10 is configured by a computer including a CPU (Central Processing Unit) or the like (processor), a RAM (Random Access Memory), a ROM (Read Only Memory) or the like storage section (memory), an I / O interface, and other peripheral circuits. The ECU 10 is, for example, configured as a part of a plurality of ECU groups mounted on the host vehicle 1 so as to control the operation of the host vehicle 1. Figure 1 The processing of the ECU 10 is started, for example, when the host vehicle 1 is started and the ECU 10 is activated, and is repeatedly implemented at a prescribed cycle.

[0037] The travel actuator 11, the vehicle speed sensor 12, and the external sensor 13 mounted on the host vehicle 1 are connected to the ECU 10. The travel actuator 11 includes a drive mechanism such as an engine or a motor that drives the host vehicle 1, a brake mechanism such as a brake that brakes the host vehicle 1, and a steering mechanism such as a steering gear that steers the host vehicle 1. The vehicle speed sensor 12 is configured by, for example, a wheel speed sensor that detects the rotational speed of a wheel, and detects the travel speed of the host vehicle 1.

[0038] The external sensor 13 detects an external situation including a position of an object in a surrounding area including a rear side of the host vehicle 1. The external sensor 13 includes a camera 14 having a photographing element such as a CCD (Charge Coupled Device), a CMOS (Complementary Metal Oxide Semiconductor), or the like, and photographs a surrounding of the host vehicle 1, and a distance detection section 15 that detects a distance to an object in a surrounding area from the host vehicle 1. The distance detection section 15 is constituted by, for example, a millimeter wave radar that irradiates a millimeter wave (an electric wave), and measures a distance and a direction to an object according to a time until the irradiated wave is returned by touching the object. The distance detection section 15 can also be constituted by a laser radar (LiDAR) that irradiates a laser, and measures a distance and a direction to an object according to a time until the irradiated light is returned by touching the object.

[0039] The ECU 10 has a functional structure of a surrounding recognition section 16, a congestion determination section 17, a route generation section 18, and a travel control section 19 as a functional structure of an arithmetic section. That is, the arithmetic section of the ECU 10 functions as the surrounding recognition section 16, the congestion determination section 17, the route generation section 18, and the travel control section 19.

[0040] The surrounding recognition section 16 recognizes positions of road markings, curbs, guardrails, and the like on a road in a surrounding area centered on a traveling direction of the host vehicle 1 according to a signal from the external sensor 13, thereby recognizing the host lane 2 in which the host vehicle 1 travels and adjacent lanes 3a, 3b adjacent to the host lane 2. In addition, the surrounding recognition section 16 recognizes other vehicles by recognizing positions of outlines of other vehicles including a preceding vehicle 4 traveling in front of the host vehicle 1 on the host lane 2 and adjacent vehicles 5a, 5b traveling on the adjacent lanes 3a, 3b.

[0041] The congestion determination section 17 determines whether the host lane 2 is congested according to a traveling speed of the host vehicle 1 detected by the vehicle speed sensor 12. More specifically, when the traveling speed of the host vehicle 1 is below a prescribed speed, it is determined that the host lane 2 is congested, and when the traveling speed exceeds the prescribed speed, it is determined that the host lane 2 is not congested. The congestion determination section 17 can also determine whether the host lane 2 is congested in consideration of an inter-vehicle distance between the host vehicle 1 and the preceding vehicle 4. In this case, when the inter-vehicle distance is below a prescribed distance, it is determined that the host lane 2 is congested, and when the inter-vehicle distance exceeds the prescribed distance, it is determined that the host lane 2 is not congested. The prescribed speed and the prescribed distance can be set according to a limit speed of a road during travel or the like.

[0042] When the congestion determination part 17 determines that the own lane 2 is congested, it determines the relative speed of the adjacent vehicles 5a, 5b with respect to the own vehicle 1 based on the recognition result of the surrounding recognition part 16, and determines whether the adjacent lanes 3a, 3b are congested based on the determined relative speed. More specifically, in a case where the determined relative speed is equal to or lower than a prescribed relative speed, it is determined that the adjacent lanes 3a, 3b are congested, and in a case where the determined relative speed exceeds the prescribed relative speed, it is determined that the adjacent lanes 3a, 3b are not congested. The prescribed relative speed is set to a relative speed that can cause the occupant to feel uneasy when the adjacent vehicles 5a, 5b pass by the side of the own vehicle 1. The prescribed relative speed can also be set in accordance with the width of the road during travel, or the like.

[0043] Figure 2 is a view for explaining generation of a normal target path by the path generation part 18. The path generation part 18 generates a normal target path 6 along the center of the own lane 2 on which the own vehicle 1 travels, for example, based on the recognition result of the surrounding recognition part 16. A general road shape is designed using a clothoid curve in which the curvature changes at a certain ratio, and a part of the interval of the clothoid curve corresponding to the road shape can be approximated using a higher order function such as a cubic function.

[0044] The path generation part 18 determines the traveling direction of the own vehicle 1 with respect to the own lane 2 based on the recognition result of the surrounding recognition part 16, derives a cubic function F(X) representing the center line 2C of the own lane 2 with the current position of the own vehicle 1 as the origin O and the determined traveling direction as the X axis. That is, using a curve fitting method such as the least square method, the path generation part 18 derives the cubic functions F L (X), F R (X) of the following equations (i), (ii) that approximate the left and right road markings (or curb stones, guard rails, or the like) 2L, 2R recognized by the surrounding recognition part 16.

[0045] F L (X) = C 3L X 3 + C 2L X 2 + C 1L X + C 0L (i)

[0046] F R (X) = C 3R X 3 + C 2R X 2 + C 1R X + C 0R (ii)

[0047] Next, based on the cubic functions F L (X), F R(X), derives a cubic function F(X) of the following expression (iii) corresponding to the center line 2C of the own lane 2, and generates a general target path 6 along the center line 2C represented by the derived cubic function F(X).

[0048] F(X) = C3X 3 + C2X 2 + C1X + C0 (iii)

[0049] C3 = (C 3L + C 3R ) / 2, C2 = (C 2L + C 2R ) / 2

[0050] C1 = (C 1L + C 1R ) / 2, C0 = (C 0L + C 0R ) / 2

[0051] Figure 3A and Figure 3B are graphs of the target path 6 in a case where the own lane 2 is congested and the adjacent lanes 3a, 3b are not congested, Figure 4A and Figure 4B are graphs of the target path 6 in a case where the own lane 2 and the adjacent lanes 3a, 3b are congested. Figure 5A and Figure 5B are graphs of the target path 6 in a case where the own lane 2 is not congested. Figures 6A-6F are graphs showing modification examples of Figures 3A-5B , Figure 6G are graphs showing modification examples of Figure 5A and Figure 6E , Figure 6H are graphs showing modification examples of Figure 5B and Figure 6F . Figures 3A-6H A case where the adjacent lanes 3a, 3b exist only on the left and right single sides of the own lane 2 is described.

[0052] As shown in Figure 3A and Figure 4A , when it is determined by the congestion determination part 17 that the own lane 2 is congested and the adjacent lane 3a on the right side is not congested ( Figure 3A ), the path generation part 18 generates the target path 6 which is offset compared to when it is determined that the own lane 2 and the adjacent lane 3a are congested ( Figure 4A ). More specifically, the target path 6 which is offset to the adjacent lane 3a side away from the adjacent vehicle 5a traveling at a relatively high speed with respect to the host vehicle 1 is generated.

[0053] In this case, the target path 6 is offset by a prescribed distance, for example, to the side away from the adjacent lane 3a with respect to the center line 2C of the own lane 2. The target path 6 can also be offset by a prescribed distance to the side away from the adjacent lane 3a with respect to the center of the preceding vehicle 4. The target path 6 can also be offset in a manner that aligns the side end portion on the left side of the own vehicle 1, which is the opposite side of the adjacent lane 3a, at a distance from the road marking 2L on the left side. In the case where the vehicle width of the own vehicle 1 is wider than the vehicle width of the preceding vehicle 4, the target path 6 can also be offset in a manner that aligns the side end portion on the right side of the own vehicle 1, which is the adjacent lane 3a side, with the side end portion on the right side of the preceding vehicle 4. In this case, the offset is also performed in a manner that ensures a certain distance between the side end portion on the left side of the own vehicle 1 and the road marking 2L on the left side. As for Figure 6A and Figure 6C The same applies.

[0054] As Figure 3B , Figure 4B indicated, when it is determined by the congestion determination portion 17 that the own lane 2 is congested and the adjacent lane 3b on the left side is not congested ( Figure 3B ), the path generation portion 18 generates a target path 6 that is offset compared to when it is determined that both the own lane 2 and the adjacent lane 3b are congested ( Figure 4B ). More specifically, a target path 6 that is offset to the side away from the adjacent lane 3b in which the adjacent vehicle 5b that is traveling at a higher relative speed with respect to the own vehicle 1 is traveling is generated. As for Figure 6B and Figure 6D The same applies.

[0055] As Figure 5A , Figure 5B and Figures 6E-6H indicated, the path generation portion 18 generates a normal target path 6 without offset in the case where it is determined by the congestion determination portion 17 that the own lane 2 is not congested. That is, in the case where the own lane 2 is congested, even if the adjacent vehicles 5a, 5b that are traveling in the own lane 2 approach from the side behind, it is difficult to control the own vehicle 1 to immediately move away from the adjacent lanes 3a, 3b. Therefore, it is difficult to create a sufficient distance for alleviating the uneasiness of the occupants before the adjacent vehicles 5a, 5b pass by the side of the own vehicle 1. On the other hand, in the case where the own lane 2 is not congested, the target path 6 can be updated in accordance with the recognition result of the surrounding recognition portion 16, and the own vehicle 1 can be controlled to immediately move away from the adjacent lanes 3a, 3b.

[0056] Figure 7A is a diagram that illustrates the target path 6 in the case where the own lane 2 and the adjacent lane 3b on the left side are congested, and the adjacent lane 3a on the right side is not congested. Figure 7B is a diagram that illustrates the target path 6 in the case where the own lane 2 and the adjacent lane 3a on the right side are congested, and the adjacent lane 3b on the left side is not congested. Figure 7Cis a view of the target path 6 in a case where the own lane 2 is congested and the adjacent lanes 3a, 3b on the left and right sides are not congested.

[0057] Figures 8A-8C is a view of the target path 6 in a case where the own lane 2 is not congested. Figures 7A-8C The case where the adjacent lanes 3a, 3b exist on the left and right sides of the own lane 2 is described.

[0058] As shown in Figures 7A-7C , in a case where one of the own lane 2 and the adjacent lanes 3a, 3b is congested and the other is not congested Figure 7A , Figure 7B , the path generation section 18 generates the target path 6 that is shifted compared to a case where both of the adjacent lanes 3a, 3b on the left and right sides are not congested Figure 7C . More specifically, the target path 6 that is shifted toward the side away from the adjacent lane 3a, 3b on the non-congested side is generated. As shown in Figure 7C , in a case where the adjacent lanes 3a, 3b on the left and right sides are not congested, the relative speeds of the adjacent vehicles 5a, 5b on the left and right sides with respect to the host vehicle 1 become high, and the adjacent vehicles 5a, 5b on the one side are far away and the adjacent vehicles 5a, 5b on the other side are close, so the normal target path 6 is generated without shifting.

[0059] As shown in Figures 8A-8C , the path generation section 18 generates the normal target path 6 without shifting in a case where the own lane 2 is not congested, which is determined by the congestion determination section 17.

[0060] In this way, whether the own lane 2 and the adjacent lanes 3a, 3b on the left and right sides are congested or not is determined respectively, and the target path 6 is shifted toward the side away from the adjacent lane 3a, 3b on the non-congested side as necessary, whereby the target path 6 that can reduce the uneasiness of the occupant can be generated. That is, even when the own lane 2 is in congestion and the adjacent lanes 3a, 3b are not congested, the target path 6 that can reduce the uneasiness of the occupant caused by the adjacent vehicles 5a, 5b passing by the side of the host vehicle 1 can be generated.

[0061] The travel control section 19 controls the travel actuators 11 in accordance with the target path 6 generated by the path generation section 18, to perform driving assistance to the driver of the host vehicle 1 or to automatically drive the host vehicle 1. Thereby, even when the own lane 2 is in congestion and the adjacent lanes 3a, 3b are not congested, the host vehicle 1 can be caused to travel along the target path 6 that can reduce the uneasiness of the occupant caused by the adjacent vehicles 5a, 5b passing by the side of the host vehicle 1.

[0062] Figure 9 is a flowchart showing the flow of the process of the shifting determination process of the device 100, showing the flow of the process of the program executed by the arithmetic section of the device 100. Figure 9The processing is started, for example, when the host vehicle 1 is started, so that the ECU 10 is started, and is repeatedly implemented at a prescribed cycle.

[0063] First, in S1 (S: processing step), it is determined whether the host lane 2 is congested based on a signal from the vehicle speed sensor 12. When S1 is affirmative (S1: YES), the processing proceeds to S2 ( Figures 3A-4B 、 Figures 6A-6D 、 Figures 7A-7C ), and when it is negative (S1: NO), the processing is ended ( Figure 5A 、 Figure 5B 、 Figures 6E-6H 、 Figures 8A-8C ). In S2, it is determined whether there is an adjacent lane 3a, 3b on either side of the host lane 2. When S2 is affirmative (S2: YES), the processing proceeds to S3 ( Figures 3A-4B 、 Figures 6A-6D 、 Figures 7A-7C ), and when it is negative (S2: NO), the processing is ended.

[0064] In S3, it is determined whether there are adjacent lanes 3a, 3b on both sides of the host lane 2. When S3 is negative (S3: NO), the processing proceeds to S4 ( Figures 3A-4B 、 Figures 6A-6D ), and when it is affirmative (S3: YES), the processing proceeds to S5 ( Figures 7A-7C ). In S4, it is determined whether the adjacent lane 3a, 3b existing on only one side of the host lane 2 is congested. When S4 is negative (S4: NO), the processing proceeds to S6, and it is determined that the deviation is performed ( Figure 3A 、 Figure 3B 、 Figure 6A 、 Figure 6B ), and when it is affirmative (S4: YES), the processing is ended ( Figure 4A 、 Figure 4B 、 Figure 6C 、 Figure 6D ).

[0065] In S5, it is determined whether one of the adjacent lanes 3a, 3b existing on both sides of the host lane 2 is congested and the other is not congested. When S5 is affirmative (S5: YES), the processing proceeds to S6, and it is determined that the deviation is performed ( Figure 7A 、 Figure 7B ), and when it is negative (S5: NO), the processing is ended ( Figure 7C ). With the present embodiment, the following effects can be achieved.

[0066] (1) The device 100 is provided with: a vehicle speed sensor 12 that detects a travel speed of the host vehicle 1 traveling in the host lane 2; an external sensor 13 that detects objects in a surrounding area of the host vehicle 1; a surrounding recognition section 16 that recognizes adjacent vehicles 5a, 5b traveling in adjacent lanes 3a, 3b adjacent to the host lane 2 among the objects detected by the external sensor 13; a congestion determination section 17 that determines whether or not the host lane 2 is congested based on the travel speed of the host vehicle 1 detected by the vehicle speed sensor 12, and determines whether or not the adjacent lanes 3a, 3b are congested based on the recognition result of the surrounding recognition section 16; and a path generation section 18 that generates a target path 6 of the host vehicle 1 Figure 1

[0067] The path generation section 18 generates the target path 6 so as to be farther from the adjacent lanes 3a, 3b when it is determined by the congestion determination section 17 that the host lane 2 is congested and that the adjacent lanes 3a, 3b are not congested, as compared with when it is determined that the host lane 2 is congested and that the adjacent lanes 3a, 3b are congested. Thus, even when the host lane 2 is in congestion and the adjacent lanes 3a, 3b are not congested, it is possible to alleviate the uneasiness of the occupants due to the adjacent vehicles 5a, 5b passing by the side of the host vehicle 1.

[0068] (2) On the opposite side of the adjacent lane 3a, there is also an adjacent lane 3b adjacent to the host lane 2 Figures 7A-8C The path generation section 18 generates the target path 6 so as to be farther from the adjacent lanes 3a, 3b when it is determined by the congestion determination section 17 that the host lane 2 is congested and that one of the adjacent lanes 3a, 3b is congested and the other is not congested, as compared with when it is determined that the host lane 2 is congested and that neither of the adjacent lanes 3a, 3b is congested. Thus, even when there are the adjacent lanes 3a, 3b on the left and right of the host lane 2, it is possible to generate an appropriate target path 6 according to the conditions of each lane.

[0069] (3) The congestion determination section 17, when it is determined that the host lane 2 is congested, determines a relative speed of the adjacent vehicles 5a, 5b with respect to the host vehicle 1 based on the recognition result of the surrounding recognition section 16, and determines that the adjacent lanes 3a, 3b are congested when the determined relative speed is equal to or lower than a prescribed relative speed, and determines that the adjacent lanes 3a, 3b are not congested when the relative speed exceeds the prescribed relative speed. Thus, it is possible to accurately determine a condition in which the adjacent vehicles 5a, 5b passing by the side of the host vehicle 1 are likely to cause the occupants to feel uneasy, and to shift the target path 6 as necessary, thereby generating an appropriate target path 6.

[0070] (4) The external sensor 13 detects objects in a surrounding area including the rear side of the host vehicle 1. Thus, it is possible to accurately detect the relative speed of the adjacent vehicles 5a, 5b with respect to the host vehicle 1.

[0071] ​(5) The device 100 is further provided with a travel control section 19 that controls the travel actuators 11 to perform driving assistance for the driver of the host vehicle 1 or to automatically drive the host vehicle 1 Figure 1 The travel control section 19 controls the travel actuators 11 in accordance with the target path 6 generated by the path generation section 18. Thereby, even when the host lane 2 is congested and the adjacent lanes 3a, 3b are not congested, the host vehicle 1 can be caused to travel along the target path 6 that can reduce the uneasiness of the occupants due to the adjacent vehicles 5a, 5b passing by the side of the host vehicle 1.

[0072] In the above-described embodiment, an example in which the travel speed of the host vehicle 1 is detected by the vehicle speed sensor 12 or the like is described, but the speed information acquisition section that acquires the speed information of the host vehicle is not limited to such a section. For example, it can be a section that calculates the vehicle speed from the change in the vehicle position with time, based on the positioning signals from the positioning satellites.

[0073] In the above-described embodiment, an example in which the external sensor 13 includes the camera 14 and the distance detection section 15 such as the millimeter wave radar or the laser radar is described, but the detection section that detects the objects in the surrounding area of the host vehicle is not limited to such a section. For example, it can be a section that detects the distance from the host vehicle 1 to the objects in the surrounding area based on the image data of the surrounding area captured by the camera 14. In this case, the external sensor 13 can be constituted only by the camera 14.

[0074] In the above-described embodiment, Figures 3A-8C In the above-described embodiment, the inter-vehicle distance of the congested adjacent lanes 3a, 3b is shortened and the inter-vehicle distance of the non-congested adjacent lanes 3a, 3b is lengthened, but the manner in which the congestion determination section 17 determines the presence or absence of congestion is not limited to such a manner. That is, the congestion determination section 17 determines the relative speed of the adjacent vehicles 5a, 5b with respect to the host vehicle 1 based on the recognition result of the surrounding recognition section 16, and determines whether the adjacent lanes 3a, 3b are congested based on the determined relative speed. Therefore, for example, in a case where the relative speed of a vehicle fleet constituted by a plurality of adjacent vehicles 5a, 5b that travel in a platoon by automatic driving with respect to the host vehicle 1 that is in congestion exceeds a prescribed relative speed, it is determined that the adjacent lanes 3a, 3b are not congested.

[0075] In the above-described embodiment, an example in which the path generation section 18 generates a normal target path 6 without offset along the center line 2C of the host lane 2 is described, but the path generation section that generates the target path of the host vehicle is not limited to such a section. For example, it can be a section that generates a normal target path 6 that is on the outer side of the road with respect to the center line 2C based on a set value that can be changed in accordance with the preference of the driver or based on a learning value based on the travel history of the driver. It can be a section that generates a normal target path 6 that is on the inner side of the turn direction with respect to the center line 2C in accordance with the radius of curvature of the host lane 2.

[0076] In the above-described embodiments, an example in which the device 100 is provided with the travel control section 19 is described, but the route generation device is not limited to such a device. For example, it can also be a device provided with a display control section that controls a display section such as a head-up display to superimpose and display the target path 6 generated by the route generation section 18 on the road ahead of the vehicle.

[0077] One or more of the above-described embodiments and modified examples can be arbitrarily combined, and each modified example can be combined with each other.

[0078] With the present application, even when the own lane is congested and the adjacent lane is not congested, the uneasiness of the occupant due to the passage of other vehicles to the side of the own vehicle can be alleviated.

[0079] The present application has been described above in connection with preferred embodiments, but it will be understood by those skilled in the art that various modifications and changes can be made without departing from the scope of the disclosure as set forth in the following claims.

Claims

1. A path generation device (100), characterized in that, have: The speed information acquisition unit acquires the speed information of the vehicle (1) traveling in the lane. The detection unit (13) detects objects in the surrounding area of ​​the vehicle (1); The peripheral identification unit (16) identifies an adjacent vehicle traveling in an adjacent lane adjacent to the current lane from among the objects detected by the detection unit (13); The congestion determination unit (17) determines whether the current lane is congested based on the speed information obtained by the speed information acquisition unit, and determines whether the adjacent lane is congested based on the recognition result of the surrounding identification unit (16). as well as The path generation unit (18) generates the target path for the cost vehicle (1). The adjacent lanes include a first adjacent lane and a second adjacent lane, wherein the second adjacent lane is adjacent to the current lane on the opposite side of the first adjacent lane. When only the first adjacent lane is adjacent to the current lane, the path generation unit (18) compares the current lane with the first adjacent lane when the congestion determination unit (17) determines that the current lane is congested and the first adjacent lane is not congested, with the path generation unit (18) generating the target path away from the first adjacent lane when the current lane is congested and the first adjacent lane is congested. When both the first adjacent lane and the second adjacent lane are adjacent to the current lane, the path generation unit (18) generates the target path away from the second adjacent lane when the congestion determination unit (17) determines that the current lane is congested and that the first adjacent lane is congested and the second adjacent lane is not congested, compared with the case when the current lane is congested and both the first adjacent lane and the second adjacent lane are not congested.

2. The path generation device (100) according to claim 1, characterized in that, When the congestion determination unit (17) determines that the lane is congested, it determines the relative speed of the adjacent vehicle relative to the vehicle (1) based on the recognition result of the surrounding identification unit (16). If the determined relative speed is below a specified speed, the adjacent lane is determined to be congested. On the other hand, if the relative speed exceeds the specified speed, the adjacent lane is determined to be uncongested.

3. The path generation device (100) according to claim 1 or 2, characterized in that, The detection unit (13) detects objects in the surrounding area, including the rear side of the vehicle (1).

4. The path generation device (100) according to claim 1 or 2, characterized in that, It also includes a driving control unit (19), which controls the driving actuator (11) to assist the driver of the vehicle (1) or enable the vehicle (1) to drive automatically. The driving control unit (19) controls the driving actuator (11) according to the target path generated by the path generation unit (18).

5. The path generation device (100) according to claim 1 or 2, characterized in that, The detection unit (13) includes a camera.

6. The path generation device (100) according to claim 1 or 2, characterized in that, When the target path generation unit (18) generates the target path on the side away from the adjacent lane, it includes: The target path is offset by a predetermined distance from the centerline of the current lane towards the side away from the adjacent lane; or The target path is offset by a predetermined distance from the center of the preceding vehicle toward the side of the adjacent lane; or To offset such that the side end of the vehicle (1) on the opposite side of the adjacent lane is aligned with the road markings on the opposite side of the adjacent lane by a certain distance; or The vehicle (1) being positioned on the adjacent lane side is offset in such a way that the side end of the vehicle (1) being positioned on the adjacent lane side is aligned with the side end of the preceding vehicle being positioned on the adjacent lane side.

7. A path generation method, comprising: generating a target path for a vehicle (1) traveling in the current lane, the method comprising: Identify adjacent vehicles traveling in adjacent lanes adjacent to the vehicle (1) from among the objects in the surrounding area of ​​the vehicle (1) detected by the detection unit (13); Determine whether the lane is congested based on the speed of the vehicle (1) and determine whether the adjacent lane is congested based on the identification results of the adjacent vehicles; as well as The target path of the cost vehicle (1), The adjacent lanes include a first adjacent lane and a second adjacent lane, wherein the second adjacent lane is adjacent to the current lane on the opposite side of the first adjacent lane. Generating the target path includes: when only the first adjacent lane is adjacent to the current lane, and when the current lane is determined to be congested but the first adjacent lane is determined to be uncongested, compared with when both the current lane and the first adjacent lane are determined to be congested, generating the target path away from the adjacent lane. When both the first adjacent lane and the second adjacent lane are adjacent to the current lane, the path generation unit (18) generates the target path away from the second adjacent lane when the congestion determination unit (17) determines that the current lane is congested and that the first adjacent lane is congested and the second adjacent lane is not congested, compared with the case when the current lane is congested and both the first adjacent lane and the second adjacent lane are not congested.

8. The path generation method according to claim 7, characterized in that, The determination includes: when the lane is determined to be congested, the relative speed of the adjacent vehicle relative to the vehicle (1) is determined based on the identification result of the adjacent vehicle. When the relative speed is below the specified speed, the adjacent lane is determined to be congested. On the other hand, when the relative speed exceeds the specified speed, the adjacent lane is determined to be uncongested.

9. The path generation method according to claim 7 or 8, characterized in that, The detection unit (13) detects objects in the surrounding area, including the rear side of the vehicle (1).

10. The path generation method according to claim 7 or 8, characterized in that, It also includes a driving control actuator (11) to assist the driver of the vehicle (1) or enable the vehicle (1) to drive automatically. The control includes controlling the driving actuator (11) according to the target path.

11. The path generation method according to claim 7 or 8, characterized in that, The detection unit (13) includes a camera.

12. The path generation method according to claim 7 or 8, characterized in that, When generating the target path on the side furthest from the adjacent lane, the process includes: The target path is offset by a predetermined distance from the centerline of the current lane towards the side away from the adjacent lane; or The target path is offset by a predetermined distance from the center of the preceding vehicle toward the side of the adjacent lane; or To offset such that the side end of the vehicle (1) on the opposite side of the adjacent lane is aligned with the road markings on the opposite side of the adjacent lane by a certain distance; or The vehicle (1) being positioned on the adjacent lane side is offset in such a way that the side end of the vehicle (1) being positioned on the adjacent lane side is aligned with the side end of the preceding vehicle being positioned on the adjacent lane side.

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