Control device for moving body

Abstract

The invention provides a control device for a moving body. When the turn light of the front moving body is not detected to be turned on, the moving direction of the front moving body can be judged according to at least one of the transverse position of the front moving body in the lane and the angle of the front moving body relative to the advancing direction of the lane, and overtaking control is executed from the direction opposite to the judged moving direction of the front moving body.

Description

Technical Field

[0001] The present invention relates to a control device, and in particular to a control device for a mobile object. Background Art

[0002] In recent years, efforts have been made to provide friendly and sustainable transportation systems for vulnerable groups among traffic participants. For example, one of the important directions of efforts is to further improve the safety and convenience of traffic by using driving assistance technology.

[0003] Traditionally, when using automatic driving (AD) or advanced driver assistance systems (ADAS) for driving, it is possible to determine whether to overtake based on whether the turn signal of the vehicle in front is on. However, if the turn signal of the vehicle in front is not on or it is impossible to determine whether the turn signal of the vehicle in front is on, it is easy to fail to perform overtaking control, causing traffic jams. Therefore, there is still room for improvement in conventional driving assistance technology. Summary of the invention

[0004] The present invention provides a control device for a mobile body, which can effectively improve the problem of traffic jam caused by failure to perform overtaking control when the front vehicle does not turn on the turn signal or cannot judge whether the front vehicle turns on the turn signal, thereby providing a sustainable transportation system that can improve traffic safety and convenience.

[0005] The control device of the mobile body of the present invention includes a detection unit, a judgment unit and a control unit. The detection unit detects the front mobile body in the direction of travel of the mobile body. The judgment unit judges the moving state of the front mobile body. The control unit performs overtaking control according to the moving state of the front mobile body. Wherein when the front mobile body stops in the direction of travel of the mobile body or the speed is lower than a predetermined speed, if it is detected that the turn signal of the front mobile body is turned on, the judgment unit judges that the moving direction of the front mobile body is the direction indicated by the turn signal, and the control unit performs overtaking control from the opposite direction of the judged moving direction of the front mobile body. If the turn signal of the front mobile body is not detected to be turned on, the judgment unit judges the moving direction of the front mobile body according to at least one of the lateral position of the front mobile body in the lane and the angle of the front mobile body relative to the direction of travel of the lane, and the control unit performs the overtaking control from the opposite direction of the judged moving direction of the front mobile body.

[0006] In one embodiment of the present invention, when it is not detected that the turn signal of the front moving body is turned on, the determination unit determines the moving direction of the front moving body according to surrounding moving bodies or traffic conditions around the front moving body.

[0007] In one embodiment of the present invention, the above-mentioned judgment unit determines the moving direction of the front moving object based on at least one of the straight-moving state of the surrounding moving objects in the opposite lane, whether there is a group of moving objects in the opposite lane, and the congestion condition of the lane after the front moving object turns left or right.

[0008] In one embodiment of the present invention, when the turn signal of the front moving body is not detected to be turned on and the moving direction of the front moving body cannot be determined, the control unit urges the front moving body to move or notifies the moving body that the moving body will perform overtaking control.

[0009] In an embodiment of the present invention, the control unit performs overtaking control after the notification is made and a preset time has passed.

[0010] In one embodiment of the present invention, when the turn signal of the moving body in front is not detected to be turned on, compared with the case where the turn signal of the moving body in front is detected to be turned on, the control unit increases the lateral distance between the moving body and the moving body in front when performing overtaking control, and / or reduces the moving speed of the moving body when performing overtaking control.

[0011] In one embodiment of the present invention, when the control unit performs the overtaking control, the control unit notifies the moving object in front that the moving object is performing the overtaking control when the turn signal lamp of the moving object in front is not detected to be turned on.

[0012] In one embodiment of the present invention, the moving state of the front moving object includes a stop state, a parking operation state, a left turn operation state, a right turn operation state and a rotation operation state.

[0013] Based on the above, when the embodiment of the present invention does not detect that the turn signal of the front moving body is turned on, the moving direction of the front moving body can be determined based on at least one of the lateral position of the front moving body in the lane and the angle of the front moving body relative to the moving direction of the lane, and the overtaking control is performed in the opposite direction of the determined moving direction of the front moving body. In this way, when the front moving body does not turn on the turn signal or it is impossible to determine whether the front moving body turns on the turn signal, it is still possible to effectively determine whether to perform the overtaking control, thereby avoiding traffic jams and providing a sustainable transportation system that can improve traffic safety and convenience.

[0014] In order to make the above features and advantages of the present invention more clearly understood, embodiments are given below with reference to the accompanying drawings for detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a schematic diagram of a control device for a moving object according to an embodiment of the present invention.

[0016] Figure 2A to Figure 8It is a schematic diagram of a mobile body control device controlling a mobile body to perform overtaking control according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to make the content of the present invention more understandable, the following embodiments are specifically cited as examples that the present invention can be implemented. In addition, wherever possible, components / members with the same reference numerals in the drawings and embodiments represent the same or similar components.

[0018] Figure 1 is a schematic diagram of a vehicle control device for a mobile object according to an embodiment of the present invention, wherein the mobile object may be, for example, a vehicle, such as a car or a motorcycle, but is not limited thereto. Figure 1 . The control device 100 of the mobile object may include a detection unit 102, a judgment unit 104 and a control unit 108. The detection unit 102, the judgment unit 104 and the control unit 108 may be implemented, for example, by a processor, an electronic control unit (ECU) or a microcontroller (MCU), but are not limited thereto. The control device 100 is coupled to a notification device 110 and a detection device 112, wherein the notification device 110 may include, for example, at least one of a lighting lamp or a speaker, but are not limited thereto. In addition, the detection device 112 may include, for example, a camera and a millimeter wave radar, but are not limited thereto.

[0019] The detection unit 102 is used to detect the front moving body in the direction of travel of the moving body equipped with the control device 100, for example, based on the captured image or sensing result of the detection device 112, detect whether there is a front moving body, the position of the front moving body, and the light signal (such as a turn signal or a brake light) emitted by the front moving body, etc., but it is not limited to this. In some embodiments, the detection unit 102 can also detect the surrounding moving bodies around the moving body equipped with the control device 100. The judgment unit 104 can judge the moving state of the front moving body, for example, judge the moving direction and moving speed of the front moving body to confirm whether the front moving body is in a stopped state, a parking operation state, a left turn operation state, a right turn operation state, or a rotation operation state, but it is not limited to this. The control unit 108 can be used to perform assisted driving control or automatic driving control, such as performing overtaking control, braking control, parking control, etc., but it is not limited to this.

[0020] For example, it is assumed that the moving body equipped with the control device 100 and the moving body in front are vehicles. When the judgment unit 104 judges that the moving body in front is in a stopped state or has a speed lower than a predetermined speed in the direction of travel of the moving body equipped with the control device 100 according to the detection result of the detection unit 102, if it is detected that the turn signal of the moving body in front is turned on, the judgment unit 104 can judge that the moving direction of the moving body in front is the direction indicated by the turn signal, and the control unit 108 can perform the overtaking control from the opposite direction of the determined moving direction of the moving body in front. For example, when the moving direction of the moving body in front is determined by the judgment unit 104 to move to the right, the control unit 108 can perform the overtaking control from the left direction. On the contrary, if it is not detected that the turn signal of the moving body in front is turned on, the judgment unit 104 can judge the moving direction of the moving body in front according to at least one of the lateral position of the moving body in front in the lane and the angle of the moving body in front relative to the direction of travel of the lane, and the control unit 108 can perform the overtaking control from the opposite direction of the determined moving direction of the moving body in front.

[0021] It is worth noting that in some embodiments, when the detection unit 102 does not detect that the turn signal of the moving body in front is turned on, compared to the case where the turn signal of the moving body in front is detected to be turned on, the control unit 108 increases the lateral distance between the moving body and the moving body in front when performing overtaking control, and reduces the moving speed of the moving body when performing overtaking control (in some embodiments, one of increasing the lateral distance between the moving body and the moving body in front when performing overtaking control or reducing the moving speed of the moving body when performing overtaking control can also be selected) to further improve the safety of performing overtaking control.

[0022] For example, if Figure 2A As shown, assuming that in the direction of travel of the vehicle CA1 (moving body) equipped with the control device 100, there is a front vehicle CA2 (front moving body) with the same travel direction, and the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, and the front vehicle CA2 is in a stopped state or the speed is lower than the predetermined speed, and is laterally positioned to the right, that is, the front vehicle CA2 is located in front of the right side of the vehicle CA1. The judgment unit 104 can judge that the front vehicle CA2 will turn right based on the detection result of the detection unit 102, so the control unit 108 can execute the control to make the vehicle CA1 overtake from the left side of the front vehicle CA2. Similarly, if Figure 2B As shown, if the front vehicle CA2 is in a stopped state or its speed is lower than a predetermined speed and is laterally positioned to the left, that is, the front vehicle CA2 is located in front of the left of the host vehicle CA1, the judgment unit 104 can judge that the front vehicle CA2 will turn left, so the control unit 108 can execute control to make the host vehicle CA1 overtake the front vehicle CA2 from the right.

[0023] For example, Figure 3A As shown, assuming that in the direction of travel of the vehicle CA1 equipped with the control device 100, there is a front vehicle CA2 with the same travel direction, and the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, and detects that the front vehicle CA2 is in a stopped state or the speed is lower than the predetermined speed, and the angle between the front vehicle CA2 and the travel direction of the lane where the front vehicle CA2 is located is greater than a first preset angle (for example, 30 degrees (assuming that the clockwise rotation angle is positive), but not limited to this), the judgment unit 104 can judge that the front vehicle CA2 will turn right based on the detection result of the detection unit 102, so the control unit 108 can execute the control to make the vehicle CA1 overtake from the left of the front vehicle CA2. Similarly, if Figure 3B As shown, if the angle between the front vehicle CA2 and the traveling direction of the lane where the front vehicle CA2 is located is less than a second preset angle (for example, negative 30 degrees (assuming that the angle of clockwise rotation is positive), but not limited to this), the judgment unit 104 can determine that the front vehicle CA2 will turn left, so the control unit 108 can execute control to make the vehicle CA1 overtake the front vehicle CA2 from the right.

[0024] It is worth noting that in other embodiments, in addition to considering the stop state, speed, lateral position of the front vehicle CA2 and the angle between the front vehicle CA2 and the direction of travel of the lane, the judgment unit 104 can also judge the moving direction of the front vehicle CA2 based on the surrounding vehicles (surrounding moving bodies) or traffic conditions around the front vehicle CA2. Further, the judgment unit 104 can also judge the moving direction of the front vehicle CA2 based on at least one of the straight-moving state of the surrounding vehicles in the opposite lane, whether there is a group of vehicles in the opposite lane, and the congestion condition of the lane after the front vehicle CA2 turns left or right. For example, in Figure 2B In the embodiment, the lateral position of the front vehicle CA2 is to the left, there is a group of vehicles (moving body group) GP1 going straight in the opposite lane adjacent to the front vehicle CA2, and there is no traffic jam in the lane where the front vehicle CA2 can turn right. Therefore, the judgment unit 104 can judge that the front vehicle CA2 is waiting for the right time to turn left, that is, the moving direction of the front vehicle CA2 is to the left, and the control unit 108 can execute the control to make the vehicle CA1 overtake the front vehicle CA2 from the right.

[0025] Similarly, in Figure 3BIn the embodiment, the angle between the front vehicle CA2 and the traveling direction of the lane in which it is located is less than the second preset angle, there is a group of vehicles (moving body group) GP1 moving straight in the opposite lane adjacent to the front vehicle CA2, and there is no traffic jam in the lane where the front vehicle CA2 can turn right. Therefore, the judgment unit 104 can judge that the front vehicle CA2 is waiting for the right time to turn left, that is, the moving direction of the front vehicle CA2 is left, and the control unit 108 can execute the control of making the vehicle CA1 overtake the front vehicle CA2 from the right.

[0026] Or, in Figure 4A In the embodiment, it is assumed that the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, the front vehicle CA2 is located in the middle of the lane of the vehicle, and the angle between the front vehicle CA2 and the direction of travel of the lane is not greater than the first preset angle or less than the second preset angle. At this time, in addition to judging the moving state of the front vehicle CA2 according to the stop state, speed, position and other factors of the front vehicle CA2 as in the above embodiment, the judgment unit 104 can further judge that the front vehicle CA2 intends to turn left based on the presence of the vehicle group GP1 that is moving straight in the opposite lane and the absence of traffic jams in the lane where the front vehicle CA2 can turn right, and the control unit 108 can execute control to make the vehicle CA1 overtake the front vehicle CA2 from the right.

[0027] Or, in Figure 4B In the embodiment, Figure 4A Similarly, assuming that the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, the front vehicle CA2 is located in the middle of the host vehicle lane, and the angle between the front vehicle CA2 and the direction of travel of the lane is not greater than the first preset angle or less than the second preset angle. At this time, the judgment unit 104 can further judge that the front vehicle CA2 intends to turn right based on the fact that there is no vehicle group GP1 going straight in the opposite lane and there is no traffic jam in the lane where the front vehicle CA2 can turn left, and the control unit 108 can execute control to make the host vehicle CA1 overtake from the left side of the front vehicle CA2.

[0028] exist Figure 5In the embodiment, it is assumed that the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, the front vehicle CA2 is located in the middle of the lane of the vehicle, and the angle between the front vehicle CA2 and the direction of travel of the lane is not greater than the first preset angle or less than the second preset angle. At this time, since there are no vehicles in the opposite lane and the lane where the front vehicle CA2 turns left or right, it is difficult for the judgment unit 104 to judge the moving direction of the front vehicle CA2 based on the stop state, speed, vehicles in the opposite lane, and traffic jams in the lane where the front vehicle CA2 turns left or right. The control unit 108 can control the notification device 110 to urge the front vehicle CA2 to move or notify the vehicle CA1 that the vehicle CA1 will perform overtaking control (for example, by emitting a light signal or a sound signal to notify the front vehicle CA2, but not limited to this). In some embodiments, the control unit 108 can perform overtaking control after the notification is made and after a preset time. In addition, when the control unit 108 performs overtaking control, it can also notify the front vehicle CA2 that the vehicle CA1 is performing overtaking control.

[0029] Figure 6 FIG. 2 is a schematic diagram of a mobile body control device according to another embodiment of the present invention controlling a mobile body to perform overtaking control. Figure 3B The difference between the embodiments is that the position of the front vehicle CA2 has exceeded the position where it can turn right into another lane (lane R1) (for example, the front of the front vehicle CA2 has entered a lane adjacent to lane R1 and in the opposite direction), and can only choose to go straight or turn left. Therefore, the judgment unit 104 can further judge that the front vehicle CA2 intends to turn left based on the position of the front vehicle CA2 having exceeded the position where it can turn right into another lane, and the control unit 108 can execute control to make the host vehicle CA1 overtake from the right of the front vehicle CA2.

[0030] Figure 7 1 is a schematic diagram of a mobile body control device controlling a mobile body to perform overtaking control according to another embodiment of the present invention. In this embodiment, the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, and detects the traffic sign S1 prohibiting left turn, and the front vehicle CA2 is on the right side of the lateral position of the host vehicle lane. In addition to judging the moving state of the front vehicle CA2 based on the stop state, speed, position and other factors of the front vehicle CA2 as in the above embodiment, the judgment unit 104 can further judge that the front vehicle CA2 will turn right based on the content of the traffic sign S1, and the control unit 108 can execute the control of making the host vehicle CA1 overtake from the left side of the front vehicle CA2.

[0031] Figure 81 is a schematic diagram of a mobile body control device controlling a mobile body to perform overtaking control according to another embodiment of the present invention. In this embodiment, the detection unit 102 does not detect that the turn signal of the front vehicle CA2 is turned on, the front vehicle CA2 is located at the right position of the host vehicle lane, and there is a vehicle group GP2 in the opposite lane, wherein the vehicle group GP2 forms a vehicle column in the opposite lane that other vehicles cannot cut into. In addition to judging the moving state of the front vehicle CA2 based on the stop state, speed, position and other factors of the front vehicle CA2 as in the above embodiment, the judgment unit 104 can further judge that the front vehicle CA2 will turn right based on the situation that the vehicle column formed by the vehicle group GP2 that cannot cut into the opposite lane, and the control unit 108 can execute the control of making the host vehicle CA1 overtake from the left of the front vehicle CA2.

[0032] In summary, the embodiments of the present invention can determine the moving direction of the moving body in front according to at least one of the lateral position of the moving body in front in the lane and the angle of the moving body in front relative to the direction of travel of the lane when the turn signal of the moving body in front is not detected, and perform overtaking control from the opposite direction of the determined moving direction of the moving body in front. In this way, when the turning signal of the vehicle in front is not turned on or it is impossible to determine whether the turning signal of the vehicle in front is turned on, it is still possible to effectively determine whether to perform overtaking control, thereby avoiding traffic jams and providing a sustainable transportation system that can improve traffic safety and convenience. In addition, in some embodiments, when the turn signal of the moving body in front is not detected, the moving direction of the moving body in front can also be determined according to at least one of the steering direction, steering angle, tire steering direction or tire steering angle of the moving body in front, or the moving direction of the moving body in front can also be determined according to the direction of the line of sight or the direction of the face of the driver of the moving body in front. The information based on which the moving direction of the moving body in front is determined can be obtained, for example, by performing V2V (Vehicle-to-vehicle) communication with the moving body in front, but is not limited to this, for example, it can also be obtained by capturing images with a camera.

[0033] Although the present invention has been disclosed as above by way of embodiments, it is not intended to limit the present invention. Any person skilled in the art may make some changes and modifications without departing from the spirit and scope of the present invention. Therefore, the protection scope of the present invention shall be determined by the claims.

Claims

1. A control device for a mobile object, characterized in that: include: A detection unit, detecting a moving object ahead in the moving direction of the moving object; A judging unit, for judging the moving state of the front moving object; as well as A control unit performs overtaking control according to the moving state of the front moving body, When the front moving body stops in the moving direction of the moving body or the speed is lower than a predetermined speed, if it is detected that the turn signal of the front moving body is turned on, the judgment unit judges that the moving direction of the front moving body is the direction indicated by the turn signal, and the control unit performs the overtaking control in the opposite direction to the judged moving direction of the front moving body. If the turn signal of the front moving body is not detected to be turned on, the judgment unit judges the moving direction of the front moving body based on at least one of the lateral position of the front moving body in the lane and the angle of the front moving body relative to the traveling direction of the lane, and the control unit performs the overtaking control in the opposite direction of the judged moving direction of the front moving body.

2. The control device for a moving object according to claim 1, characterized in that: When the turn signal of the front moving object is not detected to be turned on, the determination unit determines the moving direction of the front moving object according to surrounding moving objects or traffic conditions around the front moving object.

3. The control device for a moving object according to claim 2, characterized in that: The judgment unit judges the moving direction of the front moving body according to at least one of the straight-moving state of the surrounding moving bodies in the opposite lane, whether there is a group of moving bodies in the opposite lane, and the congestion condition of the lane after the front moving body turns left or right.

4. The control device for a moving object according to claim 1, characterized in that: When the turn signal of the front moving body is not detected to be turned on and the moving direction of the front moving body cannot be determined, the control unit urges the front moving body to move or notifies the moving body that the overtaking control will be performed.

5. The control device for a moving object according to claim 4, characterized in that: The control unit executes the overtaking control after the notification is made and a preset time has passed.

6. The control device for a moving object according to claim 1, characterized in that: When the turn signal of the front moving body is not detected to be turned on, compared to the case where the turn signal of the front moving body is detected to be turned on, the control unit increases the lateral distance between the moving body and the front moving body when executing the overtaking control, and / or reduces the moving speed of the moving body when executing the overtaking control.

7. The control device for a moving object according to claim 1, characterized in that: When the turn signal lamp of the preceding moving object is not detected to be turned on, the control unit, when executing the overtaking control, notifies the preceding moving object that the moving object is executing the overtaking control.

8. The control device for a moving object according to claim 1, characterized in that: The moving state of the front moving body includes a stop state, a parking operation state, a left turn operation state, a right turn operation state, and a rotation operation state.

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