Vehicle control device, vehicle control program product and vehicle control method

Abstract

An automatic driving ECU (100) as a vehicle control device is provided with an environment recognition unit (61), a map generation unit (62), and an action determination unit (63). The environment recognition unit (61) detects a turnable area in which the vehicle (Am) is turnable on the basis of detection information of a target object around the vehicle (Am) acquired in the traveling vehicle (Am). A map generation unit (62) stores position information of the turnable region detected by the environment recognition unit (61). The action determination unit (63) executes automatic turning control for turning the host vehicle (Am) in the turnable region in which the position information is stored in the map generation unit (62).

Description

Technical Field

[0001] This specification relates to a vehicle control device. Background Technology

[0002] Patent Document 1 discloses a turning area detection device that detects a turning area extending from the driving road based on information about obstacles present around the vehicle traveling along the driving road. This turning area detection device determines that the vehicle can turn on the turning area if there are no obstacles on the turning side of the driving road.

[0003] Patent Document 1: Japanese Patent Application Publication No. 2018-162041

[0004] The turning area detection device in Patent Document 1 can only determine whether a turning area exists around the current vehicle. Therefore, in scenarios where there is no turning area around the current vehicle, but a turning area exists only at a location far away from the vehicle, it cannot assist the user in turning the vehicle. Summary of the Invention

[0005] The purpose of this disclosure is to provide a vehicle control device that improves user convenience even in scenarios where a turning area exists only at a location far from the vehicle.

[0006] To achieve the above objectives, one disclosed embodiment is a vehicle control device comprising: a region detection unit that detects a turnable region in which the vehicle can turn based on detection information of objects around the vehicle acquired while the vehicle is in motion; a region storage unit that stores position information of the turnable region detected by the region detection unit; and a driving control unit that performs automatic turning control to turn the vehicle in the turnable region in which the position information is stored in the region storage unit.

[0007] In this method, the location information of the turnable area where the vehicle can turn is stored. Therefore, even if there is no turnable area around the current vehicle, automatic turning control can be performed to turn the vehicle within the turnable area where the location information is stored.

[0008] Therefore, even in scenarios where there is only a turning area far away from the vehicle, user convenience can be improved. Attached Figure Description

[0009] Figure 1 This is a block diagram showing the overall structure of an in-vehicle system including an autonomous driving ECU according to one embodiment of the present disclosure.

[0010] Figure 2This is a diagram showing an example of the shape of a turnable area where the vehicle can make turns.

[0011] Figure 3 Is with Figure 4 and Figure 5 Here is a diagram illustrating an example of a scenario utilizing extended turn control.

[0012] Figure 4 Is with Figure 3 and Figure 5 Here is a diagram illustrating an example of a scenario utilizing extended turn control.

[0013] Figure 5 Is with Figure 3 and Figure 4 Here is a diagram illustrating an example of a scenario utilizing extended turn control.

[0014] Figure 6 It is a flowchart showing the details of the region storage processing performed by the autonomous driving ECU.

[0015] Figure 7 It is a flowchart showing the detailed process of turning execution implemented by the autonomous driving ECU.

[0016] Figure 8 This is a flowchart showing the detailed process of turning in Variation Example 1. Detailed Implementation

[0017] The function of the vehicle control device in one embodiment of this disclosure is achieved through... Figure 1 The shown autonomous driving ECU (Electronic Control Unit) 100 is implemented. The autonomous driving ECU 100 is installed in the vehicle (hereinafter, this vehicle Am). By installing the autonomous driving ECU 100, this vehicle Am becomes an autonomous driving vehicle or a self-driving vehicle with autonomous driving function, and can drive through the autonomous driving function.

[0018] The autonomous driving ECU 100 is an onboard ECU that enables autonomous driving functions, allowing it to act as a driver's assistant. The autonomous driving ECU 100 can implement Level 2 or similar advanced driver assistance systems (ADAS) or partial autonomous driving control. Level 2 autonomous driving (driving control) requires driver-based visual observation of the vehicle's surroundings and is an autonomous driving system with a surroundings monitoring obligation. The autonomous driving ECU 100 can also implement Level 3 or higher autonomous driving, where the system becomes the controlling entity. Level 3 or higher autonomous driving (driving control) does not require monitoring of the vehicle's surroundings and is an eyes-off autonomous driving system without a surroundings monitoring obligation. The autonomous driving levels (automation levels) in this disclosure are based on benchmarks defined by the Society of Automotive Engineers (SAE).

[0019] The autonomous driving ECU 100 is included in the vehicle system installed in the vehicle Am. The autonomous driving ECU 100 is connected to the communication bus of the vehicle network constituting the vehicle system and is capable of communication. Peripheral monitoring sensors 30, locators 35, driving control ECU 40, and HMI (Human Machine Interface) control devices 20 are connected to the communication bus. These nodes connected to the communication bus can communicate with each other. Alternatively, specific nodes among these ECUs can be directly electrically connected to each other, enabling communication without using the communication bus.

[0020] The surrounding monitoring sensor 30 is an autonomous sensor mounted on the vehicle Am that monitors the surrounding environment of the vehicle Am. The surrounding monitoring sensor 30 can detect moving and stationary objects within its detection range around the vehicle. The surrounding monitoring sensor 30 provides the detection information of objects around the vehicle to the autonomous driving ECU 100, etc. The surrounding monitoring sensor 30 includes at least a camera unit 31. It may also include one or more of a millimeter-wave radar 32, a lidar 33, and a sonar 34.

[0021] Camera unit 31 includes a front camera. Camera unit 31 may also include a rear camera, a left-side camera, and a right-side camera. By having multiple cameras, camera unit 31 can capture images of the entire surroundings of the vehicle Am. Camera unit 31 provides the captured data or the parsed information from the captured data to the autonomous driving ECU 100 as detection information.

[0022] Millimeter-wave radar 32 irradiates millimeter-wave or quasi-millimeter-wave signals around the vehicle. Millimeter-wave radar 32 outputs detection information generated by processing reflected waves from moving and stationary objects. LiDAR 33 irradiates laser signals around the vehicle. LiDAR 33 outputs detection information (point group data) generated by processing laser signals reflected from moving and stationary objects within the irradiation range. Sonar 34 emits ultrasonic waves around the vehicle. Sonar 34 outputs detection information generated by processing ultrasonic waves reflected from moving and stationary objects near the vehicle.

[0023] The locator 35 is a structure that includes a GNSS (Global Navigation Satellite System) receiver and inertial sensors. The locator 35 combines positioning signals received from multiple positioning satellites via the GNSS receiver, measurement results from the inertial sensors, and vehicle speed information output to the communication bus to sequentially determine the vehicle Am's position and direction of travel. The locator 35 then sequentially outputs the position and orientation information of the vehicle Am based on the positioning results to the communication bus as locator information.

[0024] The driving control ECU 40 is an electronic control device that includes a microcontroller as its main component. Based on the detection signals from wheel speed sensors located at the wheel hubs of each wheel, the driving control ECU 40 generates vehicle speed information indicating the current driving speed of the vehicle Am, and sequentially outputs the generated vehicle speed information to the communication bus. The driving control ECU 40 has at least the functions of a braking control ECU, a drive control ECU, and a steering control ECU. According to the driving operation commands based on the driver's driving operations or the control commands from the automatic driving ECU 100, the driving control ECU 40 continuously implements braking force control for each wheel, output control of the onboard power source, and steering angle control.

[0025] The HMI control unit 20 is a computer mainly consisting of a processing unit, RAM, memory, input / output interfaces, and a bus connecting them. The HMI control unit 20 has an input interface function for accepting operations from occupants such as the driver of the vehicle Am, and an output interface function for providing prompts to the driver. The HMI control unit 20, together with the display device 21 and the operating device 26 mounted on the vehicle Am, constitutes an HMI system.

[0026] Display device 21 provides visual cues to the driver through image display and other means. Display device 21 includes an instrument cluster display, a central information display (CID), and a head-up display (HUD). The CID has a touch panel function to detect touch operations by the driver or other personnel on the display screen.

[0027] The operating device 26 is an input unit that receives user operations such as those from the driver. User operations related to operating and stopping the automatic driving function are input into the operating device 26. The operating device 26 includes a steering switch located on the spokes of the steering wheel, a control lever located on the steering column, a CID with touch panel functionality, and a voice input device that recognizes the driver's voice.

[0028] The autonomous driving ECU100 can implement automatic reverse control and automatic turning control as driving control based on autonomous driving functions. Automatic reverse control and automatic turning control can also be implemented as driving assistance control with the driver having a duty to monitor the surroundings through Level 2 autonomous driving functions, or as autonomous driving control without the driver having a duty to monitor the surroundings through Level 3 or higher autonomous driving functions. Automatic reverse control implemented as driving assistance control is called reversing assist.

[0029] Automatic reverse control automatically records the driving path of the vehicle Am while it is moving forward, and when the need for reverse arises, it reverses the vehicle Am along the recorded driving path. The automatic driving ECU 100 records the driving path used to implement automatic reverse control when the vehicle Am's speed is below a specified speed (e.g., approximately 30-40 km / h). In automatic reverse control, steering, acceleration, and braking operations are automatically performed, and the actions of the vehicle Am after traveling a specified distance are reproduced in reverse. If the driver performs steering or braking operations, these driving operations are prioritized, and automatic reverse control is stopped. In automatic reverse control, the vehicle Am's actions are controlled based on the detection information of objects around the vehicle to avoid obstacles in the driving path. Furthermore, the vehicle Am's speed under automatic reverse control is suppressed to an extremely low speed (e.g., below 10 km / h). Automatic reverse control facilitates escaping from narrow alleys and dead ends in parking lots.

[0030] Automatic cornering control utilizes the space of the driving path facing the vehicle Am (hereinafter, the cornering space SP, see reference). Figure 2The automatic driving ECU 100 controls the vehicle Am's direction of travel by switching its direction between the front and rear. It can also switch the vehicle Am's direction by entering the turning space SP from the front, from the rear, or through U-turns. In automatic turning control, steering, acceleration, and braking are automatically performed based on the detection information of objects around the vehicle. Multiple turns can be performed in narrow turning spaces SP. Automatic turning control facilitates direction changes in narrow alleys and crowded parking lots.

[0031] The autonomous driving ECU 100 is a computer mainly comprising a processing unit 11, RAM 12, memory 13, input / output interfaces, and a bus connecting them. The processing unit 11 executes various processing (instructions) for implementing the vehicle control method of this disclosure by accessing the RAM 12. The memory 13 stores various programs (vehicle control programs, etc.) executed by the processing unit 11. Through the execution of these programs by the processing unit 11, an environment recognition unit 61, a map generation unit 62, an action determination unit 63, a control execution unit 64, and an HMI cooperation unit 65 are constructed within the autonomous driving ECU 100 as functional units related to autonomous driving functions.

[0032] The environment recognition unit 61 combines the locator information obtained from the locator 35 with the detection information obtained from the surrounding monitoring sensor 30 to identify the driving environment of the vehicle Am. The environment recognition unit 61 obtains vehicle speed information, representing the current driving speed, from the communication bus as information indicating the state of the vehicle Am. Based on the detection information, the environment recognition unit 61 determines the size, type, relative position, and relative speed of objects around the vehicle. The environment recognition unit 61 provides the recognition results related to objects around the vehicle to the map generation unit 62 and the action determination unit 63.

[0033] The environmental recognition unit 61 is related to automatic cornering control. When the vehicle Am is traveling at a speed below a specified speed, it detects the turning area TS of the vehicle Am based on detection information acquired during driving (refer to...). Figure 2 The turning area TS must contain at least a turning space SP facing the driving path (see reference). Figure 2 The turning area TS may also include a portion of the driving path that connects to the turning space SP. During the reversing of the vehicle Am by automatic reversing control, the environmental recognition unit 61 also continues to detect the turning area TS.

[0034] The environmental recognition unit 61 uses predefined pattern information to detect the turnable area TS around the vehicle. The pattern information is information representing the shape of the turnable area TS and is defined based on the vehicle characteristics of the vehicle Am. Vehicle characteristics include, for example, the overall length and width of the vehicle Am, and the minimum turning radius of the vehicle Am. The environmental recognition unit 61 prepares multiple patterns of information corresponding to turning methods such as switch turns and U-turns.

[0035] Based on detection information, the environmental recognition unit 61 extracts drivable areas that meet the shape, size, and orientation conditions shown in the pattern information from the range recognizable by the surrounding monitoring sensor 30, and designates these areas as turning zones TS. Based on the pattern information, the environmental recognition unit 61 extracts convex (refer to...) ... Figure 2 Areas such as concave shapes are designated as turning areas (TS). The environmental recognition unit 61 detects, for example, intersections such as T-junctions and crossroads in narrow alleys, alley entrances and exits, widened sections with bus stops and taxi stands, and branching points of roads within large parking lots (see reference). Figure 3 Unused parking spaces, etc., are designated as turning areas TS. The environment recognition unit 61 provides the location and shape information of the detected turning areas TS to the map generation unit 62 and the action determination unit 63.

[0036] The map generation unit 62 generates maps for automatic reverse control and automatic turning control in narrow alleys and parking lots. When the vehicle Am is traveling below a predetermined speed, the map generation unit 62 combines the recognition results obtained from the environment recognition unit 61 with steering wheel operation information obtained from the communication bus to store path information representing the travel path already traveled by the vehicle Am. During the reverse movement of the vehicle Am using automatic reverse control, the map generation unit 62 continues to store the path information representing the travel path (reverse path).

[0037] The map generation unit 62 stores the location and shape information of the turnable areas TS detected by the environment recognition unit 61 in relation to the path information. When the environment recognition unit 61 sequentially detects multiple turnable areas TS existing in different locations, the map generation unit 62 stores the location information of these multiple turnable areas TS in sequence. If the vehicle Am moves more than a predetermined distance (e.g., about 50 to 100 meters) away from the turnable area TS whose location information is stored, the map generation unit 62 deletes the recorded location information of the turnable area TS. Alternatively, the map generation unit 62 may delete the recorded location information of the turnable area TS if a predetermined time (e.g., tens of seconds to about one minute) has elapsed since the turnable area TS was detected.

[0038] The action determination unit 63 collaborates with the driving control ECU 40 to switch the control state of the vehicle Am between automatic and manual driving. In addition, the action determination unit 63 switches the automation level of driving control (automatic driving control) implemented through the automatic driving function. When the automatic driving ECU 100 has control over driving operations, the action determination unit 63 determines the action of the vehicle Am based on the identification results of the driving environment obtained from the environment identification unit 61. The action determination unit 63 generates a predetermined driving line for the vehicle Am, as a driving plan specifying the action of the vehicle Am, and outputs the generated predetermined driving line to the control execution unit 64.

[0039] The action determination unit 63 activates the autonomous driving function based on the user operation information obtained by the HMI cooperation unit 65, and performs driving controls such as automatic reverse control and automatic turning control as described above. In addition, in scenarios where turning is restricted, the action determination unit 63 implements a composite driving control combining automatic reverse control and automatic turning control (hereinafter, extended turning control). In extended turning control, the action determination unit 63 can return to a position within the turning area TS on the driving path and perform automatic turning within that turning area TS (see reference). Figures 3-5 ).

[0040] In detail, when the action determination unit 63 has stored the location information of the turnable area TS in the map generation unit 62, it begins extended turning control based on the operation information of the user operation. In extended turning control, the action determination unit 63 sets the turnable area TS, whose location information is stored in the map generation unit 62, as the target turning area TSt. The action determination unit 63 obtains the location information of the target turning area TSt, and the position from the current position (hereinafter, the backward start position P1, referring to...). Figure 3 The action determination unit 63, when the map generation unit 62 stores multiple possible turning areas TS, sets the possible turning area TS closest to the reversal start position P1 as the target turning area TSt, and obtains the location information of the target turning area TSt and the path information to the target turning area TSt.

[0041] Based on the path information stored in the map generation unit 62, the action determination unit 63 reverses the vehicle Am towards the turning area TS along the driving path. The action determination unit 63 determines the starting position of the automatic turning control at the target turning area TSt (hereinafter, turning start position P2, refer to...). Figure 3The action determination unit 63 moves the vehicle Am to the starting position P2 of the turn. Based on the latest recognition results obtained in real-time from the environment recognition unit 61, and knowing that there are vehicles or other objects to avoid behind, the action determination unit 63 performs avoidance control to avoid passing those vehicles. If the target turning area TSt that has been reached cannot be automatically turned, the action determination unit 63 changes the target turning area TSt to another turnable area TS recorded in the map generation unit 62, and restarts the reverse control towards that target turning area TSt. The action determination unit 63 performs automatic turning control to turn the vehicle Am within the target turning area TSt that the vehicle Am has reached.

[0042] If the environment recognition unit 61 detects a new turnable area TS during the reversing process of the vehicle Am towards the turnable area TS, the action determination unit 63 sets the newly detected turnable area TS as the target turnable area TSt. The action determination unit 63 then performs automatic turning control to turn the vehicle Am within the new target turnable area TSt. Conversely, if automatic turning control cannot be performed within the already reached target turnable area TSt, the action determination unit 63 changes the target turnable area TSt to another turnable area TS recorded in the map generation unit 62 and restarts the reversing control towards that target turnable area TSt. If multiple other turnable areas TS exist, the action determination unit 63 sets the other turnable area TS closest to the original target turnable area TSt as the new target turnable area TSt.

[0043] After the action determination unit 63 turns the vehicle Am within the target turning area TST, it obtains path information from the map generation unit 62 regarding the reversing path from the reversing start position P1 to the target turning area TST. Based on the obtained path information, the action determination unit 63 reverses the vehicle Am towards the reversing start position P1 along the reversing path. Automatic reversing control from the target turning area TST back to the reversing start position P1 can also be initiated only if a user operation instructing the execution of this control is input.

[0044] When the automatic driving ECU 100 has control over driving operations, the control execution unit 64, in cooperation with the driving control ECU 40, performs acceleration / deceleration control and steering control of the vehicle Am based on a predetermined driving line generated by the action judgment unit 63. Specifically, the control execution unit 64 generates control commands based on the predetermined driving line and outputs the generated control commands sequentially to the driving control ECU 40.

[0045] The HMI collaboration unit 65 acquires information from the HMI control unit 20 and provides information to the HMI control unit 20. The HMI collaboration unit 65 shares acquired information between the automatic driving ECU 100 and the HMI control unit 20. The HMI collaboration unit 65 acquires operational information from the HMI control unit 20, understanding the content of user operations input by the driver to the CID 22 and operating devices 26, etc. For example, the HMI collaboration unit 65 acquires operational information from the HMI control unit 20 regarding user operations instructing the execution of automatic reverse control, automatic turning control, and extended turning control, etc. The HMI collaboration unit 65 provides the acquired operational information to the action determination unit 63, etc.

[0046] The HMI Coordination Unit 65 provides control status information indicating the operating status of the autonomous driving function, as well as the recognition results of the environment recognition unit 61 on the vehicle's surroundings, to the HMI Control Unit 20. Furthermore, the HMI Coordination Unit 65 outputs implementation requests for reports to the HMI Control Unit 20, thereby enabling reports based on the HMI Control Unit 20 to be synchronized with the operating status of the autonomous driving function. For example, the HMI Coordination Unit 65 outputs implementation requests for reports related to automatic reverse control, automatic cornering control, and extended cornering control to the HMI Control Unit 20.

[0047] As an example, the HMI collaboration unit 65 uses the display device 21 to notify the driver that the location information of the turnable area TS is stored in the map generation unit 62, enabling the use of extended turn control. Specifically, the HMI collaboration unit 65 cooperates with the HMI control unit 20 to display a start icon for activating extended turn control on the CID display. When extended turn control is available, the start icon is displayed in its normal color and can be tapped. Conversely, when extended turn control is unavailable, the start icon is displayed in gray and cannot be tapped.

[0048] When automatic cornering control is activated and extended cornering control is engaged, the HMI collaboration unit 65 uses the display device 21 to notify the driver of the location information of the turnable area TS stored in the map generation unit 62. Specifically, the HMI collaboration unit 65, in cooperation with the HMI control unit 20, displays a top-down map image on the CID display showing the positional relationship between the vehicle Am and the target cornering area TSt, as well as the predetermined driving line from the vehicle Am towards the target cornering area TSt. Messages such as "Automatic cornering initiated. Movement to the automatic cornering area has begun. Please be aware of vehicles behind." may also be displayed on the display device 21.

[0049] During the reversing process towards the target turning area TST, the HMI coordination unit 65 notifies the remaining distance to TST using a numerical display or bar display. During reversing, real-time camera images of the vehicle's surroundings or rear can also be displayed on the CID screen. When the driving control transitions from automatic reversing control to automatic turning control, the HMI coordination unit 65 notifies the driver, via either a display or an audio signal that the target turning area TST has been reached and that turning has begun. During automatic turning control, the HMI coordination unit 65 displays camera images of the vehicle's surroundings on the CID screen.

[0050] When automatic turning control is completed, the HMI coordination unit 65 notifies the user via at least one of the display and sound, with a message such as "Turn completed. Begin automatic reversing towards the starting point?". When an instruction is given to automatically reverse towards the starting point (reversing start position P1), the HMI coordination unit 65 notifies the user via at least one of the display and sound, with a message such as "Moving towards the starting point. Please be aware of vehicles behind." During this reversing operation, a top-down map image and camera footage may also be displayed on the CID. Then, when the vehicle Am reaches the reversing start position P1, the HMI coordination unit 65 notifies the user via at least one of the display and sound, with a message such as "Reached the starting point. End automatic turning."

[0051] [Explanation of scenarios utilizing extended turning control] In Figures 3-5 The image shows an example of a scenario where extended turn control is useful. Figures 3-5 In the scenario shown, the driver wants to park vehicle Am in an empty parking space located in the inner area of ​​the parking lot. Once the driver has reached the inner area of ​​the parking lot, they activate extended turning control at a set time to change the front and rear orientation of vehicle Am.

[0052] In detail, such as Figure 3 As shown, the driver moves vehicle Am forward in the passageway of a parking lot and searches for an empty parking space. Since vehicle Am travels at a low speed in the parking lot, the environment recognition unit 61 detects the turning space SP facing the driving path of vehicle Am, and the turnable area TS containing the turning space SP. The map generation unit 62 stores the position information of the turnable area TS detected by the environment recognition unit 61 in a relational manner with path information representing the driving path of vehicle Am. By detecting the turnable area TS, extended turning control can be used.

[0053] The driver moves vehicle Am to an empty, inner area with a parking space. To facilitate leaving the parking lot, the driver decides to turn vehicle Am. The driver taps the activation icon to begin utilizing the extended turning control.

[0054] like Figure 4 As shown, after the start of extended turning control, the action determination unit 63 sets the nearest turnable area TS to the vehicle Am as the target turning area TSt. The action determination unit 63 starts automatic reverse control, retracing the previous driving path to make the vehicle Am reverse towards the target turning area TSt. The action determination unit 63 stops the vehicle Am at a position slightly beyond the turning space SP of the target turning area TSt, that is, at the turning start position P2 in automatic turning control.

[0055] like Figure 5 As shown, the action determination unit 63 completes automatic turning control using the turning space SP within the target turning area TST. After the vehicle Am completes its turn, the action determination unit 63, based on the driver's instruction, begins automatic reverse control towards the reverse start position P1. The action determination unit 63 moves the vehicle Am towards the reverse start position P1 according to the path information of the reverse path stored in the map generation unit 62.

[0056] When the vehicle Am reaches the reverse start position P1, the action determination unit 63 stops the vehicle Am at the reverse start position P1 and ends a series of extended turning controls. After the extended turning control ends, the action determination unit 63 transfers control of the vehicle Am to the driver. The driver can also park the vehicle Am in the parking space by manually driving it, or by using the automatic parking function.

[0057] [Explanation of region storage processing and turn execution processing] Based on Figure 6 as well as Figure 7 and refer to Figures 1-5 The details of the region storage processing and turn execution processing performed by the automatic driving ECU 100 to achieve the extended turn control described above will be explained.

[0058] <Regional Storage Processing>

[0059] Since the vehicle Am's speed is below the prescribed speed, the environmental recognition unit 61 and the map generation unit 62 begin... Figure 6 The area storage process is shown. This process is repeated until the speed of vehicle Am exceeds the specified speed.

[0060] In S11 of the area storage processing, the environment recognition unit 61 acquires images from the camera unit 31 (mainly the front camera). In S12, the environment recognition unit 61 acquires three-dimensional point group data generated by the lidar 33. The environment recognition unit 61 may also acquire detection information from the millimeter-wave radar 32 and the sonar 34. Based on the detection information acquired in the moving vehicle Am, the environment recognition unit 61 detects the turning area TS in S13. The environment recognition unit 61 uses multiple pattern information predefined based on the vehicle characteristics of the vehicle Am to detect the turning area TS around the vehicle.

[0061] In S14, the map generation unit 62 determines whether the environment recognition unit 61 has detected a turning area TS. If no turning area TS is detected (S14: "No"), the area storage process is temporarily terminated. Conversely, if a turning area TS is detected (S14: "Yes"), in S15, the map generation unit 62 determines whether there is already saved location information for the turning area TS. If no location information is already saved (S15: "No"), in S16, the map generation unit 62 stores the newly detected turning area TS by the environment recognition unit 61 in relation to the path information.

[0062] On the other hand, if there is already saved location information (S15: "Yes"), in S17, the map generation unit 62 updates the location information of the turnable area TS. The map generation unit 62 saves the newly detected turnable area TS by the environment recognition unit 61 as the turnable area TS closest to the current position and with the highest priority. Furthermore, the map generation unit 62 lowers the priority of other turnable areas TS that are already considered turnable areas with saved location information and are far from the current position. As described above, when the environment recognition unit 61 sequentially detects multiple turnable areas TS existing in different locations, the map generation unit 62 assigns a priority order to the location information of the multiple turnable areas TS corresponding to their distance from the current position and stores it.

[0063] <Turn Execution Processing>

[0064] Similar to regional storage processing, based on the fact that the vehicle Am's driving speed is below a specified speed, the various functional units of the automatic driving ECU 100 begin processing. Figure 7 The turning process is shown.

[0065] In step S31 of the turn execution process, the action determination unit 63 determines whether the location information of the turnable area TS is stored in the map generation unit 62. If no location information is stored (S31: "No"), in step S32, the action determination unit 63 sets the extended turn control to a standby state where it is unusable. The HMI collaboration unit 65 grays out the CID activation icon when the extended turn control is unusable. The extended turn control remains in standby state until the turnable area TS is detected by the environment recognition unit 61.

[0066] On the other hand, if location information is stored (S31: "Yes"), in S33, the action determination unit 63 sets the extended turning control to an active state where it can be used. When the extended turning control is available, the HMI coordination unit 65 de-grays the CID activation icon and sets it to a tapable state. The HMI coordination unit 65 uses the display device 21 to notify the driver of the vehicle Am that location information for the turning area TS is stored. In S34, the HMI coordination unit 65 determines whether an activation operation for the extended turning control by tapping the activation icon has been entered based on the operation information obtained from the HMI control device 20. If no activation operation is entered (S34: "No"), the extended turning control remains active.

[0067] When the HMI coordination unit 65 obtains the user operation information for initiating extended turning control (S34: "Yes"), in S35, the action determination unit 63 determines whether a turning area TS exists around the current position of the vehicle Am. If the environment recognition unit 61 detects a turning area TS around the vehicle (S35: "Yes"), in S36, the action determination unit 63 implements automatic turning control within the turning area TS around the vehicle. Thus, the turning execution process ends.

[0068] On the other hand, if no turning area TS is detected around the vehicle (S35: "No"), in S37, the action determination unit 63 acquires the location information and path information stored in the map generation unit 62. The action determination unit 63 sets the turning area TS from which the location information has been read from the map generation unit 62 as the target turning area TSt. In S38, the action determination unit 63 starts automatic reverse control, and based on the stored path information, reverses the vehicle Am towards the target turning area TSt along the driving path. In addition, the HMI cooperation unit 65 uses the display device 21 to notify the driver of the location information of the target turning area TSt stored in the map generation unit 62.

[0069] Action determination unit 63, in cooperation with environment recognition unit 61, determines in S39 whether the vehicle Am has reached the turning start position P2 of the target turning area TST. Action determination unit 63 continues to move based on automatic reverse control until the vehicle Am reaches the turning start position P2 (S39: "No"). When the vehicle Am reaches the turning start position P2 (S39: "Yes"), action determination unit 63, in cooperation with environment recognition unit 61, determines in S40 whether a turn can be made in the target turning area TST.

[0070] If it is difficult to make a turn in the target turning area TSt due to reasons such as the turning space SP being occupied by other vehicles (S40: "No"), in S41, the action determination unit 63 determines whether the location information of other possible turning areas TS is stored in the action determination unit 63. If the location information of other possible turning areas TS is not stored (S41: "No"), the turning execution process ends. As a result, control of the vehicle Am is transferred to the driver at the turning start position P2.

[0071] In contrast, if the location information of other turnable areas TS is stored (S41: "Yes"), the action determination unit 63 changes the target turnable area TSt. If multiple other turnable areas TS exist, the action determination unit 63 sets the turnable area TS closest to the turn start position P2 as the target turnable area TSt. In this case, in S37, the action determination unit 63 acquires the location information of the new target turnable area TSt and the path information to that target turnable area TSt, and in S38, begins automatic reverse control towards the new target turnable area TSt.

[0072] On the other hand, if a turn is possible within the target turning area TSt (S40: "Yes"), in S42, the action determination unit 63 implements automatic turning control to turn the vehicle Am. When the automatic turning control is completed, in S43, the HMI cooperation unit 65 determines whether there is a user operation instructing the implementation of automatic reverse control to return to the reverse start position P1. If there is no instruction to implement automatic reverse control (S43: "No"), the turning execution process ends. Thus, control of the vehicle Am is transferred to the driver at the position where the automatic turning control is completed. Conversely, if there is an instruction to implement automatic reverse control (S43: "Yes"), in S44, the action determination unit 63 starts automatic reverse control, reversing the vehicle Am towards the reverse start position P1 along the reverse path.

[0073] Action determination unit 63, in cooperation with environment recognition unit 61, determines in S45 whether the vehicle Am has reached the reverse start position P1. Action determination unit 63 continues movement based on automatic reverse control until the vehicle Am reaches the turn start position P2 (S45: "No"). When the vehicle Am reaches the reverse start position P1 (S45: "Yes"), action determination unit 63 ends the turn execution process. Thus, control of the vehicle Am is transferred to the driver at the reverse start position P1.

[0074] (Summary of Implementation Methods)

[0075] In this embodiment described above, the location information of the turnable area TS of the vehicle Am is stored. Therefore, even if there is no turnable area around the current vehicle Am, automatic turning control to turn the vehicle Am can be performed within the turnable area TS whose location information has been stored. Thus, even in scenarios where the turnable area TS exists only at a location far from the vehicle Am, user convenience can be improved.

[0076] In addition, in this embodiment, predefined pattern information based on the vehicle characteristics of the vehicle Am is used to detect the turnable region TS existing in the driving path of the vehicle Am. By utilizing the pattern information in this way, the processing load for detecting the turnable region TS can be reduced.

[0077] Furthermore, in this embodiment, path information representing the travel path already traveled by the vehicle Am is also stored. Then, based on the stored path information, the action determination unit 63 reverses the vehicle Am towards the turning area TS along the travel path. By utilizing this automatic reverse control, movement into the turning area TS, which exists at a position far from the reverse start position P1, becomes easier. As a result, user convenience can be further improved.

[0078] Furthermore, in this embodiment, the map generation unit 62 also stores path information representing the reversing path of the vehicle Am moving from the reversing start position P1 towards the turning area TS. Then, after the vehicle Am turns in the turning area TS, the action determination unit 63, based on the path information stored in the map generation unit 62, moves the vehicle Am back towards the reversing start position P1 along the reversing path. In this way, if the automatic reversing control can be used again after the automatic turning control is completed, movement in reversing from the turning area TS to the reversing start position P1 becomes easier. As a result, user convenience can be further improved.

[0079] In addition, in this embodiment, the display device 21 mounted on the vehicle Am is used to notify the driver of the vehicle Am of the location information of the turnable area TS stored in the map generation unit 62. In this way, it becomes easier to grasp the destination of movement based on automatic reverse control, thereby reducing the driver's anxiety about extended turn control.

[0080] Furthermore, in this embodiment, the HMI collaboration unit 65 uses the display device 21 to notify the driver of the vehicle Am that the map generation unit 62 stores the location information of the turnable area TS. Based on this display, the driver can appropriately determine whether extended turn control can be used. As a result, user convenience is further improved.

[0081] Furthermore, in this embodiment, when the environment recognition unit 61 sequentially detects multiple turnable areas TS existing in different locations, the location information of the multiple turnable areas TS is stored in the map generation unit 62. If the location information of multiple turnable areas TS is stored in this way, the reliability of completing the turning of the vehicle Am based on automatic turning control in any turnable area TS is increased. Therefore, user convenience can be further improved.

[0082] In addition, in this embodiment, if automatic turning control cannot be performed in the turning area TS closest to the reversing start position P1 among multiple turning areas TS, automatic turning control is performed in other turning areas TS where position information is stored. Thus, even if the turning space SP of the turning area TS closest to the reversing start position P1 is blocked by other vehicles, the action determination unit 63 can attempt a turn based on automatic turning control in the next nearest turning area TS. Based on the above, the reliability of completing turns of the vehicle Am based on automatic turning control is increased, thus further improving user convenience.

[0083] Furthermore, in this embodiment, during the reversing process of the vehicle Am moving towards the turning area TS (target turning area TSt), the environment recognition unit 61 continues to detect the turning areas TS around the vehicle. Then, if the action determination unit 63 detects a new turning area TS during the reversing process by the environment recognition unit 61, it performs automatic turning control in the newly detected turning area TS. In this way, if automatic turning control is permitted in the turning area TS detected during the movement towards the target turning area TSt, the time required for extended turning control can be shortened. As a result, user convenience can be further improved.

[0084] Furthermore, in this embodiment, during the reversal towards the target turning area TSt, if there is a vehicle behind, the action determination unit 63 performs reversal control to avoid passing the vehicle behind. Therefore, even if there is a vehicle behind, the vehicle Am can reach the turning start position P2 without driver operation.

[0085] In addition, in this embodiment, position information of the turning area TS that is more than a predetermined distance away from the current position of the vehicle Am is eliminated. Therefore, situations that require long reverse distances to reach the target turning area TSt, causing anxiety for the driver and other passengers, can be avoided.

[0086] Furthermore, in this embodiment, extended turning control is immediately interrupted in the event of driver intervention. Thus, if the driver can always regain control through their own judgment, they can confidently utilize the extended turning control function.

[0087] In addition, in the above embodiments, the environment recognition unit 61 is equivalent to the "area detection unit", the map generation unit 62 is equivalent to the "area storage unit", the action judgment unit 63 is equivalent to the "driving control unit", the HMI cooperation unit 65 is equivalent to the "display control unit", and the autonomous driving ECU 100 is equivalent to the "vehicle control device".

[0088] (Other implementation methods)

[0089] The above describes several embodiments of this disclosure, but this disclosure is not limited to the above embodiments and can be applied to various embodiments and combinations without departing from the spirit of this disclosure.

[0090] In the extended turning control of Variation 1 of the above-described embodiment, automatic reverse control is not implemented. Figure 8 In the turning execution process of the modified example 1 shown, instead of the automatic backward control in S38 and S44 of the above embodiment, information notification based on the cooperation of HMI cooperation unit 65 and HMI control device 20 is implemented in S238 and S244.

[0091] Specifically, in S238, the HMI coordination unit 65 notifies the driver of the location information of the target turning area TST and the path information from the reversing start position P1 to the target turning area TST by displaying a top-down map image on the display device 21. The driver manually reverses the vehicle Am to the target turning area TST. Similarly, in S244, the HMI coordination unit 65 notifies the driver of the location information of the reversing start position P1 and the path information from the turning end position to the reversing start position P1 by displaying a top-down map image on the display device 21. The driver manually reverses the vehicle Am to the reversing start position P1.

[0092] Furthermore, in variation 2 of the above embodiment, automatic reverse control is implemented from the reverse start position P1 to the turn start position P2, but automatic reverse control from the turn end position to the reverse start position P1 is not implemented. Similarly, in variation 3 of the above embodiment, automatic reverse control from the reverse start position P1 to the turn start position P2 is not implemented, but automatic reverse control from the turn end position to the reverse start position P1 is implemented. As in variations 1 to 3 above, even if some or all of the automatic reverse control is omitted, as long as a structure implementing automatic turn control in the turnable area TS that stores position information is implemented, user convenience can be improved.

[0093] In the above embodiment, after the automatic turning control is completed, an inquiry is made as to whether automatic reverse control can be implemented to the reverse start position P1. However, such an inquiry can be omitted. That is, the action determination unit 63 can start automatic reverse control to return to the reverse start position P1 immediately after the automatic turning control is completed.

[0094] In the above embodiment, the environmental recognition unit 61 performs detection of the turnable area TS based on matching processing using implementation pattern information. However, the method for extracting the turnable area TS from the detection information of the surrounding monitoring sensor 30 can be appropriately modified. Furthermore, in automatic turn control, only a switch turn from the front can be performed, without performing a switch turn from the rear or a U-turn. In such a form, the shape of the turnable area TS extracted using pattern information can also be only one type.

[0095] In Variation 4 of the above embodiment, only the position information of a turnable region TS is stored in the action determination unit 63. The region storage process in Variation 4 (see...) Figure 6In step S17, the position information of the new turnable area TS is stored while overwriting the old position information of the turnable area TS. In this way, the amount of position information stored in the control execution unit 64 can be appropriately changed.

[0096] In Variation 5 of the above embodiment, during the reversing process from the reversing start position P1 to the turning start position P2, the environment recognition unit 61 does not perform processing for detecting a new turning area TS. Furthermore, in Variation 6 of the above embodiment, if a new turning area TS is detected during reversing, the driver is asked whether automatic turning control can be performed in that turning area TS. The action determination unit 63 performs automatic turning control in the new turning area TS only if permission is obtained from the driver.

[0097] In the above embodiments, extended turning control is initiated based on user operation. However, in variation 7 of the above embodiments, when the automatic driving control already has control of the vehicle Am in parking lots or narrow alleys, extended turning control is automatically initiated based on the scene determination performed by the action determination unit 63. According to this variation 7, user convenience can be further improved.

[0098] In the above embodiments, the functions of performing area storage processing and turning execution processing are installed in the autonomous driving ECU 100. However, the vehicle-mounted ECU performing area storage processing and turning execution processing is not limited to the autonomous driving ECU 100, and may also be a driver assistance ECU (ADAS-ECU), an HMI control device, or a driving control ECU. Alternatively, area storage processing and turning execution processing may be performed by a comprehensive ECU that integrates the functions of the autonomous driving ECU 100 and the HMI control device 20. Furthermore, a dedicated ECU for performing area storage processing and turning execution processing may also be provided in the vehicle system. In these forms, the driver assistance ECU, HMI control device, driving control ECU, comprehensive ECU, and dedicated ECU are respectively equivalent to "vehicle control devices". Additionally, area storage processing and turning execution processing may be processed separately by multiple vehicle-mounted ECUs. In such a form, a system containing multiple vehicle-mounted ECUs is equivalent to a "vehicle control device".

[0099] In the above embodiments, the functions provided by the autonomous driving ECU 100 can be provided by software and the hardware executing that software, by software alone, by hardware alone, or by a combination thereof. Furthermore, when such functions are provided by electronic circuits as hardware, they can also be provided by digital circuits or analog circuits containing numerous logic circuits. Additionally, the software used to implement such functions may include, at least a portion, code automatically generated by a neural network or language model.

[0100] The processing units described in the above embodiments are hardware for computational processing in conjunction with RAM. Each processing unit is a structure that includes at least one CPU (Central Processing Unit) and a GPU (Graphics Processing Unit), or other computing cores. The processing unit may also include an FPGA (Field-Programmable Gate Array), an NPU (Neural Network Processing Unit), and IP cores with other dedicated functions. Furthermore, the processing unit is not limited to a structure independently mounted on a printed circuit board. The processing unit may be mounted on an ASIC (Application Specific Integrated Circuit), a SoC (System on Chip), a chip-on-chip, or an FPGA, etc.

[0101] In the above embodiments, the form of the memory (non-transitory tangible storage medium) storing various programs can be appropriately changed. Furthermore, the memory (storage medium) is not limited to a structure mounted on a circuit board; it can be provided in the form of a memory card, inserted into a slot, and electrically connected to control circuits such as an autonomous driving ECU. Additionally, the memory can also be an optical disc, hard disk drive, or solid-state drive, serving as a source for copying or distributing programs to the autonomous driving ECU, etc.

[0102] Vehicles equipped with the aforementioned autonomous driving ECU are not limited to ordinary privately owned passenger vehicles (POVs). Vehicles equipped with autonomous driving ECUs can also be rental cars, taxis, ride-sharing vehicles, freight vehicles, and buses, etc. Furthermore, vehicles equipped with autonomous driving ECUs can be right-hand drive or left-hand drive vehicles.

[0103] The control unit and methods described herein may also be implemented by a dedicated computer configured with a processor programmed to perform one or more functions embodied in a computer program. Alternatively, the apparatus and methods described herein may be implemented by dedicated hardware logic circuits. Alternatively, the apparatus and methods described herein may be implemented by one or more dedicated computers configured with a combination of a processor executing a computer program and one or more hardware logic circuits. Furthermore, the computer program may also be stored as instructions executable by a computer on a non-transferable tangible recording medium readable by a computer.

Claims

1. A vehicle control device, wherein, have: The area detection department detects the turning area where the vehicle can turn, based on the detection information of objects around the vehicle obtained while the vehicle is in motion. The area storage unit stores the location information of the turnable area detected by the area detection unit. as well as The driving control unit performs automatic turning control to turn the vehicle in the turnable area where the location information is stored in the area storage unit.

2. The vehicle control device according to claim 1, wherein, The aforementioned area detection unit uses pre-defined pattern information based on the vehicle characteristics of the aforementioned vehicle to detect the aforementioned turning areas existing in the aforementioned vehicle's driving path.

3. The vehicle control device according to claim 1, wherein, The aforementioned storage unit also stores path information representing the driving route of the vehicle. Based on the path information stored in the aforementioned area storage unit, the aforementioned driving control unit reverses the vehicle toward the aforementioned turning area along the aforementioned driving path.

4. The vehicle control device according to claim 1, wherein, The aforementioned area storage unit also stores path information representing the reversing path of the vehicle moving towards the aforementioned turnable area from the reversing starting position. After the driving control unit makes the vehicle turn in the turning area, it reverses the vehicle toward the reversing start position along the reversing path based on the path information stored in the area storage unit.

5. The vehicle control device according to claim 1, wherein, It also includes a display control unit, which uses a display device mounted on the vehicle to notify the driver of the vehicle of the location information of the turnable area stored in the area storage unit.

6. The vehicle control device according to claim 1, wherein, It also includes a display control unit, which uses a display device mounted on the vehicle to notify the driver of the vehicle that the location information of the turning area is stored in the area storage unit.

7. The vehicle control device according to claim 1, wherein, When the area detection unit sequentially detects multiple turnable areas existing in different locations, the area storage unit stores the location information of the multiple turnable areas.

8. The vehicle control device according to claim 7, wherein, If the automatic turning control cannot be performed in the turning area closest to the reverse start position among the multiple turning areas where the location information is stored in the aforementioned area storage unit, the driving control unit performs the automatic turning control in other turning areas where the location information is stored in the aforementioned area storage unit.

9. The vehicle control device according to any one of claims 1 to 8, wherein, During the reversing process of the vehicle toward the turnable area where the location information is stored in the area storage unit, the area detection unit also continues to detect the turnable area. If the driving control unit detects a new turning area during the reversing process, the automatic turning control is performed in the newly detected turning area.

10. A vehicle control program product that causes at least one processing unit to perform processing comprising the following: Based on the detection information of objects around the vehicle obtained while the vehicle is in motion, the aforementioned turning area where the vehicle can turn is detected. Store the location information of the detected turnable areas. In the aforementioned turnable area where the location information is stored, automatic turning control is performed to make the vehicle turn.

11. A vehicle control method comprising the following steps in a process performed by at least one processing unit: Based on the detection information of objects around the vehicle obtained while the vehicle is in motion, the aforementioned turning area where the vehicle can turn is detected. Store the location information of the detected turnable areas. In the aforementioned turnable area where the location information is stored, automatic turning control is performed to make the vehicle turn.

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