Driving control method and driving control device

Abstract

The driving control device of the present invention detects lane dividing lines set at the width direction end of the lane in which the vehicle is traveling, and performs driving control of the vehicle based on the detection result of the lane dividing lines. When the state from which the lane dividing lines can be detected changes to the state from which they cannot be detected, the first prescribed position relative to the lane dividing lines is calculated and stored, and when the state from which the lane dividing lines cannot be detected changes to the state from which they can be detected, the second prescribed position relative to the lane dividing lines is calculated and stored. When traveling in a section in which the first and second prescribed positions are stored, the vehicle is controlled so as to travel on a driving route connecting the first prescribed position and the second prescribed position.

Description

Technical Field

[0001] The invention relates to a driving control method and a driving control device. Background Art

[0002] Patent Document 1 discloses a road shape detection method that correctly determines the shape of a lane by combining the driving information of a vehicle during automatic driving and the driving information of a vehicle during manual driving. The road shape detection method determines a detection point (driving trajectory) of the current position of the vehicle as time passes during automatic driving as the center line of the lane, and determines the boundary of the lane based on the distribution of the distance between the determined center line of the lane and the detection point of the current position as time passes during manual driving.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2016-224593

[0006] Problems to be solved by the invention

[0007] However, in the above-mentioned conventional road shape detection method, the vehicle's automatic driving assistance is performed by detecting lane dividing lines or other vehicles in the vicinity through cameras, etc., and the driving trajectory of the vehicle in automatic driving is determined as the center line of the lane. Therefore, in sections where lane dividing lines are not drawn locally, or where lane dividing lines disappear or become so shallow that they cannot be recognized by cameras, etc., it is difficult to correctly determine the center line of the lane and the boundary of the lane, and it may be impossible to drive at a specified position in the lane. Summary of the invention

[0008] The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a travel control method and a travel control device that enable a vehicle to travel at a predetermined position within its own lane even in a section where lane dividing lines cannot be detected.

[0009] A driving control method according to one aspect of the present invention detects lane dividing lines set at the widthwise ends of a lane in which a vehicle is traveling, and performs driving control of the vehicle based on the detection results of the lane dividing lines. When a state where the lane dividing lines can be detected changes to a state where they cannot be detected, a first prescribed position relative to the lane dividing lines is calculated and stored, and when a state where the lane dividing lines cannot be detected changes to a state where they can be detected, a second prescribed position relative to the lane dividing lines is calculated and stored. Furthermore, when traveling in a section where the first and second prescribed positions are stored, the vehicle is controlled so that the vehicle travels on a driving route connecting the first prescribed position and the second prescribed position.

[0010] Effects of the Invention

[0011] According to the present invention, even in a section where lane dividing lines cannot be detected, it is possible to travel at a predetermined position within the own lane. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a block diagram showing a configuration example of a travel control device according to an embodiment of the present invention.

[0013] Figure 2 This is a diagram for explaining an example of a method for calculating a travel route according to an embodiment of the present invention.

[0014] Figure 3 This is a diagram for explaining an example of a method for calculating a travel route according to an embodiment of the present invention.

[0015] Figure 4 This is a diagram for explaining an example of a method for calculating a travel route according to an embodiment of the present invention.

[0016] Figure 5 It is a diagram for explaining an example of a driving route correction method according to an embodiment of the present invention.

[0017] Fig. 6A This is a diagram for explaining an example of a driving scene according to an embodiment of the present invention.

[0018] Figure 6B This is a diagram for explaining an example of a driving scene according to an embodiment of the present invention.

[0019] Figure 7 This is a flowchart for explaining an operation example of the travel control device according to the embodiment of the present invention.

[0020] Figure 8 This is a flowchart for explaining an operation example of the travel control device according to the embodiment of the present invention. DETAILED DESCRIPTION

[0021] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same parts are denoted by the same reference numerals and their description is omitted.

[0022] [Configuration Example of Travel Control Device]

[0023] Reference Figure 1 An example of the structure of a travel control device for executing the travel control method of this embodiment will be described. Figure 1 As shown, the travel control device 1 includes a camera 10, a vehicle speed sensor 11, an angular velocity sensor 12, a GNSS receiver 13, and a controller 20. The travel control device 1 of the present embodiment is mounted on a vehicle V and controls the travel of the vehicle V.

[0024] The driving control device 1 can be mounted on a vehicle with an automatic driving function, or can be mounted on a vehicle without an automatic driving function. In addition, the driving control device 1 can also be mounted on a vehicle that can switch between automatic driving and manual driving. In addition, the automatic driving in this embodiment refers to a state in which at least one of the actuators such as brakes, accelerators, and steering gears is controlled to be in a state without passenger operation. Therefore, other actuators can also be operated by the operation of the passenger. In addition, the so-called automatic driving refers to a state in which any one of the control such as acceleration and deceleration control and lateral position control is executed. In addition, the manual driving in this embodiment refers to a state in which the passenger operates the brakes, accelerator, and steering gear, for example.

[0025] The camera 10 is mounted on the vehicle V and captures images of the surroundings of the vehicle V. The camera 10 includes an imaging element such as a CCD (charge-coupled device) or a CMOS (complementary metal oxide semiconductor). The camera 10 outputs images captured sequentially to the controller 20 .

[0026] The vehicle speed sensor 11 detects the travel speed (vehicle speed) of the vehicle V. The vehicle speed sensor 11 includes, for example: a sensor rotor that rotates together with the wheel and has a protrusion (gear pulse generator) formed on its circumference, and a detection circuit having a coupling coil arranged opposite to the protrusion of the sensor rotor. The vehicle speed sensor 11 converts the change in magnetic flux density accompanying the rotation of the sensor rotor into a voltage signal through the coupling coil, and measures the wheel speed of each wheel based on the voltage signal. The vehicle speed sensor 11 calculates the average value of the wheel speed of each wheel as the vehicle speed. The vehicle speed sensor 11 outputs the detected vehicle speed of the vehicle V to the controller 20.

[0027] The angular velocity sensor 12 detects the angular velocity of the vehicle V and outputs the detected angular velocity to the controller 20 .

[0028] The GNSS receiver 13 is a GPS receiver or the like, and detects the position of the vehicle V on the ground (hereinafter sometimes referred to as the self-position) by receiving radio waves from a plurality of artificial satellites. The GNSS receiver 13 outputs the detected position information of the vehicle V to the controller 20. In addition, "GNSS" is an abbreviation of "Global Navigation Satellite System", and GPS is an abbreviation of "Global Positioning System".

[0029] The controller 20 is a general-purpose microcomputer having a CPU (central processing unit), a memory, and an input / output unit. A computer program for functioning as the driving control device 1 is installed in the microcomputer. By executing the computer program, the microcomputer functions as a plurality of information processing circuits possessed by the driving control device 1. In addition, here, an example of realizing a plurality of information processing circuits possessed by the driving control device 1 by software is shown, but of course, dedicated hardware for performing each information processing shown below can also be prepared to constitute the information processing circuit. In addition, a plurality of information processing circuits can also be constituted by separate hardware. As a plurality of information processing circuits, the controller 20 comprises: a lane dividing line detection unit 21, a relative position estimation unit 22, an absolute position estimation unit 23, a driving route calculation unit 24, a driving route storage unit 25, a driving route search unit 26, a driving route correction unit 27, and a vehicle control unit 28.

[0030] The lane dividing line detection unit 21 detects the lane dividing line set in front of the vehicle V at the end in the width direction of the lane in which the vehicle V is traveling, based on the image captured by the camera 10. The lane dividing line is a driving dividing line that divides the lane, and is a white line, road studs, curbstones, etc. on the road surface. The lane dividing line detection unit 21 detects the relative position of the detected lane dividing line and the vehicle V. The relative position detected by the lane dividing line detection unit 21 is the position in the vehicle coordinate system. The vehicle coordinate system, for example, takes the center of the rear wheel axle of the vehicle V as the origin, sets the front direction as the positive direction of the x-axis, and sets the left direction as the positive direction of the y-axis. In addition, the transformation formula from the coordinate system of the camera 10 to the vehicle coordinate system is pre-set in the lane dividing line detection unit 21.

[0031] The relative position estimating unit 22 obtains the speed of the vehicle V from the vehicle speed sensor 11, and obtains the angular velocity of the vehicle V from the angular velocity sensor 12. The relative position estimating unit 22 obtains the moving distance and moving direction of the vehicle V based on the obtained speed and angular velocity, that is, estimates the relative position and posture (azimuth) of the vehicle V in the relative coordinate system with a certain position as the origin through distance measurement. For example, the relative position and azimuth of the vehicle V are estimated by taking the position of the vehicle V at the time when the driving control device 1 is started or the time when the process is reset as the origin, and the azimuth of the vehicle V as 0°. In addition, the relative position estimating unit 22 can estimate the relative position and azimuth of the vehicle V by distance measurement using the rotation speed of the wheel and the steering angle, or by distance measurement using the rotation speed of the wheel or the steering gear. In this way, the parameters used for distance measurement are not particularly limited.

[0032] The absolute position estimating unit 23 acquires the own position of the vehicle V from the GNSS receiver 13, acquires the vehicle speed of the vehicle V from the vehicle speed sensor 11, and acquires the angular velocity of the vehicle V from the angular velocity sensor 12. The absolute position estimating unit 23 estimates the absolute position of the vehicle V using a Kalman filter based on the acquired own position, vehicle speed, and angular velocity of the vehicle V. The own position acquired from the GNSS receiver 13 includes an error due to the influence of obstacles, etc. By combining the own position acquired from the GNSS receiver 13 with the vehicle speed and angular velocity, the absolute position estimating unit 23 can suppress the influence of the error of the own position.

[0033] The driving route calculation unit 24 calculates and stores a specified position of the vehicle V relative to the lane dividing line detected at a first location as a first specified position. Then, the specified position of the vehicle V relative to the lane dividing line detected at a second location after traveling a specified interval from the first location is calculated and stored as a second specified position. For example, the driving route calculation unit 24 calculates and stores the center positions of the lane dividing lines detected at the first and second locations as the first and second specified positions. The driving route calculation unit 24 calculates and stores the first and second specified positions, for example, when the vehicle V is manually driven. The driving route calculation unit 24 calculates and stores the direction along the lane at the first specified position and the direction along the lane at the second specified position.

[0034] The driving route calculation unit 24 checks the operation state of the direction indicator of the vehicle V while the vehicle V is traveling in the section from the first predetermined position to the second predetermined position. When the direction indicator of the vehicle V is not operated while the vehicle V is traveling in the section from the first predetermined position to the second predetermined position, the driving route calculation unit 24 calculates a driving route connecting the first and second predetermined positions that are stored. For example, the driving route calculation unit 24 calculates the driving route connecting the first predetermined position and the second predetermined position so that the direction of the driving route is consistent with both or one of the direction along the own lane at the first predetermined position and the direction along the own lane at the second predetermined position.

[0035] When the direction indicator of the vehicle V is activated while the vehicle V is traveling in the section from the first prescribed position to the second prescribed position, the driving route calculation unit 24 determines whether there is a deviation of more than a prescribed value between the azimuths of the vehicle V at the first and second prescribed positions or at the first and second locations. Furthermore, when there is a deviation of more than a prescribed value between the azimuths of the vehicle V at the first and second prescribed positions or at the first and second locations, a driving route connecting the first and second prescribed positions is calculated. When there is no deviation of more than a prescribed value between the azimuths of the vehicle V at the first and second prescribed positions or at the first and second locations, the driving route is not calculated. For details on the driving route calculation method of the driving route calculation unit 24, refer to Figures 2 to 4 This will be described later.

[0036] The driving route storage unit 25 stores the absolute position and azimuth of the vehicle V at the first location, the position of the lane dividing line detected by the vehicle V at the first location, and the first and second specified positions and the driving route calculated by the driving route calculation unit 24 as a group in the memory within the controller 20 .

[0037] When traveling in the section where the first and second predetermined positions are stored, the driving route search unit 26 searches for a driving route that is within a predetermined range from the current absolute position of the vehicle V and is closest to the current absolute position of the vehicle V from the driving routes stored in the driving route storage unit 25. For example, when the vehicle V is driving automatically, the driving route search unit 26 searches for a driving route that is within a predetermined range from the current absolute position of the vehicle V and is closest to the current absolute position of the vehicle V from the driving routes stored in the driving route storage unit 25. For details of the driving route search method of the driving route search unit 26, refer to Figure 5 This will be described later.

[0038] When the current position and azimuth of the vehicle V do not deviate by more than a specified value from the position and azimuth of the vehicle V at the first location stored in a group with the travel route searched by the travel route search unit 26, the travel route correction unit 27 corrects the travel route searched by the travel route search unit 26. The travel route correction unit 27 corrects the travel route searched by the travel route search unit 26 to a relative travel route with respect to the current vehicle V based on the deviation between the position of the lane dividing line stored in a group with the travel route searched by the travel route search unit 26 and the position of the lane dividing line detected by the current vehicle V. Then, the corrected travel route is set as the current travel route of the vehicle V. For details on the travel route correction method of the travel route correction unit 27, refer to Figure 5 This will be described later.

[0039] The vehicle control unit 28 controls the actuators of the vehicle V so that the vehicle V follows the travel route corrected by the travel route correction unit 27. The actuators include a brake actuator, an accelerator actuator, a steering actuator, and the like.

[0040] [Driving route calculation method]

[0041] Reference Figures 2 to 4 , an example of a method for calculating a travel route by the travel route calculation unit 24 will be described.

[0042] Figure 2The scene in which the vehicle V passes through an intersection during manual driving is shown. The driving path calculation unit 24 obtains the positions of the lane dividing lines 41a and 42a detected by the vehicle V before the intersection (first location). The driving path calculation unit 24 calculates the center position of the lane dividing lines 41a and 42a and stores it as the first predetermined position P1. Figure 2 There are no lane dividing lines in the intersection shown, so while the vehicle V enters the intersection and travels on the driving trajectory 51a, the vehicle V cannot detect the lane dividing lines. Then, when the vehicle V passes through the intersection, the vehicle V can detect the lane dividing lines again. The driving route calculation unit 24 obtains the positions of the lane dividing lines 43a, 44a detected at the location (second location) where the vehicle V passes through the intersection. Then, the central position of the lane dividing lines 43a, 44a is calculated and stored as the second prescribed position P2. The driving route calculation unit 24 calculates and stores the direction D1 along the own lane at the first prescribed position P1 and the direction D2 along the own lane at the second prescribed position P2.

[0043] exist Figure 2 In the scenario of , the driving route calculation unit 24 determines that the direction indicator of the vehicle V is not in operation while the vehicle V is traveling in the section from the first predetermined position P1 to the second predetermined position P2. Then, the driving route 61a connecting the first predetermined position P1 and the second predetermined position P2 is calculated so that the direction of the driving route is consistent with both or one of the direction D1 along the own lane at the first predetermined position P1 and the direction D2 along the own lane at the second predetermined position P2.

[0044] The travel route storage unit 25 stores, for example, the absolute position A1 and azimuth of the vehicle V at the first point, the positions of the lane dividing lines 41a and 42a, the first and second predetermined positions P1 and P2, and the travel route 61a as a group in the memory in the controller 20 .

[0045] Figure 3The scene in which the vehicle V turns right at an intersection while driving manually is shown. The driving path calculation unit 24 obtains the positions of the lane dividing lines 41b and 42b detected by the vehicle V before the intersection (first location). The driving path calculation unit 24 calculates the center position of the lane dividing lines 41b and 42b and stores it as the first prescribed position P1. Then, while the vehicle V enters the intersection, travels on the driving trajectory 51b and turns right at the intersection, the vehicle V cannot detect the lane dividing lines. Then, when the vehicle V turns right at the intersection, the vehicle V can detect the lane dividing lines again. The driving path calculation unit 24 obtains the positions of the lane dividing lines 43b and 44b detected at the location (second location) where the vehicle V turns right at the intersection. Then, the center position of the lane dividing lines 43b and 44b is calculated and stored as the second prescribed position P2. The driving path calculation unit 24 calculates and stores the direction D1 along the own lane at the first prescribed position and the direction D2 along the own lane at the second prescribed position.

[0046] exist Figure 3 In the scenario, the driving route calculation unit 24 determines that the direction indicator of the vehicle V is actuated while the vehicle V is traveling in the section from the first prescribed position P1 to the second prescribed position P2. Furthermore, the driving route calculation unit 24 determines that there is a deviation of more than a prescribed position between the azimuths of the vehicle V at the first and second prescribed positions P1, P2 or at the first and second locations. Then, a smooth curve connecting the first prescribed position P1 and the second prescribed position P2 and having a direction that is consistent with both or one of the direction D1 along the own lane at the first prescribed position P1 and the direction D2 along the own lane at the second prescribed position P2 is calculated as the driving route 61b. The driving route calculation unit 24 calculates the driving route 61b, for example, using a clothoid curve or a spline curve.

[0047] The travel path storage unit 25 stores the absolute position A1 and azimuth of the vehicle V at the first point, the positions of the lane dividing lines 41 b and 42 b , the first and second predetermined positions P1 and P2 , and the travel path 61 b ​​as a group in the memory of the controller 20 .

[0048] Figure 4Represents a scenario in which the vehicle V changes lanes during manual driving. The driving route calculation unit 24 obtains the positions of the lane dividing lines 41c and 42c detected at the location (first location) before the vehicle V changes lanes. The driving route calculation unit 24 calculates the center position of the lane dividing lines 41c and 42c and stores it as the first prescribed position P1. Then, the positions of the lane dividing lines 43c and 44c detected at the location (second location) where the vehicle V starts the lane change while traveling on the driving trajectory 51c are obtained. Then, the center position of the lane dividing lines 43c and 44c is calculated and stored as the second prescribed position P2. The driving route calculation unit 24 calculates and stores the direction D1 along the own lane at the first prescribed position P1 and the direction D2 along the own lane at the second prescribed position P2.

[0049] exist Figure 4 In the scenario of , the driving route calculation unit 24 determines that the direction indicator of the vehicle V is actuated while the vehicle V is traveling from the first predetermined position P1 to the second predetermined position P2. Furthermore, the driving route calculation unit 24 determines that there is no deviation of more than a predetermined position between the first and second predetermined positions P1, P2 or between the azimuths of the vehicle V at the first and second locations. In this case, the driving route calculation unit 24 does not calculate the driving route and ends the processing.

[0050] In addition, the first and second predetermined positions P1, P2 and the travel routes 61a, 61b are described as relative positions of a relative coordinate system with the absolute position A1 of the vehicle V as the origin when the vehicle V is located at the first location. When the vehicle V is located at the first location, the absolute position estimation unit 23 estimates the absolute position A1 of the vehicle V. Then, when the vehicle V is located at the second location, the relative position estimation unit 22 estimates the relative position R of the vehicle V with the absolute position A1 as the origin. The travel route calculation unit 24 calculates the relative positions of the first and second predetermined positions P1, P2 and the travel routes 61a, 61b based on these absolute positions A1 and relative positions R. The travel route calculation method is described by taking the case where the vehicle V is traveling straight at an intersection, the case where the vehicle V turns right at an intersection, and the case where the vehicle V changes lanes as examples, but it is also applicable to the case where the vehicle V turns left at an intersection, travels on a straight road or a curved road, etc., and is not limited to this.

[0051] [Driving route search method and driving route correction method]

[0052] Next, use Figure 5 An example of a traveling route search method by the traveling route search unit 26 and a traveling route correction method by the traveling route correction unit 27 will be described.

[0053] Figure 5 Indicates the distance that vehicle V will travel in the past Figure 2The driving route search unit 26 searches for a driving route closest to the absolute position A2 of the vehicle V within a specified range from the current absolute position A2 of the vehicle V from the driving routes stored in the driving route storage unit 25. The driving route search unit 26 extracts the driving route 61a closest to the absolute position A2 of the vehicle V within a specified range from the current absolute position A2 of the vehicle V. Then, the absolute position A1 and the azimuth of the vehicle V and the positions of the lane dividing lines 41a and 42a stored in combination with the driving route 61a are extracted.

[0054] The travel path correction unit 27 determines whether the current absolute position A2 and azimuth of the vehicle V deviate from the absolute position A1 and azimuth of the vehicle V extracted by the travel path search unit 26 by more than a predetermined value. Figure 5 In the scenario, the driving route correction unit 27 determines that the absolute position A2 and azimuth of the current vehicle V do not deviate from the absolute position A1 and azimuth of the vehicle V extracted by the driving route search unit 26 by more than the specified value. Then, the driving route correction unit 27 obtains the position of the lane dividing lines 71a, 72a detected by the current vehicle V at the absolute position A2. Then, the position of the lane dividing lines 41a, 42a extracted by the driving route search unit 26 is made to correspond to the position of the lane dividing lines 71a, 72a. Then, a coordinate transformation (translation, rotation) T is calculated to make the position of the lane dividing lines 41a, 42a and the position of the lane dividing lines 71a, 72a as consistent as possible.

[0055] The driving route correction unit 27 applies the calculated coordinate transformation T to the driving route 61a, and corrects the position of the driving route 61a to the relative driving route 81a relative to the current vehicle V. Then, the corrected driving route is set as the current driving route of the vehicle V. In this way, by correcting the position of the driving route based on a clear object mark such as a lane dividing line, the deviation of the driving route caused by the position error of the GNSS can be suppressed. The driving route search method and the driving route correction method are described by taking the case where the vehicle V is traveling straight at an intersection as an example, but are also applicable to the case where the vehicle V turns left or right at an intersection, and the case where the vehicle V is traveling on a straight road or a curved road, etc., and are not limited to this.

[0056] In addition, when the vehicle V is traveling on a driving route connecting the predetermined positions of the detected lane dividing lines in a section where the vehicle V can continuously detect the lane dividing lines of the own lane, the controller 20 may store the driving path of the vehicle V instead of the driving route connecting the first predetermined position and the second predetermined position. That is, the positions of the first predetermined position and the second predetermined position relative to the lane dividing lines 41d and 42d may be not the center positions of the lanes, but the relative positions of the vehicle V relative to the lane dividing lines 41d and 42d during manual driving. For example, Fig. 6A As shown in FIG. 1 , when the vehicle V is traveling in the own lane along the driving route connecting the center positions of the continuously detected lane dividing lines, the driving route storage unit 25 stores the absolute position A1 and azimuth of the vehicle V at the first location, the positions of the lane dividing lines 41d and 42d detected by the vehicle V at the first location, and the driving trajectory 51d as a group in the memory in the controller 20. In this case, Figure 6B As shown, the driving route correction unit 27 corrects the driving trajectory 51d extracted by the driving route search unit 26 into a relative driving route 81d with respect to the current vehicle V based on the deviation between the positions of the lane dividing lines 41d and 42d stored in a group with the driving trajectory 51d extracted by the driving route search unit 26 and the positions of the lane dividing lines 71d and 72d detected by the current vehicle V. Then, the corrected driving route 81d is set as the current driving route of the vehicle V.

[0057] Next, refer to Figure 7 and Figure 8 The flowchart of FIG. 1 illustrates an example of the operation flow of the travel control device according to the embodiment of the present invention.

[0058] Figure 7 FIG. 2 shows an example of the operation flow of the driving control device 1 when the vehicle V is manually driven. Figure 7 In step S100, the absolute position estimating unit 23 estimates the absolute position of the vehicle V on the map based on the own position, vehicle speed, and angular velocity of the vehicle V acquired from the GNSS receiver 13. The relative position estimating unit 22 estimates the relative position and azimuth of the vehicle V in a relative coordinate system with the absolute position of the vehicle V estimated by the absolute position estimating unit 23 as the origin by distance measurement.

[0059] Entering step S101, the lane dividing line detection unit 21 detects the lane dividing line set at the width end of the lane in which the vehicle V is traveling and in front of the vehicle based on the image captured by the camera 10. Entering step S102, the lane dividing line detection unit 21 determines whether the detection of the lane dividing line is successful. If the detection of the lane dividing line is successful ("Yes" in step S102), the process proceeds to step S103. On the other hand, if the detection of the lane dividing line fails ("No" in step S102), the process ends. Figure 7 processing.

[0060] In step S103, the travel path calculation unit 24 calculates and stores a predetermined position relative to the lane dividing line detected by the lane dividing line detection unit 21. The travel path calculation unit 24 calculates and stores a direction along the own lane at the calculated predetermined position.

[0061] The process proceeds to step S104, and the travel route calculation unit 24 confirms the operation state of the direction indicator of the vehicle V during the period when the vehicle V travels in the section from the last stored predetermined position (first predetermined position) to the currently stored predetermined position (second predetermined position). The process proceeds to step S105. When the direction indicator of the vehicle V is operated during the period when the vehicle V travels in the section from the first predetermined position to the second predetermined position ("Yes" in step S105), the process proceeds to step S106. On the other hand, when the direction indicator of the vehicle V is not operated during the period when the vehicle V travels in the section from the first predetermined position to the second predetermined position ("No" in step S105), the process proceeds to step S107.

[0062] In step S106, the travel route calculation unit 24 determines whether there is a deviation of more than a prescribed value between the azimuth angles of the vehicle V at the first and second prescribed positions or at the first and second locations. If there is a deviation of more than a prescribed value between the azimuth angles of the vehicle V at the first and second prescribed positions or at the first and second locations ("Yes" in step S106), the process proceeds to step S107. On the other hand, if there is no deviation of more than a prescribed value between the azimuth angles of the vehicle V at the first and second prescribed positions or at the first and second locations ("No" in step S106), the process ends. Figure 7 processing.

[0063] In step S107, the driving route calculation unit 24 calculates a driving route connecting the first and second predetermined positions stored. Here, consider the case where the state of the lane dividing line can be detected changes to the state of the lane dividing line cannot be detected, and then the lane dividing line is detected again. In this case, the place where the state of the lane dividing line can be detected changes to the state of the lane dividing line cannot be detected becomes the first place, and the predetermined position of the first place relative to the lane dividing line becomes the first predetermined position. In addition, the place where the state of the lane dividing line cannot be detected changes to the state of the lane dividing line can be detected becomes the second place, and the predetermined position of the second place relative to the lane dividing line becomes the second predetermined position. In addition, in this embodiment, the place where the state of the lane dividing line can be detected changes to the state of the lane dividing line cannot be detected is set as the first place, and the place where the state of the lane dividing line cannot be detected changes to the state of the lane dividing line can be detected is set as the second place, but it is not limited to this. For example, the place before the predetermined time from the moment when the state of the lane dividing line can be detected changes to the state of the lane dividing line cannot be detected can also be used as the first place. Similarly, the place after the predetermined time from the moment when the state of the lane dividing line cannot be detected changes to the state of the lane dividing line can be detected can also be used as the second place. The driving route calculation unit 24 calculates a driving route connecting the first and second predetermined positions so that the direction of the driving route is consistent with both or one of the direction along the own lane at the first predetermined position and the direction along the own lane at the second predetermined position. The driving route storage unit 25 stores the absolute position and azimuth of the vehicle V at the first position, the position of the lane dividing line detected by the vehicle V at the first position, the first and second predetermined positions calculated by the driving route calculation unit 24, and the driving route as a group in the memory in the controller 20.

[0064] Figure 8 An example of the operation flow of the driving control device 1 during the automatic driving of the vehicle V is shown. Figure 8 In step S200, the absolute position estimating unit 23 estimates the absolute position of the vehicle V on the map based on the own position, vehicle speed, and angular velocity of the vehicle V acquired from the GNSS receiver 13. The relative position estimating unit 22 estimates the relative position and azimuth of the vehicle V in a relative coordinate system with the absolute position of the vehicle V estimated by the absolute position estimating unit 23 as the origin by distance measurement.

[0065] In step S201, the driving route search unit 26 searches and extracts a driving route that is within a predetermined range from the current absolute position of the vehicle V and is closest to the absolute position of the vehicle V from the absolute positions stored in the driving route storage unit 25. Then, the absolute position and azimuth of the vehicle V and the position of the lane dividing line stored in a group with the searched driving route are extracted.

[0066] Entering step S202, the driving route correction unit 27 determines whether the current absolute position and azimuth of the vehicle V deviate from the absolute position and azimuth of the vehicle V extracted by the driving route search unit 26 by more than a predetermined value. If the current absolute position and azimuth of the vehicle V deviate from the absolute position and azimuth of the vehicle V extracted by the driving route search unit 26 by more than a predetermined value ("Yes" in step S202), the driving route calculation unit 24 ends. Figure 8 On the other hand, when the absolute position and azimuth of the current vehicle V do not deviate from the absolute position and azimuth of the vehicle V extracted by the travel route search unit 26 by more than the specified value ("No" in step S202), the process proceeds to step S203.

[0067] In step S203, the lane dividing line detection unit 21 detects the lane dividing line set at the width direction end of the lane in which the vehicle V is traveling and in front of the vehicle based on the image captured by the camera 10. The process proceeds to step S204, where the lane dividing line detection unit 21 determines whether the detection of the lane dividing line is successful. If the detection of the lane dividing line is successful ("Yes" in step S204), the process proceeds to step S205. If the detection of the lane dividing line fails ("No" in step S204), the process proceeds to step S206.

[0068] In step S205, the driving route correction unit 27 establishes a correspondence between the position of the lane dividing line searched by the driving route search unit 26 in step S201 and the position of the lane dividing line detected by the lane dividing line detection unit 21 in step S203. Then, the coordinate transformation (translation, rotation) T is calculated so that the position of the lane dividing line searched by the driving route search unit 26 in step S201 and the position of the lane dividing line detected by the lane dividing line detection unit 21 in step S203 are as consistent as possible. The driving route correction unit 27 applies the calculated coordinate transformation T to the driving route searched by the driving route calculation unit 24 in step S201, and corrects it to a relative driving route relative to the current vehicle V. Then, the corrected driving route is set as the current driving route of the vehicle V.

[0069] Entering step S206, the vehicle control unit 28 controls the actuator of the vehicle V so that the vehicle V follows the driving route corrected by the driving route correction unit 27, and ends. Figure 8 processing.

[0070] In addition, in the present embodiment, when the vehicle V is traveling in the section where the first and second predetermined positions are stored, a method is described in which the driving route connecting the first and second predetermined positions is corrected to a relative driving route with respect to the current vehicle V based on the deviation between the position of the lane dividing line detected by the vehicle V at the first location and the position of the lane dividing line currently detected by the vehicle V. However, a first object marker existing around the vehicle may be detected and stored at the first location, and when the vehicle V is traveling in the section where the first and second predetermined positions are stored, a second object marker corresponding to the first object marker may be detected and stored, and the driving route may be corrected based on the deviation between the positions of the first object marker and the second object marker.

[0071] In this case, the driving route storage unit 25 stores the absolute position and azimuth of the vehicle V at the first location, the position of the first object marker detected at the first location, the first and second predetermined positions calculated by the driving route calculation unit 24, and the driving route as a group in the memory of the controller 20. Then, the driving route correction unit 27 corrects the driving route extracted by the driving route search unit 26 to a relative driving route with respect to the current vehicle V based on the deviation between the position of the first object marker stored as a group with the driving route extracted by the driving route search unit 26 and the position of the second object marker corresponding to the first object marker detected by the current vehicle V. In addition, the first and second object markers may be any one of lane dividing lines, stop lines, signals, signs, and road markings, or a combination of a plurality of them.

[0072] [Effects of this embodiment]

[0073] As described above, the driving control device of the present invention includes a controller that detects lane dividing lines set at the width direction end of the lane in which the vehicle is traveling, and performs driving control of the vehicle based on the detection result of the lane dividing lines. When the state from which the lane dividing lines can be detected changes to the state from which they cannot be detected, the first prescribed position relative to the lane dividing lines is calculated and stored, and when the state from which the lane dividing lines cannot be detected changes to the state from which they can be detected, the second prescribed position relative to the lane dividing lines is calculated and stored. Then, when traveling in a section in which the first and second prescribed positions are stored, the vehicle is controlled so that it travels on a driving route connecting the first prescribed position and the second prescribed position.

[0074] Therefore, it is possible to set a driving route that connects the first predetermined position relative to the lane dividing line when the state where the lane dividing line can be detected changes to the state where the lane dividing line cannot be detected, and the second predetermined position when the state where the lane dividing line cannot be detected changes to the state where the lane dividing line can be detected. Thus, when driving in a section where the first and second predetermined positions are stored, even in a section where the lane dividing line cannot be detected, such as an intersection, it is possible to drive in a predetermined position of the lane.

[0075] The driving control device of the present invention calculates the center position in the lane width direction of the own lane as the first predetermined position and the second predetermined position relative to the lane dividing line. Therefore, it is possible to set a driving route that connects the center position in the lane width direction of the own lane at the time when the lane dividing line can be detected. As a result, when driving in a section where the first and second predetermined positions are stored, it is possible to drive in the center position of the lane even in a section such as an intersection where the lane dividing line cannot be detected.

[0076] The driving control device of the present invention calculates and stores the directions along the own lane of each of the first and second prescribed positions, and calculates a driving route connecting the first prescribed position and the second prescribed position so that the direction of the driving route is consistent with both or one of the direction along the own lane at the first prescribed position and the direction along the own lane at the second prescribed position. In this way, it is possible to set a driving route whose direction is consistent with the posture of the own vehicle at the first prescribed position and the direction of the own lane at the second prescribed position. Moreover, even when the direction of the own lane at the first prescribed position is greatly different from the direction of the own lane at the second prescribed position, such as when the own vehicle turns left or right or travels on a curve, it is possible to travel at a prescribed position in the lane.

[0077] The driving control device of the present invention detects and stores the first object identifier that exists around the vehicle when the first prescribed position is calculated and stored, detects the second object identifier corresponding to the first object identifier when driving in the section where the first and second prescribed positions are stored, and corrects the driving route based on the offset between the positions of the first object identifier and the second object identifier. Therefore, it is possible to calculate the position deviation between the first object identifier detected when the first prescribed position is calculated and the second object identifier corresponding to the second object identifier detected when driving in the section where the first and second prescribed positions are stored. Thus, it is possible to correct the error between the position of the locator when the first and second prescribed positions are calculated and the position of the locator when driving in the section where the first and second prescribed positions are stored, and it is possible to suppress the error in the position of the driving route connecting the first and second prescribed positions.

[0078] In addition, the first and second object identifiers refer to any one of lane dividing lines, stop lines, traffic lights, identifiers, and road markings, or a combination of multiple thereof. Thus, one or more detectable object identifiers can be selected from the object identifiers existing around the vehicle. Thus, the error between the position of the vehicle when the first specified position is calculated and the position of the vehicle when traveling in the section where the first and second specified positions are stored can be corrected with higher accuracy, and the error in the position of the driving route connecting the first and second specified positions can be suppressed.

[0079] The driving control device of the present invention calculates a driving route when there is a deviation of more than a prescribed value between the first and second prescribed positions or between the postures of the respective vehicles when the first and second prescribed positions are calculated, while the vehicle is traveling in the interval from the first prescribed position to the second prescribed position, when the direction indicator of the vehicle is in operation, and does not calculate a driving route when there is no deviation of more than a prescribed value. Therefore, in the case where the first prescribed position and the second prescribed position deviate, such as when the vehicle turns left or right, and when the vehicle is traveling on a curve, or when the postures of the respective vehicles when the first and second prescribed positions are calculated deviate, a driving route connecting the first prescribed position and the second prescribed position is calculated. Furthermore, in the case where the first and second prescribed positions do not deviate, such as when the vehicle changes lanes, or when the postures of the respective vehicles when the first and second prescribed positions are calculated do not deviate, a driving route connecting the first prescribed position and the second prescribed position is not calculated. Thus, in the case where the direction indicator is in operation, the driving route can be set by distinguishing between the case where the vehicle turns left or right and the case where the vehicle changes lanes, and an erroneous driving route setting can be suppressed.

[0080] The driving control device of the present invention does not set the calculated driving route as the driving route of the vehicle when the position and posture of the vehicle deviate by more than a predetermined value from the position and posture of the vehicle when the first predetermined position is calculated and stored when the vehicle is traveling in a section where the first and second predetermined positions are stored. Therefore, the driving route is not set when the vehicle is traveling in a state where the vehicle deviates greatly from the lane, so that the setting of a driving route with low accuracy can be suppressed.

[0081] Explanation of symbols

[0082] 1: Driving control device

[0083] 41a-41d, 42a-42d, 71a, 71d, 72a, 72d: Lane dividing lines

[0084] 20: Controller

[0085] P1: First specified position

[0086] P2: The second specified position

[0087] 61a, 61b: Driving route

Claims

1. A driving control method for a vehicle, the vehicle having a controller, the controller detecting a lane dividing line provided at a widthwise end of a lane in which the vehicle is traveling, and performing driving control of the vehicle based on the detection result of the lane dividing line, the driving control method being characterized in that: When the state where the lane dividing line can be detected changes to the state where the lane dividing line cannot be detected, a first predetermined position relative to the lane dividing line is calculated and stored, and an absolute position and an azimuth angle of the host vehicle are stored, When the state in which the lane dividing line cannot be detected changes to the state in which the lane dividing line can be detected, a second predetermined position relative to the lane dividing line is calculated and stored, When traveling in a section in which the first and second prescribed positions are stored, if the current absolute position and azimuth of the vehicle do not deviate by more than a prescribed value from the absolute position and azimuth of the vehicle stored when the first prescribed position was calculated and stored, the vehicle is controlled so that it travels on a driving route connecting the first prescribed position and the second prescribed position.

2. The driving control method according to claim 1, characterized in that: A lane width direction center position within the own lane is calculated as the first and second predetermined positions relative to the lane dividing line.

3. The driving control method according to claim 1 or 2, characterized in that: calculating and storing the directions of the first and second predetermined positions along the lane, A driving route connecting the first predetermined position and the second predetermined position is calculated so that the direction of the driving route coincides with both or one of a direction along the own lane at the first predetermined position and a direction along the own lane at the second predetermined position.

4. The driving control method according to claim 1 or 2, characterized in that: detecting and storing a first object identification present around the vehicle when the first specified position is calculated and stored, When traveling in a section where the first and second predetermined positions are stored, detecting a second object marker corresponding to the first object marker, The driving route is corrected based on a positional offset between the first object identifier and the second object identifier.

5. The driving control method according to claim 4, characterized in that: The first and second object identifications refer to: any one or more combinations of road markings, traffic lights, and signs.

6. The driving control method according to claim 3, characterized in that: When the direction indicator of the host vehicle is actuated while the host vehicle is traveling in the section from the first predetermined position to the second predetermined position, calculating the travel route when there is a deviation of more than a predetermined position between the first and second predetermined positions or between the azimuth angles of the host vehicle when the first and second predetermined positions are calculated and stored, If there is no deviation beyond the predetermined position, the travel route is not calculated.

7. The driving control method according to claim 3, characterized in that: When traveling in a section where the first and second prescribed positions are stored, if the current absolute position and azimuth of the vehicle deviate by more than a prescribed value from the absolute position and azimuth of the vehicle stored when the first prescribed position was calculated and stored, the calculated driving route is not set as the driving route of the vehicle.

8. A vehicle driving control device, comprising a controller, the controller detecting a lane dividing line provided at a widthwise end of a lane in which the vehicle is traveling, and performing driving control of the vehicle based on the detection result of the lane dividing line, characterized in that: The controller performs the following processing: When the state where the lane dividing line can be detected changes to the state where the lane dividing line cannot be detected, a first predetermined position relative to the lane dividing line is calculated and stored, and an absolute position and an azimuth angle of the host vehicle are stored, When the state in which the lane dividing line cannot be detected changes to the state in which the lane dividing line can be detected, a second predetermined position relative to the lane dividing line is calculated and stored, When traveling in a section in which the first and second prescribed positions are stored, if the current absolute position and azimuth of the vehicle do not deviate by more than a prescribed value from the absolute position and azimuth of the vehicle stored when the first prescribed position was calculated and stored, the vehicle is controlled so that it travels on a driving route connecting the first prescribed position and the second prescribed position.

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