Autonomous driving vehicle

Abstract

The invention provides an autonomous vehicle. The automatic driving vehicle recognizes the lighting state of a signal lamp at an intersection ahead of the own lane, recognizes the space between a preceding vehicle and the intersection, and stops the own vehicle in front of the intersection when the lighting state is that the green light is turned on and the own vehicle cannot pass through the intersection. When a state in which the vehicle is not able to pass through the intersection is changed from a state in which the vehicle is not able to pass through the intersection in a state in which a green light is turned on, the vehicle stopped in front of the intersection is started when the vehicle wants to turn right or left at the intersection so as to traverse the lane. When the vehicle crossing the opposite direction is a two-wheeled vehicle, the vehicle is driven by limiting the acceleration or the vehicle speed of the vehicle at a third upper limit value that is smaller than the second upper limit value when the vehicle crossing the opposite direction is not the two-wheeled vehicle.

Description

Technical Field

[0001] The present disclosure relates to autonomous vehicles. Background Art

[0002] Patent Document 1 discloses a driving support device that determines that the vehicle cannot pass if there is no sufficient space for the vehicle to enter during a green light period based on the position and shape of the intersection and the position and size of the vehicle ahead.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2005-165643 Summary of the invention

[0006] As in the above-mentioned prior art, in the technology of stopping a vehicle before an intersection according to the traffic conditions ahead even when the lighting state of the traffic light is green, there is room for improvement in starting the vehicle stopped before the intersection in order to pass the intersection more safely.

[0007] The purpose of the present disclosure is to provide an autonomous driving vehicle that can achieve safer intersection driving when a vehicle stopped in front of an intersection is started according to the traffic conditions ahead when the lighting state of the traffic light is green.

[0008] An autonomous driving vehicle according to one embodiment of the present invention comprises: a signal light state recognition unit for recognizing the lighting state of a signal light at an intersection ahead of the vehicle's lane based on the detection result of an on-board external sensor; a space recognition unit for recognizing the space between a preceding vehicle ahead of the vehicle in the straight-line forward direction of the intersection and the intersection based on the detection result of the external sensor; a passage determination unit for determining whether the vehicle can pass through the intersection based on the space; and a vehicle control unit for stopping the vehicle in front of the intersection when the lighting state is that the green light is on and the vehicle cannot pass through the intersection. When the vehicle is in a state of being unable to pass through an intersection and then becomes able to pass through it when the green light is on, if there is an oncoming vehicle that intends to turn right or left at the intersection by crossing the vehicle's lane, the vehicle that has stopped in front of the intersection is started, and the acceleration or speed of the vehicle is limited to a second upper limit value that is smaller than the first upper limit value when there is no oncoming vehicle, and if the oncoming vehicle is a two-wheeled vehicle, the acceleration or speed of the vehicle is limited to a third upper limit value that is smaller than the second upper limit value when the oncoming vehicle is not a two-wheeled vehicle, and the vehicle is driven.

[0009] In an automatic driving vehicle according to one embodiment of the present disclosure, when the state of the traffic light at the intersection ahead of the own lane is green, the own vehicle that is stopped in front of the intersection is started when the state in which the own vehicle cannot pass through the intersection becomes passable. At this time, when there is a crossing oncoming vehicle that intends to turn right or left at the intersection by crossing the own lane, and the crossing oncoming vehicle is a two-wheeled vehicle, the acceleration or speed of the own vehicle is limited to a third upper limit value that is smaller than the second upper limit value when the crossing oncoming vehicle is not a two-wheeled vehicle, and the own vehicle is driven. As a result, when the crossing oncoming vehicle is a two-wheeled vehicle, the automatic driving vehicle drives at the intersection more safely than when the crossing oncoming vehicle is not a two-wheeled vehicle. Therefore, when the state of the traffic light is green, when the vehicle that is stopped in front of the intersection is started according to the traffic conditions ahead, driving at the intersection more safely can be achieved.

[0010] In one embodiment, the vehicle control unit may limit the acceleration or speed of the vehicle with the second upper limit value or the third upper limit value to drive the vehicle until the vehicle passes the crossing oncoming vehicle, and after the vehicle passes the crossing oncoming vehicle, the vehicle may limit the acceleration or speed of the vehicle with the first upper limit value to drive the vehicle. In this case, it is possible to consider more safely until the vehicle passes the crossing oncoming vehicle, and at the same time, after the vehicle passes the crossing oncoming vehicle, the driving at the intersection is smoothed.

[0011] According to the present disclosure, when the lighting state of the signal light is green, if a vehicle stopped in front of an intersection is started according to the traffic conditions ahead, it is possible to travel through the intersection with greater safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 This is a functional block diagram of an autonomous driving vehicle according to an exemplary embodiment.

[0013] Figure 2 This is a diagram showing an example of the vehicle speed of the host vehicle when the stopped host vehicle is started.

[0014] Figure 3 This is a flowchart showing a processing example of the automatic driving ECU. DETAILED DESCRIPTION

[0015] Hereinafter, exemplary embodiments will be described with reference to the accompanying drawings. In the following description, the same or corresponding elements may be denoted by the same reference numerals and repeated descriptions may be omitted.

[0016] Figure 1 is a functional block diagram of an autonomous driving vehicle according to an exemplary embodiment. Figure 1As shown, a vehicle (host vehicle) 1 is, for example, a passenger car or the like. The vehicle 1 is an autonomous driving vehicle equipped with an autonomous driving system. The autonomous driving system causes the vehicle 1 to travel by autonomous driving.

[0017] Automatic driving refers to a driving state in which the vehicle 1 is automatically driven along the road that the vehicle 1 is to travel. In automatic driving, for example, it includes a driving state in which the vehicle 1 automatically drives toward a pre-set destination without the driver performing driving operations. In automatic driving, for example, it includes automatic driving levels 2 to 4 in SAE (Society of Automotive Engineers) J3016. The destination can be set by a passenger such as a driver or automatically set by the vehicle 1. Automatic driving can also be a vehicle control in which the vehicle 1 automatically drives along the road without setting a destination. In automatic driving, the vehicle 1 is automatically driven without the driver performing driving operations. In the automatic driving here, even if the lighting state of the intersection signal light in front of the lane in which the vehicle 1 is traveling is green, the vehicle 1 is automatically stopped in front of the intersection according to the traffic conditions in front of the intersection.

[0018] The vehicle 1 includes an external sensor 2 , an internal sensor 3 , a map database 4 , a GPS receiver 5 , an actuator 6 , and an automatic driving ECU (Electronic Control Unit) 10 .

[0019] The external sensor 2 is a detection device that detects the surrounding conditions of the vehicle 1 (the external environment of the vehicle). The external sensor 2 includes at least a camera that captures the front of the vehicle 1. The external sensor 2 may also include a radar sensor. The external sensor 2 may also be configured to reconstruct many properties of the external environment of the vehicle 1 (the position of the vehicle, the relative distance to other vehicles, the relative speed to other vehicles, the direction of other vehicles, the shape of the lane, the lighting state of the signal light, etc.).

[0020] The camera is a camera device that captures the external environment of the vehicle 1. The camera is arranged on the back side of the front glass of the vehicle 1. The camera sends the image information related to the external environment of the vehicle 1 to the automatic driving ECU 10. The camera can be either a monocular camera or a stereo camera. The stereo camera has two camera units configured in a manner to reproduce binocular parallax. The image information of the stereo camera also includes information in the depth direction.

[0021] The radar sensor is a detection device that uses radio waves (such as millimeter waves) or light to detect objects around the vehicle 1. The radar sensor includes, for example, millimeter wave radar or laser radar (LiDAR: Light Detection And Ranging). The radar sensor detects objects by sending radio waves or light to the periphery of the vehicle 1 and receiving radio waves or light reflected by the object. The radar sensor sends the detected object information to the automatic driving ECU 10.

[0022] The internal sensor 3 is a detection device for detecting the driving state of the vehicle 1. The internal sensor 3 includes a vehicle speed sensor. The vehicle speed sensor is a detector for detecting the speed of the vehicle 1. As the vehicle speed sensor, for example, a well-known wheel speed sensor can also be used. The vehicle speed sensor sends the detected vehicle speed information to the automatic driving ECU 10.

[0023] The internal sensor 3 may also include a known acceleration sensor and a yaw rate sensor. The acceleration sensor is a detector that detects the acceleration of the vehicle 1. The acceleration sensor sends the acceleration information of the vehicle 1 to the automatic driving ECU 10. The yaw rate sensor is a detector (such as a gyro sensor) that detects the yaw rate (rotational angular velocity) of the vertical axis around the center of gravity of the vehicle 1. The yaw rate sensor sends the detected yaw rate information of the vehicle to the automatic driving ECU 10.

[0024] The map database 4 is a storage device for storing map information. The map database 4 is formed in a storage medium such as a HDD (Hard Disk Drive) mounted on the vehicle 1. The map information includes information such as the location and shape of roads, intersections, and branch points (for example, the location and shape of intersections, the width of lanes, demarcation lines, and the location of crosswalks). In addition, the map information may also include information on structures (the location and type of traffic lights installed at intersections), various traffic rules information (information on one-way traffic, prohibition of left and right turns, prohibition of U-turns, etc.). In addition, part of the map information contained in the map database 4 may also be stored in a storage device different from the HDD. The map database 4 may also be formed in a computer of a facility such as a management center that can communicate with the vehicle 1.

[0025] The GPS receiving unit 5 receives signals from three or more GPS satellites to obtain position information indicating the position of the vehicle 1. The position information includes, for example, latitude and longitude. Instead of the GPS receiving unit 5, other means capable of determining the latitude and longitude at which the vehicle 1 is located may be used.

[0026] The actuator 6 is a device used in the automatic driving control of the vehicle 1. The actuator 6 includes at least a driving actuator, a braking actuator, and a steering actuator. The driving actuator controls the air supply amount (throttle opening) to the engine according to the control signal from the automatic driving ECU 10, for example, to control the driving force of the vehicle 1. In addition, in the case where the vehicle 1 is a hybrid vehicle, in addition to the air supply amount to the engine, a control signal from the automatic driving ECU 10 is input to the motor as a power source to control the driving force. In the case where the vehicle 1 is an electric vehicle, a control signal from the automatic driving ECU 10 is input to the motor as a power source to control the driving force. The motor as a power source in these cases constitutes the actuator 6.

[0027] The brake actuator controls the brake system according to the control signal from the automatic driving ECU 10, and controls the braking force applied to the wheels of the vehicle 1. As the brake system, for example, a hydraulic brake system can be used. The steering actuator controls the driving of the power motor for controlling the steering torque in the electric power steering system according to the control signal from the automatic driving ECU 10. Thus, the steering actuator controls the steering torque according to the control signal from the automatic driving ECU 10.

[0028] The automatic driving ECU 10 is a main component of the automatic driving system. The automatic driving ECU 10 performs automatic driving control of the vehicle 1. The automatic driving ECU 10 is an electronic control unit having a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a CAN (Controller Area Network) communication circuit, etc. The automatic driving ECU 10 is connected to a network to be communicated using, for example, a CAN communication circuit, and is communicatively connected to the components of the above-mentioned vehicle 1. The automatic driving ECU 10, for example, operates the CAN communication circuit according to the signal output by the CPU to input and output data, stores the data in the RAM, loads the program stored in the ROM into the RAM, and uses the CPU to execute the program loaded into the RAM, thereby realizing the automatic driving function. The automatic driving ECU 10 can also be composed of multiple electronic units.

[0029] Next, an example of the functional configuration of the automatic driving ECU 10 will be described. The automatic driving ECU 10 includes an automatic driving control unit 11, a space recognition unit 12, a passage determination unit 13, and a vehicle control unit 14.

[0030] The automatic driving control unit 11 identifies the external environment of the vehicle 1 based on the detection results of the external sensor 2 (the camera image or the object information detected by the radar sensor). The external environment includes the relative positions of the surrounding objects relative to the vehicle 1. The external environment may also include the relative speed and movement direction of the surrounding objects relative to the vehicle 1. The automatic driving control unit 11 identifies other vehicles and objects such as traffic lights through pattern matching, etc. Among the other vehicles, there is a leading vehicle in front of the straight-forward direction of the vehicle 1 at the intersection. The automatic driving control unit 11 functions as a signal light state identification unit that identifies the lighting state of the signal light at the intersection in front of the lane based on the detection results of the vehicle-mounted external sensor 2. In the following description, "the lighting state of the signal light at the intersection in front of the lane" is sometimes abbreviated as "the lighting state of the signal light".

[0031] The automatic driving control unit 11 recognizes the driving state of the vehicle 1 based on the detection results of the internal sensor 3. The driving state includes, for example, the speed of the vehicle 1, the acceleration of the vehicle 1, and the yaw rate of the vehicle 1. The automatic driving control unit 11 obtains the road environment (for example, the road shape, the intersection shape, the type of signal, etc.) around the vehicle 1 based on map information, for example.

[0032] The automatic driving control unit 11 obtains the current vehicle position of the vehicle 1 based on the position information from the GPS receiving unit 5, for example. The automatic driving control unit 11 may also obtain the current vehicle position of the vehicle 1 using the SLAM technology. In addition, the automatic driving control unit 11 may also obtain the current vehicle position of the vehicle 1 using a known method.

[0033] The automatic driving control unit 11 performs automatic driving of the vehicle 1. The automatic driving control unit 11 generates a forward path for the vehicle 1, for example, based on the target route, the position of the vehicle 1, the external environment of the vehicle 1, and the driving state of the vehicle 1. The forward path is equivalent to the driving plan of the automatic driving. The forward path includes, for example, the path along which the vehicle drives through automatic driving and the vehicle speed plan in the automatic driving. The path is a predetermined trajectory for the vehicle to drive in the automatic driving on the target route indicated to the automatic parking system. The path can be set, for example, to data on the steering angle and vehicle speed of the vehicle 1 set at predetermined intervals on the target route (steering angle plan and vehicle speed plan). The automatic driving control unit 11 controls the actuator 6 in a manner in accordance with the driving plan of the automatic driving to perform the automatic driving of the vehicle 1.

[0034] The space recognition unit 12 recognizes the space between the preceding vehicle that is ahead of the intersection in the straight-forward direction relative to the vehicle 1 and the intersection based on the detection result of the external sensor 2. In the following description, "the space between the preceding vehicle that is ahead of the intersection in the straight-forward direction relative to the vehicle 1 and the intersection" is sometimes referred to as "parking space". The shape of the intersection may also be a crossroad, a Y-shaped road, etc., without special limitation. The straight-forward direction of the intersection is not limited to the straight-forward direction in a crossroad, etc., but may also include the direction along the road in a Y-shaped road, etc. The parking space may be, for example, the distance between the rear end position of the preceding vehicle and the edge of the road marking forming the crosswalk (the edge on the side close to the preceding vehicle) when the preceding vehicle is ahead of the crosswalk in the straight-forward direction of the intersection.

[0035] The passage determination unit 13 determines whether the vehicle 1 can pass through the intersection based on the parking space. “The vehicle 1 can pass through the intersection” means that the vehicle 1 can pass through the intersection in the straight forward direction and the vehicle 1 can park at the intersection without physically protruding.

[0036] The passing determination unit 13 determines that the vehicle 1 can pass through the intersection, for example, when the parking space is larger than a length threshold obtained by adding a predetermined margin distance to the front and rear length of the vehicle 1. The passing determination unit 13 determines that the vehicle 1 cannot pass through the intersection, for example, when the parking space is smaller than the length threshold and the vehicle 1 cannot pass through the intersection because the parking space is smaller than the length threshold, the passing determination unit 13 determines that the vehicle 1 can pass through the intersection when the parking space is larger than the length threshold due to the advance of the preceding vehicle.

[0037] The vehicle control unit 14 stops the vehicle 1 in front of the intersection when the lighting state of the traffic light is green and the vehicle 1 cannot pass through the intersection. The vehicle control unit 14 starts the vehicle 1 that has stopped in front of the intersection when the lighting state of the traffic light is green and the vehicle 1 becomes able to pass through the intersection from being unable to pass through the intersection.

[0038] The vehicle control unit 14 identifies a crossing oncoming vehicle by a known method, for example, based on the video information of the camera of the external sensor 2. A crossing oncoming vehicle is an oncoming vehicle that intends to turn right or left at the intersection by crossing its own lane. A crossing oncoming vehicle may also be an oncoming vehicle that exists in a right-turn lane or a left-turn lane. A crossing oncoming vehicle may also be an oncoming vehicle in the oncoming lane that intends to travel at the intersection by crossing its own lane when there is no right-turn lane or left-turn lane and flickers the direction indicator. The vehicle control unit 14 identifies whether there is a crossing oncoming vehicle and the type of the crossing oncoming vehicle. The vehicle control unit 14 at least identifies whether the crossing oncoming vehicle is a two-wheeled vehicle.

[0039] When the vehicle 1 is in a state where the intersection cannot be passed and becomes passable when the lighting state of the traffic light is green, the vehicle control unit 14 limits the acceleration or speed of the vehicle 1 to the first upper limit value when there is no crossing oncoming vehicle, and causes the vehicle 1 to travel. In the following description, "when the vehicle 1 is in a state where the intersection cannot be passed and becomes passable when the lighting state of the traffic light is green" is sometimes abbreviated as "when the vehicle 1 is in a state where the intersection cannot be passed and becomes passable".

[0040] The first upper limit is a limit value of the acceleration or speed of the vehicle 1 used when there is no crossing oncoming vehicle when the vehicle is allowed to pass from being unable to pass. The first upper limit corresponds to the situation where there is no crossing oncoming vehicle, and may also be the upper limit of the acceleration or speed of the vehicle 1 in normal automatic driving. Figure 2 2 is a diagram showing the vehicle speed of the host vehicle when the stopped host vehicle is started. Figure 2 As shown, the vehicle control unit 14 makes the acceleration become less than the first acceleration upper limit value (first upper limit value) and drives the vehicle 1 until the vehicle speed reaches the first vehicle speed upper limit value (first upper limit value). The first vehicle speed upper limit value corresponds to the horizontal portion of the dotted line L1. The first acceleration upper limit value corresponds to the inclined portion of the dotted line L1.

[0041] The vehicle control unit 14 limits the acceleration or speed of the vehicle 1 to the second upper limit value and drives the vehicle 1 when the vehicle 1 changes from being unable to pass through to being able to pass through, and when there is a crossing oncoming vehicle other than a two-wheeled vehicle. That is, when the vehicle 1 changes from being unable to pass through the intersection to being able to pass through when the lighting state of the traffic light is green, and when there is a crossing oncoming vehicle that intends to turn right or left at the intersection by crossing the own lane, the vehicle control unit 1 starts the vehicle 1 that is stopped in front of the intersection, and limits the acceleration or speed of the vehicle 1 to the second upper limit value that is smaller than the first upper limit value when there is no crossing oncoming vehicle, and drives the vehicle 1.

[0042] The second upper limit value is a limit value of the acceleration or speed of the vehicle 1 used when there is a crossing oncoming vehicle other than a two-wheeled vehicle in the case where the vehicle 1 changes from being unable to pass to being able to pass. The second upper limit value corresponds to the situation where there is a crossing oncoming vehicle other than a two-wheeled vehicle, and may be a value smaller than the upper limit value of the acceleration or speed of the vehicle 1 in normal automatic driving. Figure 2 As shown, the vehicle control unit 14 makes the acceleration become less than the second acceleration upper limit value (second upper limit value) and drives the vehicle 1 until the vehicle speed reaches the second vehicle speed upper limit value (second upper limit value). The second vehicle speed upper limit value corresponds to the horizontal portion of the single-dot chain line L2. The second acceleration upper limit value corresponds to the inclined portion of the single-dot chain line L2.

[0043] When the vehicle 11 is changed from being unable to pass to being able to pass, if there is a two-wheeled vehicle as the crossing oncoming vehicle, the vehicle control unit 1 starts the vehicle 1 that is stopped in front of the intersection, and limits the acceleration or speed of the vehicle 1 to a third upper limit value that is smaller than the second upper limit value, and causes the vehicle 1 to travel. That is, when the crossing oncoming vehicle is a two-wheeled vehicle, the vehicle control unit 14 limits the acceleration or speed of the vehicle 1 to a third upper limit value that is smaller than the second upper limit value when the crossing oncoming vehicle is not a two-wheeled vehicle, and causes the vehicle 1 to travel.

[0044] The third upper limit value is a limit value of the acceleration or speed of the vehicle 1 used when there is a crossing oncoming vehicle as a two-wheeled vehicle in the case where the vehicle 1 changes from being unable to pass to being able to pass. The third upper limit value may be, for example, an upper limit value of the acceleration or speed of the vehicle 1 set in consideration of the tendency of the crossing oncoming vehicle as a two-wheeled vehicle to come to the own lane before the crossing oncoming vehicle and the vehicle 1 cross each other due to sudden left or right turns. Figure 2 As shown, the vehicle control unit 14 makes the acceleration become less than the third acceleration upper limit value (third upper limit value) and drives the vehicle 1 until the vehicle speed reaches the third vehicle speed upper limit value (third upper limit value). The third vehicle speed upper limit value corresponds to the horizontal portion of the solid line L3. The third acceleration upper limit value corresponds to the inclined portion of the solid line L3.

[0045] The vehicle control unit 14 may also determine whether the vehicle 1 is before passing the crossing oncoming vehicle based on the recognition result of the crossing oncoming vehicle, for example. The vehicle control unit 14 may also limit the acceleration or speed of the vehicle 1 to the second upper limit value or the third upper limit value and drive the vehicle 1 until the vehicle 1 passes the crossing oncoming vehicle. The vehicle control unit 14 may also limit the acceleration or speed of the vehicle 1 to the first upper limit value and drive the vehicle 1 after the vehicle 1 passes the crossing oncoming vehicle.

[0046] Next, refer to Figure 3 , explaining the processing of the automatic driving ECU 10. Figure 31 is a flowchart showing an example of processing by the automatic driving ECU. For example, in the automatic driving of the vehicle 1, when the vehicle 1 is changed from a state in which it cannot pass through an intersection to a state in which it can pass through, the automatic driving ECU repeatedly executes the automatic driving ECU for each predetermined period from when the vehicle 1 stopped in front of the intersection is started to when the vehicle 1 completely passes through the intersection. Figure 3 Flowchart shown.

[0047] like Figure 3 As shown, the automatic driving ECU 10 recognizes a crossing oncoming vehicle in S11 by using the vehicle control unit 14. The vehicle control unit 14 recognizes a crossing oncoming vehicle by a known method based on image information captured by a camera of the external sensor 2, for example.

[0048] In S12, the automatic driving ECU 10 determines whether there is a crossing oncoming vehicle using the vehicle control unit 14. The vehicle control unit 14 determines whether there is a crossing oncoming vehicle based on, for example, a result of identifying the crossing oncoming vehicle.

[0049] If it is determined that there is no crossing oncoming vehicle (S12: No), the automatic driving ECU 10 transfers to the processing of S13. In S13, the automatic driving ECU 10 uses the vehicle control unit 14 to limit the acceleration or vehicle speed to the first upper limit value and drive the vehicle 1. For example, the vehicle control unit 14 sets the acceleration to be less than the first acceleration upper limit value (first upper limit value) and drives the vehicle 1 until the vehicle speed reaches the first vehicle speed upper limit value (first upper limit value). After that, the automatic driving ECU 10 ends. Figure 3 processing.

[0050] On the other hand, when the automatic driving ECU 10 determines that there is a crossing oncoming vehicle ( S12 : YES), the process proceeds to S14 .

[0051] In S14, the automatic driving ECU 10 determines whether the vehicle 1 is about to pass the oncoming vehicle by using the vehicle control unit 14. The vehicle control unit 14 determines whether the vehicle 1 is about to pass the oncoming vehicle based on, for example, the result of identifying the oncoming vehicle.

[0052] If it is determined that the vehicle 1 is not before passing the oncoming vehicle (after the vehicle 1 has passed the oncoming vehicle) (S14: No), the automatic driving ECU 10 transfers to the processing of S13 above, and then ends. Figure 3 processing.

[0053] On the other hand, when the automatic driving ECU 10 determines that the vehicle 1 is before crossing the oncoming vehicle (S14: "Yes"), it transfers to the processing of S15. In S15, the automatic driving ECU 10 determines whether the oncoming vehicle is a two-wheeled vehicle using the vehicle control unit 14. The vehicle control unit 14 determines whether the oncoming vehicle is a two-wheeled vehicle based on the recognition result of the oncoming vehicle, for example.

[0054] If it is determined that the crossing oncoming vehicle is not a two-wheeled vehicle (S15: "No"), the automatic driving ECU 10 transfers to the processing of S16. In S16, the automatic driving ECU 10 uses the vehicle control unit 14 to limit the acceleration or vehicle speed to the second upper limit value and drive the vehicle 1. The vehicle control unit 14, for example, sets the acceleration to be less than the second acceleration upper limit value (second upper limit value) and drives the vehicle 1 until the vehicle speed reaches the second vehicle speed upper limit value (second upper limit value). After that, the automatic driving ECU 10 ends. Figure 3 processing.

[0055] On the other hand, if the automatic driving ECU 10 determines that the crossing oncoming vehicle is a two-wheeled vehicle (S15: "Yes"), it transfers to the processing of S17. In S17, the automatic driving ECU 10 uses the vehicle control unit 14 to limit the acceleration or vehicle speed to the third upper limit value and drive the vehicle 1. The vehicle control unit 14, for example, sets the acceleration to be less than the third acceleration upper limit value (third upper limit value) and drives the vehicle 1 until the vehicle speed reaches the third vehicle speed upper limit value (third upper limit value). After that, the automatic driving ECU 10 ends. Figure 3 processing.

[0056] In addition, the automatic driving ECU 10 may also terminate the automatic driving on the way when the vehicle 1 completely passes the intersection. Figure 3 processing.

[0057] As described above, when the lighting state of the traffic light at the intersection ahead of the own lane is green and the vehicle 1 becomes passable from the state in which the intersection cannot be passed, the automatic driving ECU 10 starts the vehicle 1 that is stopped in front of the intersection. At this time, when there is a crossing oncoming vehicle that intends to turn right or left at the intersection by crossing the own lane, and the crossing oncoming vehicle is a two-wheeled vehicle, the acceleration or vehicle speed of the vehicle 1 is limited to the third upper limit value that is smaller than the second upper limit value when the crossing oncoming vehicle is not a two-wheeled vehicle, and the vehicle 1 is driven. Specifically, the vehicle control unit 14 drives the vehicle 1 until the vehicle speed reaches the third vehicle speed upper limit value (third upper limit value) by making the acceleration less than the third acceleration upper limit value (third upper limit value). As a result, when the crossing oncoming vehicle is a two-wheeled vehicle, the vehicle 1 drives at the intersection with greater safety considerations than when the crossing oncoming vehicle is not a two-wheeled vehicle. Here, a two-wheeled vehicle that is a crossing oncoming vehicle is lighter than a four-wheeled vehicle, for example, and tends to come to the own lane before crossing with the vehicle 1 by suddenly turning left or right. Therefore, by limiting the acceleration of the vehicle 1 by the third upper limit value, the crossing oncoming vehicle can more easily recognize the start of the vehicle 1. Alternatively, by limiting the speed of the vehicle 1 by the third upper limit value, the vehicle 1 can more easily stop. Therefore, when the vehicle that is stopped in front of the intersection is started according to the traffic conditions ahead when the lighting state of the traffic light is green, it is possible to achieve safer driving at the intersection.

[0058] The vehicle control unit 14 limits the acceleration or speed of the vehicle 1 to the second upper limit value or the third upper limit value and causes the vehicle 1 to travel until the vehicle 1 passes the crossing oncoming vehicle, and after the vehicle 1 passes the crossing oncoming vehicle, limits the acceleration or speed of the vehicle 1 to the first upper limit value and causes the vehicle 1 to travel. Thus, it is possible to more safely consider until the vehicle 1 passes the crossing oncoming vehicle, and at the same time, after the vehicle 1 passes the crossing oncoming vehicle, travel at the intersection is smoothed.

[0059] [Modifications]

[0060] Various exemplary embodiments have been described above, but the present invention is not limited to the exemplary embodiments described above, and various omissions, substitutions, and changes may be made.

[0061] For example, in the above embodiment, after the vehicle 1 passes the crossing oncoming vehicle, the acceleration or speed of the vehicle 1 is limited to the first upper limit value and the vehicle 1 is driven, but the present invention is not limited thereto. For example, after the vehicle 1 passes the crossing oncoming vehicle, the limit value may be gradually increased from the second upper limit value or the third upper limit value to the first upper limit value. Alternatively, the limit may be immediately released after the vehicle 1 passes the crossing oncoming vehicle.

[0062] In the above embodiment, the automatic driving ECU 10 ends when the vehicle 1 completely passes the intersection. Figure 3 For example, the automatic driving ECU 10 may also terminate the process when the vehicle 1 passes a predetermined position (such as an intermediate point) in the intersection. Figure 3 processing.

[0063] In the above embodiment, it is assumed that the preceding vehicle in front of the intersection in front of the lane stops, but the preceding vehicle may also travel at a low speed. In short, the space recognition unit 12 only needs to recognize the parking space between the preceding vehicle in front of the intersection in the straight-line forward direction and the intersection, and the determination unit 13 only needs to determine whether the vehicle 1 can pass through the intersection.

Claims

1. An autonomous driving vehicle having: A signal light state recognition unit, which recognizes the lighting state of the signal light at the intersection ahead of the lane according to the detection result of the external sensor mounted on the vehicle; a space recognition unit that recognizes a space between a preceding vehicle that is ahead of the host vehicle in a straight-line direction of the intersection and the intersection based on a detection result of the external sensor; A passing determination unit, determining whether the host vehicle can pass through the intersection according to the space; as well as The vehicle control unit stops the host vehicle in front of the intersection when the lighting state is that the green light is on and the host vehicle cannot pass through the intersection, The vehicle control unit: When the host vehicle is in a state where the green light is on and the host vehicle is in a state where the intersection cannot be passed but becomes passable, when there is an oncoming vehicle that intends to turn right or left at the intersection by crossing the host lane, the host vehicle that has stopped in front of the intersection is started, and the host vehicle is driven while limiting the acceleration or speed of the host vehicle to a second upper limit value that is smaller than the first upper limit value when there is no oncoming vehicle. When the crossing oncoming vehicle is a two-wheeled vehicle, the host vehicle is caused to travel by limiting the acceleration or vehicle speed of the host vehicle to a third upper limit value that is smaller than the second upper limit value when the crossing oncoming vehicle is not a two-wheeled vehicle.

2. The autonomous driving vehicle according to claim 1, wherein: The vehicle control unit limits the acceleration or speed of the vehicle with the second upper limit value or the third upper limit value to cause the vehicle to move until the vehicle intersects with the crossing oncoming vehicle. After the vehicle intersects with the crossing oncoming vehicle, the vehicle control unit limits the acceleration or speed of the vehicle with the first upper limit value to cause the vehicle to move.

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