Vehicle control device, vehicle control method, and computer program

Abstract

This vehicle control device is provided with a control unit for executing vehicle driving assistance, and the control unit performs: a process for detecting a moving body present in a detection region by associating a first recognition result obtained by image recognition of a detection region in front of a vehicle with a second recognition result obtained by object recognition of the detection region; performing driving assistance according to the recognition result of the moving body; adjusting the detection range of the detection area according to the detection result of the road environment on which the vehicle travels; and when it is determined that the road environment is a predetermined road environment in which it is possible to erroneously recognize the moving body, detecting the moving body in a narrow detection region in which the current detection range is narrowed.

Description

Technical Field

[0001] This invention relates to a vehicle control device, vehicle control method, and computer program for performing driving assistance. Background Technology

[0002] In recent years, a vehicle control device has been known that uses radar waves to scan the area in front of the vehicle and performs driving assistance based on the detection results of other vehicles or other objects being scanned. Vehicles sometimes travel in places surrounded by walls, such as tunnels, roads with sound barriers, or bridges surrounded by steel structures. In these situations, the vehicle control device may receive radar waves reflected from impacts with walls or other structures as noise, and therefore may mistakenly identify other vehicles present around its own vehicle.

[0003] Japanese Patent Application Publication No. 2005-009914 describes a vehicle control device that reduces the detection sensitivity of a radar device when it is determined that the vehicle is traveling in a prescribed road environment such as a tunnel, and restores the detection sensitivity of the radar device to its original state when the prescribed road environment ends. Summary of the Invention

[0004] According to the technology described in Japanese Patent Application Publication No. 2005-009914, although the sensitivity of the radar device is reduced under specified road conditions, it does not prevent the detection of structures existing on the side of the road, and there is still a possibility of misidentifying objects.

[0005] The purpose of this invention is to provide a vehicle control device, a vehicle control method, and a computer program that can suppress the misidentification of objects in a specified road environment where objects may be misidentified.

[0006] One aspect of the present invention is a vehicle control device comprising a control unit that performs driving assistance for the vehicle.

[0007] The control unit performs the following processing:

[0008] The first recognition result of image recognition of the detection area in front of the vehicle is associated with the second recognition result of object recognition of the detection area to detect moving objects existing in the detection area;

[0009] The driving assistance is performed based on the identification result of the moving object;

[0010] The detection range of the detection area is adjusted based on the detection results of the road environment on which the vehicle is traveling; and

[0011] If the road environment is determined to be a specified road environment in which the moving object may be misidentified, the moving object is detected in a narrow detection area that reduces the current detection range.

[0012] According to the present invention, it is possible to suppress the misidentification of objects in a specified road environment where objects may be misidentified. Attached Figure Description

[0013] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, in which the same reference numerals denote the same elements, and wherein:

[0014] Figure 1 This is a block diagram showing the structure of a vehicle control device.

[0015] Figure 2 This is a diagram showing the testing area of ​​the testing department.

[0016] Figure 3 This is a diagram representing the recognition results of the moving object.

[0017] Figure 4 This is a diagram illustrating an example of a defined road environment.

[0018] Figure 5 This diagram illustrates an example of a misidentification of a moving object occurring in a defined road environment.

[0019] Figure 6 This is a diagram illustrating an example of the condition of a road environment under testing regulations.

[0020] Figure 7 This is a diagram illustrating an example of a narrow detection area in a specified road environment.

[0021] Figure 8 It is a flowchart representing the processing flow of the vehicle control method executed in the vehicle control device. Detailed Implementation

[0022] like Figure 1 As shown, vehicle 1 is configured to perform driving assistance. Vehicle 1 consists of a detection unit 2 and a vehicle control unit 10, enabling it to perform driving assistance functions such as Advanced Driver-Assistance Systems (ADAS). The detection unit 2 detects the environment surrounding vehicle 1. The detection unit 2 consists of multiple devices configured according to its purpose. The detection values ​​detected by the detection unit 2 are used by driving assistance or navigation devices, etc.

[0023] The detection unit 2 includes a camera 2A that captures images of the environment surrounding the vehicle 1. The camera 2A captures images of the environment surrounding the vehicle 1 and outputs video data. In this embodiment, the camera 2A captures images of a predetermined area in front of the vehicle 1. The video data from the camera 2A can be used, for example, for driver assistance or a dashcam of the vehicle 1. The shooting range and shooting direction of the camera 2A can vary depending on the vehicle 1.

[0024] The detection unit 2 includes a lidar device 2B for detecting three-dimensional data of the area surrounding the vehicle 1. The lidar device 2B illuminates a laser beam in front of or around the vehicle 1 within a predetermined period, and measures reflected light from objects. The lidar device 2B is configured to have an adjustable detection area. The lidar device 2B scans the laser beam within the detection area and acquires measurement data. The lidar device 2B is configured to generate three-dimensional point group data of the area surrounding the vehicle 1 based on the measurement data.

[0025] The measurements taken by lidar device 2B are used to detect other vehicles, pedestrians, bicycles, motorcycles, and other traffic participants or objects present around vehicle 1. Lidar device 2B also detects road structures present in the road environment.

[0026] The detection unit 2 includes, for example, a radar device 2C that scans radar waves to detect objects present around the vehicle 1. The radar device 2C is configured to complement the lidar device 2B in object detection. The radar device 2C illuminates millimeter-wave radar waves in the detection area and receives reflected waves from objects, thereby detecting the relative distance to the objects. The radar device 2C is configured to have an adjustable detection area.

[0027] The measurements taken by radar device 2C are used to detect other vehicles, pedestrians, bicycles, motorcycles, and other traffic participants, or objects present in the vicinity of vehicle 1. Radar device 2C detects road structures present in the road environment. The object recognition unit is composed of lidar device 2B and / or radar device 2C.

[0028] The detection unit 2 includes a position sensor 2D that detects the current position of vehicle 1. The position sensor 2D may be, for example, a Global Positioning System (GPS) sensor or a Global Navigation Satellite System (GNSS) sensor. The position sensor 2D can supplement the position of vehicle 1 using autonomous sensors (not shown), such as gyroscope sensors and accelerometers, which are used in autonomous navigation.

[0029] Vehicle 1 is equipped with an input / output unit 3 capable of accepting user operations and displaying information. The input / output unit 3 may be, for example, a touch panel capable of accepting touch operations and displaying images. The input / output unit 3 may consist of an input section and a display section. The input section accepts input operations such as physical switches. The display section can display information from display devices such as liquid crystal displays (LCDs) and electroluminescent displays (ELs). The input / output unit 3 receives user operations to adjust the detection areas of the lidar 2B and the radar device 2C as described later.

[0030] Vehicle 1 is equipped with a communication unit 4 capable of communicating with network W. The communication unit 4 is configured as a communication interface capable of wireless communication. For example, the communication unit 4 communicates with wireless base stations located around vehicle 1 and communicates with various communication objects via network W. For example, vehicle 1 communicates with a server device 20 connected via network W and obtains map data including the current location of vehicle 1.

[0031] Vehicle 1 includes a drive unit 5 that generates power for movement. Drive unit 5 is, for example, composed of an internal combustion engine that uses fuel. If vehicle 1 is an electrified vehicle, drive unit 5 is composed of an electric motor. If vehicle 1 is a hybrid electric vehicle, drive unit 5 may be composed of a combination of an internal combustion engine and an electric motor. When driving assistance is activated, drive unit 5 is controlled by vehicle control unit 10, which adjusts its speed.

[0032] Vehicle 1 is equipped with a braking unit 6 for decelerating the vehicle speed and controlling it to a stop. The braking unit 6 is, for example, a braking device that generates braking force. In the case that vehicle 1 is an electric vehicle, the braking unit 6 may be integrated with the drive unit 5. When driving assistance is performed, the braking unit 6 is controlled by the vehicle control unit 10.

[0033] Vehicle 1 is equipped with a steering unit 7 for operating the driving direction. The steering unit 7 consists of a power steering device that imparts a steering angle to the steering wheels based on the operation of the handlebars. When vehicle 1 is an electric vehicle, the steering unit 7 can be integrated with a drive unit 5 that can variablely control the left and right driving forces of the drive wheels. When driving assistance is performed, the steering unit 7 is controlled by the vehicle control device 10 to adjust the steering angle.

[0034] The vehicle control device 10 includes a control unit 11 that performs controls related to the driving of the vehicle 1. The control unit 11 integrates and performs controls for driving, driving assistance, navigation, and communication via the network W of the vehicle 1 based on detection values ​​detected by the detection unit 2. The control unit 11 is composed of at least one hardware processor, such as a central processing unit (CPU). The control unit 11 can be implemented using hardware (including a circuitry) such as a large-scale integrated circuit (LSI), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), or a graphics processing unit (GPU), or it can be implemented through a combination of software and hardware.

[0035] The vehicle control unit 10 includes a storage unit 12 for storing data or programs. The storage unit 12 is composed of a non-transitory storage medium such as a hard disk drive (HDD) or a solid-state drive (SSD). The storage unit 12 stores computer programs and data required for the control of the vehicle 1. The programs can be pre-stored in the storage unit 12 or stored on an externally connectable storage medium such as a DVD or CD-ROM, and installed in the storage unit 12 by installing the storage medium in the drive unit. The control unit 11 controls the drive unit 5, the braking unit 6, and the steering unit 7 based on the detection values ​​detected by the detection unit 2, and performs driver assistance controls such as Obstacle Anticipation Assist (OAA).

[0036] like Figure 2 As shown, vehicle 1 detects moving objects V, such as traffic participants, on lane R of the road it is traveling on, and vehicle control device 10 performs driving assistance. In vehicle control device 10, control unit 11 performs image recognition on a detection area T1 in front of vehicle 1 based on image data from camera 2A. The detection range of detection area T1 is set according to the shooting range of camera 2A. Based on the first recognition result of image recognition on detection area T1 in front of vehicle 1, control unit 11 identifies other moving objects V, such as vehicles, in front as objects of driving assistance.

[0037] like Figure 3As shown, the control unit 11 identifies objects moving within the camera image M1 based on the first recognition result. The control unit 11 compares multiple camera images frame by frame and identifies groups of pixels that move as a whole within the image as the background. For example, the control unit 11 compares multiple camera images frame by frame and extracts groups of pixels that move relative to the background within the image as objects. The control unit 11 calculates estimated values ​​such as the assumed position, relative movement direction, and relative speed of the objects moving within the image.

[0038] The control unit 11 performs object recognition in the detection area T2 based on the detection values ​​detected by the lidar device 2B and / or the radar device 2C. The detection area T2 is normally set within a range that approximately coincides with the detection area T1. Based on the second recognition result, the control unit 11 calculates estimated values ​​related to the object, such as the relative position, relative speed, and relative direction of movement of the object moving within the detection area T2.

[0039] The control unit 11 performs processing by associating a first recognition result of image recognition performed on the detection area T1 in front of the vehicle 1 with a second recognition result of object recognition performed on the detection area T2. The control unit 11 associates objects existing in the detection area T1 with objects existing in the detection area T2, and detects moving bodies V existing in the detection areas T1 and T2. For example, the control unit 11 determines whether the error between the estimated value based on the first recognition result and the estimated value based on the second recognition result is below a preset benchmark.

[0040] If the error between the estimated value based on the first recognition result and the estimated value based on the second recognition result is below a preset benchmark, the control unit 11 determines that the object existing in the detection area T1 and the object existing in the detection area T2 are the same moving body V. The control unit 11 detects the moving body V existing in the detection areas T1 and T2 according to the determination result H. The control unit 11 performs driving assistance based on the recognition result of the moving body V. The control unit 11 identifies the moving body V extracted based on the second recognition result of object recognition in the detection area T2 in front of the vehicle 1 as the object of driving assistance. The control unit 11 tracks the detected moving body V as the object of driving assistance.

[0041] The control unit 11 calculates the relative distance and relative speed between the detected moving body V and the vehicle 1. The control unit 11 calculates the time to collision (TTC), representing the time until a collision occurs between the vehicle 1 and the moving body V, by dividing the relative distance by the relative speed. The control unit 11 monitors the TTC for the moving body V, and when the TTC is within a preset range indicating proximity to the moving body V, it performs driver assistance control by outputting a predetermined notification based on voice, image, etc., from the input / output unit 3. The control unit 11 monitors the TTC for the moving body V based on the identification result of the moving body V. If the TTC falls below a preset threshold for contact with the moving body V, the control unit performs driver assistance control to control the braking unit 6, the drive unit 5, and the steering unit 7 to prevent contact with the moving body V and the vehicle 1.

[0042] like Figure 4 and Figure 5 As shown, a road structure C1 sometimes exists on the side of lane R, where vehicle 1 travels. Road structure C1 is, for example, a structure that is adjacent to and continuously arranged on the outside of lane R in a road environment, classified as a tunnel sidewall, a bridge structural component, a retaining wall, a sound barrier, a guardrail, a steep cliff slope, trees, or the sidewall of an underpass. Thus, in a defined road environment where road structure C1 exists, road structure C1 may be included within detection areas T1 and T2.

[0043] In a defined road environment, road structure C1 may be included within detection areas T1 and T2. In this defined road environment, there is a possibility that a first identification result of road structure C1 near a moving body V is correlated with a second identification result of road structure C1 near a moving body V to calculate a determination result H of the moving body V. As a result, if road structure C1 near a moving body V is identified as the moving body V, driving assistance may be performed, potentially causing inconvenience to the user. The vehicle control device 10 is configured, for example, to adjust the detection range in detection areas T1 and T2 based on the user's operation. The control unit 11 is configured not only to adjust the detection range in detection areas T1 and T2 based on the user's operation but also based on the detection results of the road environment in which the vehicle 1 is traveling.

[0044] like Figure 6 As shown, the control unit 11 determines whether the vehicle 1 is traveling in a specified road environment where it may misidentify the moving body V based on the detected value of the vehicle 1's current position. The control unit 11 acquires the detected value of the vehicle 1's current position data from the position sensor 2D or the autonomous sensor. The control unit 11 acquires map data containing the current position stored in the storage unit 12. The control unit 11 may also acquire map data from the server device 20.

[0045] The control unit 11 performs route search based on map data and determines the attributes of the lane R in which vehicle 1 is traveling. Based on the determination of the attributes of lane R, the control unit 11 determines whether lane R contains the prescribed road environment. If the control unit 11 determines that it is possible to misidentify the moving body V in the road environment even without relying on map data, it can determine lane R as the prescribed road environment. The control unit 11 can also determine road construction sections, congested vehicles in adjacent lanes, road structures, etc., that do not exist in the map data as the prescribed road environment based on the recognition results using camera images.

[0046] When lane R is determined to contain a defined road environment, the control unit 11 calculates a first location X1 where the defined road environment begins and a second location X2 where the defined road environment ends on lane R. Based on the detection value of the vehicle 1's current position, if the control unit 1 determines that the vehicle 1 has reached the first location X1, it determines that the vehicle 1 is traveling in the defined road environment. For example, if the control unit 1 identifies the road environment in which the vehicle 1 is traveling as a tunnel or bridge based on the detection value of the vehicle 1's current position, it determines that the road environment is a defined road environment in which a moving object may be mistakenly identified. The control unit 11 is configured to adjust the detection range of the current detection areas T1 and T2 based on the detection results of the road environment in which the vehicle 1 is traveling.

[0047] like Figure 7 As shown, when the control unit 11 determines that the road environment is a specified road environment, it adjusts the detection range to a narrower detection area T1A, T2A compared to the current detection areas T1, T2. The narrow detection areas T1A, T2A are set such that, compared to the detection areas T1, T2, the scanning range of the lidar device 2B and the radar device 2C are reduced so as not to include road structures C1 that exist outside the lane R.

[0048] The control unit 11 is configured to adjust the detection range to at least two stages among detection areas T1 and T2 and narrow detection areas T1A and T2A. The control unit 11 can not only adjust the detection range to two stages, but also freely adjust it according to the road environment. For example, if the control unit 1 determines that the road environment in which vehicle 1 is traveling is a tunnel or a bridge, it adjusts the current detection areas T1 and T2 to narrow detection areas T1A and T2A that do not include the road structure C1 located on the side of the tunnel or bridge. The detection range of detection areas T1 and T2 can be set to two or more stages according to the detection sensitivity. The control unit 11 can adjust the narrow detection areas T1A and T2A, where the scanning range of the lidar device 2B and the detection sensitivity of the radar device 2C are set to the minimum, and / or the scanning range of the lidar device 2B and the radar device 2C are set to the minimum, within the multiple ranges set in stages. In this case, for example, the detection sensitivity for the moving body V is high in the area outside the narrow detection areas T1A and T2A, thus performing driving assistance.

[0049] The control unit 11 detects a moving body V present in the detection area by associating a first recognition result of image recognition of the detection area in front of the vehicle in the narrow detection area T1A with a second recognition result of object recognition of the narrow detection area T2A. The control unit 11 calculates the TTC for the moving body V and performs driving assistance based on the calculated TTC value.

[0050] Based on the detection value of the current position of vehicle 1, if the control unit 1 determines that vehicle 1 has reached the second location X2, it determines that the prescribed road environment has ended. Upon determining that the prescribed road environment has ended, the control unit 11 executes the process of returning the narrow detection areas T1A and T2A to the original detection areas T1 and T2. The control unit 11 continues to perform driving assistance (see reference) based on the detection areas T1 and T2. Figure 2 The detection areas T1 and T2 can be areas that have been adjusted according to the user's operation. When the specified road environment is determined to have ended, the control unit 11 can perform a process to return the narrow detection areas T1A and T2A to the detection areas T1 and T2 that have been adjusted according to the user's operation before the first location X1.

[0051] exist Figure 8 The diagram illustrates the processing flow of the vehicle control method executed in the vehicle control device 10. The vehicle control method is executed by a processor mounted on the vehicle control device 10, which provides driving assistance to the vehicle 1. A computer program installed in the vehicle control device 10 causes the processor to perform the following processes.

[0052] The control unit 11 detects the current position of the vehicle 1 via the detection unit 2 (S100). Based on the detected value of the current position of the vehicle 1, the control unit 11 searches for map data including the current position and determines whether the road environment of the lane R in which the vehicle 1 is traveling is a prescribed road environment (S102). If it is determined that the road environment is not a prescribed road environment (S102: "No"), the control unit 11 adjusts the detection range of the lidar device 2B and / or the radar device 2C to the detection areas T1 and T2 set by the user (S104).

[0053] If a moving object V is detected in detection areas T1 and T2, the control unit 11 performs driving assistance for the moving object V (S106). The processing based on detection areas T1 and T2 is performed within a specified time period of one cycle. The control unit 11 returns the processing to S100 and continues processing. If it is determined in S102 that the road environment is a specified road environment (S102: "Yes"), the control unit 11 adjusts the detection range of the lidar device 2B and / or the radar device 2C to narrow detection areas T1A and T2A (S108). Compared with the detection range of detection areas T1 and T2, the narrow detection areas T1A and T2A are narrower.

[0054] If a moving object V is detected in a narrow detection area T1A or T2A, the control unit 11 performs driving assistance for the moving object V (S110). The processing based on the narrow detection areas T1A and T2A is performed within a predetermined time period of one cycle. The control unit 11 returns the processing to S100 and continues processing. If it is determined in S102 that the prescribed road environment has ended (S102: "No"), the control unit 11 adjusts the detection range of the lidar device 2B and / or the radar device 2C to the detection areas T1 and T2 (S104) and performs driving assistance (S106).

[0055] As described above, according to the vehicle control device 10, when the road environment in which the vehicle 1 is traveling is a specified road environment that may lead to misidentification of a moving body V, the detection range of the lidar device 2B and / or the radar device 2C can be adjusted to reduce misidentification of the moving body V. According to the vehicle control device 10, in the specified road environment, the detection range of the lidar device 2B and / or the radar device 2C is adjusted to narrow detection areas T1A and T2A, which are narrower than the detection ranges of detection areas T1 and T2. Therefore, it is possible to reduce the misidentification of road structures C1 near lane R as moving body V. According to the vehicle control device 10, excessive driving assistance can be suppressed in the specified road environment, reducing user inconvenience.

[0056] In the above embodiments, the computer programs executed in each component of the vehicle control device 10 can be provided in a computer-readable portable recording medium such as a semiconductor memory, magnetic recording medium, or optical recording medium. The computer programs can be provided as a computer product for implementing the vehicle control device 10 and the vehicle control method.

Claims

1. A vehicle control device, characterized in that, It has a control unit that performs driving assistance for the vehicle. The control unit performs the following processing: The first recognition result of image recognition of the detection area in front of the vehicle is associated with the second recognition result of object recognition of the detection area to detect moving objects existing in the detection area; The driving assistance is performed based on the identification result of the moving object; The detection range of the detection area is adjusted based on the detection results of the road environment on which the vehicle is traveling; and If the road environment is determined to be a specified road environment in which the moving object may be misidentified, the moving object is detected in a narrow detection area that reduces the current detection range.

2. The vehicle control device according to claim 1, characterized in that, When the control unit determines that the specified road environment has ended, it restores the narrow detection area to the original detection area and continues to perform the driving assistance.

3. The vehicle control device according to claim 1, characterized in that, The control unit performs the following processing: If the road environment is identified as a tunnel or a bridge, the road environment is determined to be the specified road environment; and The current detection range is adjusted to exclude the narrow detection area of ​​road structures located on the sides of the tunnel or bridge.

4. The vehicle control device according to claim 1, characterized in that, The control unit performs the following processing: If the road environment is identified as a tunnel or a bridge, the road environment is determined to be the specified road environment; and The detection area is adjusted to the narrow detection area with the lowest detection sensitivity among multiple ranges set in stages according to the order of detection sensitivity within the detection range.

5. A vehicle control method, which is a vehicle control method for performing driving assistance for a vehicle, characterized in that, The computer constituting the vehicle control unit mounted on the vehicle performs the following processing: The first recognition result of image recognition of the detection area in front of the vehicle is associated with the second recognition result of object recognition of the detection area to detect moving objects existing in the detection area; The driving assistance is performed based on the identification result of the moving object; The detection range of the detection area is adjusted based on the detection results of the road environment on which the vehicle is traveling; and If the road environment is determined to be a specified road environment in which the moving object may be misidentified, the moving object is detected in a narrow detection area that reduces the current detection range.

6. A computer program, which is a computer program executed by a processor mounted on a vehicle control device for performing driving assistance of a vehicle, characterized in that, The computer program performs the following processing: The first recognition result of image recognition of the detection area in front of the vehicle is associated with the second recognition result of object recognition of the detection area to detect moving objects existing in the detection area; The driving assistance is performed based on the identification result of the moving object; The detection range of the detection area is adjusted based on the detection results of the road environment on which the vehicle is traveling; and If the road environment is determined to be a specified road environment in which the moving object may be misidentified, the moving object is detected in a narrow detection area that reduces the current detection range.

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