Vehicle control device, vehicle control method and vehicle control program

Abstract

A vehicle control device (100) that controls the movement of a vehicle comprises a vehicle control unit (334) configured to execute a separation steering control to perform steering in order to maintain a distance between the vehicle and the object when a specific object is located in a steering actuation range defined in front of the vehicle, and to execute a deceleration control to decelerate the vehicle when the specific object is located in a deceleration actuation range defined in front of the vehicle. In a case where an object enters or is about to enter a travel path of the vehicle during the execution of the separation steering control, the vehicle control unit modifies an execution mode of the separation steering control or the deceleration control to cause a reduction in the risk of collision with the object compared to any other case.

Description

Technical field

[0001] The present invention relates to a vehicle control device, a vehicle control method and a vehicle control program. background

[0002] A vehicle control device is known from the prior art that performs steering, braking, and the like of a vehicle to avoid a collision between an object and the vehicle when the object, such as a pedestrian, is in front of the vehicle (JP 2019 - 028 951 A, JP 2015 - 155 295 A and the like). In particular, JP 2019 - 028 951 A discloses that when a moving object is within a prescribed area defined with respect to a stationary object in front of a vehicle, driving assistance is performed to reduce the possibility of a collision between the moving object and the vehicle. Summary

[0003] However, even with the devices described in JP 2019 - 028 951 A and JP 2015 - 155 295 A, there is room for improvement with regard to reducing the possibility of a collision between the vehicle and an object, such as a pedestrian entering the vehicle's path or a pedestrian about to enter the vehicle's path.

[0004] In view of the above problem, it is an object of the present invention to reduce the possibility of a collision between a vehicle and a specific object which enters or threatens to enter the vehicle's path.

[0005] The basic idea of ​​the present revelation is as follows. (1) A vehicle control device which controls the movement of a vehicle, wherein the vehicle control device comprises: a vehicle control unit configured such that, when a specific object is located in a steering actuation range defined in front of the vehicle, it performs a separation steering control to perform steering in order to maintain a distance between the vehicle and the object, and when the specific object is located in a deceleration actuation range defined in front of the vehicle, it performs a deceleration control to decelerate the vehicle, wherein In a case where an object enters or is about to enter the vehicle's path during the execution of the separation steering control, the vehicle control unit changes an execution mode of the separation steering control or the deceleration control to cause the risk of collision with the object to be reduced compared to any other case. (2) The driving control device according to the preceding point (1), wherein In the case of separation steering control, the vehicle control unit performs steering to maintain the distance between the vehicle and the object based on the object's current position, and The vehicle control unit does not execute the separation steering control in a case where the object enters or is about to enter the vehicle's path during the execution of the separation steering control, and it is predicted that the object will affect the vehicle if the vehicle is controlled by the separation steering control. (3) The driving control device according to point (1) or (2) above, further comprising: an object trajectory estimation unit configured to estimate a predicted motion trajectory of the object; and a vehicle trajectory estimation unit configured to estimate a planned motion trajectory of the vehicle in a case where the separation steering control is executed, and in a case where the separation steering control is not executed, wherein In a case where the object enters or is about to enter the vehicle's path during the execution of the separation steering control, and the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory is shorter than the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory, in a case where the separation steering control is executed, the separation steering control is not executed. (4) The driving control device according to the preceding point (3), wherein in a case where the object enters or is about to enter the vehicle's path during the execution of the separation steering control, and the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory in a case where the separation steering control is executed is longer than the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory in a case where the separation steering control is not executed, the separation steering control is executed. (5) The driving control device according to any of the preceding points (1) - (4), wherein in a case where the object enters the vehicle's path during the execution of the separation steering control, the driving control unit initiates an earlier start time of the deceleration control compared with a case where the object enters the vehicle's path when the separation steering control is not executed. (6) The driving control device according to point (5) above, further comprising: an object detection unit configured to detect an object in front of the vehicle, wherein The vehicle control unit, in a case where the separation steering control is not executed, executes the deceleration control if it is continuously detected over a certain period of time that the object is in the deceleration actuation range, and the deceleration control is not executed before the end of the certain period of time, and In a case where the separation steering control is executed, the driving control unit performs the deceleration control as soon as it detects that the object is in the deceleration actuation area. (7) The drive control device according to the preceding point (6), wherein The vehicle control unit, in a case where the separation steering control is executed, executes the deceleration control as soon as it detects that an object, which is recognized as being in the steering actuation range that differs from the deceleration actuation range, is located in the deceleration actuation range, and The driving control unit, in a case where it is detected during the execution of the separation steering control that an object which differs from the object recognized as being in the steering actuation range is located in the deceleration actuation range, executes the deceleration control if it is continuously detected over a certain period of time that the object is located in the deceleration actuation range. (8) The driving control device according to any of the preceding points (1) - (7), wherein The steering actuation range and the braking actuation range are different areas. the steering operation area includes an area in front of and to the side of the vehicle, and The deceleration activation area covers a region centrally in front of the vehicle. (9) A vehicle control method for controlling the movement of a vehicle, wherein the method comprises: If a specific object is located in a steering actuation range defined in front of the vehicle, execute a separation steering control to perform steering in order to maintain a distance between the vehicle and the object; and if the specific object is located in a deceleration actuation range defined in front of the vehicle, execute a deceleration control to decelerate the vehicle; and In a case where an object enters or is about to enter a vehicle's path during the execution of the separation steering control, changing an execution mode of the separation steering control or the deceleration control to cause a reduction in the risk of collision with the object compared to any other case. (10) A vehicle control program for controlling the movement of a vehicle, wherein the vehicle control program causes a computer to execute processes which include: If a specific object is located in a steering actuation range defined in front of the vehicle, execute a separation steering control to perform steering in order to maintain a distance between the vehicle and the object; and if the specific object is located in a deceleration actuation range defined in front of the vehicle, execute a deceleration control to decelerate the vehicle; and In a case where an object enters or is about to enter a vehicle's path during the execution of the separation steering control, changing an execution mode of the separation steering control or the deceleration control to cause a reduction in the risk of collision with the object compared to any other case. Brief description of the illustrations Fig. Figure 1 is a configuration diagram that schematically represents a vehicle control system on which a vehicle control device according to an embodiment is mounted. Fig. Figure 2 is a functional block diagram of a processor in an ECU. Fig. Figure 3 is a diagram that schematically represents a state in which a separation steering control is performed. Fig. Figure 4 is a diagram that schematically represents a state in which a delay control is performed. Fig. 5 is a similar illustration to Fig. 3, which represents a state in which the separation steering control is performed. Fig. 6 is a similar illustration to Fig. 4, which represents a state in which the delay control is performed. Fig. 7 is a similar illustration to the Fig. 3 and Fig. 5, which represents a state in which the separation steering control is performed. Fig. 8 is a similar illustration to Fig. 4, which represents a state in which the delay control is performed. Fig. Figure 9 is a flowchart that depicts the process of separation steering processing to determine whether the execution of the separation steering control is necessary or not. Fig. Figure 10 is a flowchart that depicts a delay processing sequence to determine whether or not the execution of the delay control is necessary. Description of embodiments

[0006] The following sections describe embodiments in detail with reference to the illustrations. Similar components are designated with the same reference numerals in the following description. Configuration of the vehicle control system

[0007] Fig. Figure 1 is a configuration diagram schematically representing a vehicle control system 1 to which a vehicle control device according to one embodiment is mounted. The vehicle control system 1 is installed in a vehicle 100 and performs steering control for steering the vehicle 100 and deceleration control for decelerating the vehicle 100. In the present embodiment, the vehicle control system 1 comprises a vehicle exterior camera 11, a distance sensor 12, a position sensor 13, a driving status sensor 14, a human-machine interface (hereinafter referred to as "HMI") 16, a vehicle actuator 21, and an electronic control unit (hereinafter referred to as "ECU") 30.

[0008] However, the driving control system 1 does not necessarily have to include all of these components. For example, the vehicle 100 does not necessarily have to include the distance sensor 12, as long as the vehicle 100 includes the vehicle exterior camera 11.

[0009] The vehicle's external camera 11, the distance sensor 12, the position sensor 13, the driving condition sensor 14, the HMI 16, and the ECU 30 are communicatively connected to each other via an in-vehicle network 25. The in-vehicle network 25 is a network that conforms to a standard, such as a Controller Area Network (CAN). Furthermore, the ECU 30 is connected to the vehicle actuator 21 via a signal line. The ECU 30 can be connected to the vehicle actuator 21 via the in-vehicle network 25 and to the distance sensor 12, the position sensor 13, the driving condition sensor 14, or the HMI 16 via signal lines.

[0010] The vehicle exterior camera 11 is an example of a peripheral sensor that generates peripheral data representing a condition in the vehicle's environment. The vehicle exterior camera 11 captures an image of an area surrounding the vehicle 100, and in the present embodiment, captures an image of the front of the vehicle 100. The vehicle exterior camera 11 is a CMOS camera or a CCD camera that is sensitive to visible light. At a predetermined image acquisition interval, the vehicle exterior camera 11 captures an image of a front area on the front of the vehicle 100 and generates image data of the captured front area. Each time the image data is generated, the vehicle exterior camera 11 outputs the generated image data to the ECU 30 via the vehicle's internal network 25. It should be noted that the vehicle exterior camera 11 can be a monocular or a stereo camera.If the stereo camera is used as the vehicle exterior camera 11, the vehicle exterior camera 11 also serves as the distance sensor 12. The vehicle 100 can be equipped with a plurality of vehicle exterior cameras with different image capture directions or focal lengths.

[0011] The distance sensor 12 is an example of a peripheral sensor that generates peripheral data representing the conditions around the vehicle. The distance sensor 12 measures the distance to an object located in the vicinity of the vehicle 100, and in the present embodiment, it also measures the distance to an object located in front of the vehicle 100. Furthermore, the distance sensor 12 can also measure the azimuth and relative velocity of the object located in the vicinity (front) of the vehicle 100. The distance sensor 12 is, for example, a radar such as a millimeter-wave radar, a LiDAR, or a sonar. At a predetermined interval, the distance sensor 12 outputs measurement data about the distance to the surrounding object to the ECU 30 via the vehicle's internal network 25.

[0012] Position sensor 13 is an example of a vehicle sensor that generates vehicle data representing the vehicle's state. Position sensor 13 measures the vehicle's own position 100. Position sensor 13 is, for example, a GNSS receiver. The GNSS receiver receives GNSS signals from multiple GNSS satellites and measures the vehicle's own position 100 based on these signals. Position sensor 13 generates data about its own position, representing the vehicle's own position 100, at a predetermined interval and outputs this data to the ECU 30 via the vehicle's internal network 25. Position sensor 13 can be a receiver corresponding to a different satellite positioning system, as long as it is capable of measuring the vehicle's own position 100.

[0013] The vehicle state sensor 14 is an example of a vehicle sensor that generates vehicle data representing the vehicle's state. The vehicle state sensor 14 detects the vehicle state 100. For example, the vehicle state sensor 14 detects the vehicle's speed 100, its acceleration 100, the rate of change (yaw rate) of the yaw angle at a time when the vehicle 100 is turning, and the like. The vehicle state sensor 14 outputs the detected vehicle state data to the ECU 30 via the vehicle's internal network 25.

[0014] The HMI 16 is a user interface for exchanging information between the ECU 30 of the vehicle 100 and an occupant of the vehicle 100. The HMI 16 comprises an input device 161, which receives input from the occupant of the vehicle 100, and an output device 162, which sends a notification to the occupant of the vehicle 100. The input device 161 is a device that receives physical or voice input from the occupant and includes, for example, at least one touch panel, switch, button, microphone, and the like.On the other hand, the output device 162 is a device which provides notification to the occupant via five senses (for example, visual sense, auditory sense, tactile sense and the like) of the occupant, and comprises, for example, at least one of a display device (for example, a liquid crystal display, a head-up display, a warning lamp and the like), a loudspeaker, a vibration unit and the like.

[0015] The HMI 16 transmits the input data received from the occupant via the input device 161 to the ECU 30 via the vehicle's internal network 25. Furthermore, the HMI 16 communicates information to the occupant via the output device 162 that corresponds to a signal received by the ECU 30 via the vehicle's internal network 25.

[0016] The vehicle actuator 21 is an actuator used to control the driving of the vehicle 100. In particular, the vehicle actuator 21 comprises, for example, a drive actuator that controls an internal combustion engine or an electric motor to drive the vehicle 100, a brake actuator that controls a brake that slows the vehicle 100, and a steering actuator that controls the steering of the vehicle 100. The vehicle actuator 21 controls the acceleration, braking, and steering of the vehicle 100 according to the control signals transmitted via signal lines from the ECU 30. Overview of the driving control device

[0017] The ECU 30 serves as a driving control device that controls the driving of the vehicle 100. In the present embodiment, the ECU 30 performs a steering control for steering the vehicle 100 and a deceleration control for decelerating the vehicle 100 based on data transmitted by the vehicle's external camera 11 and the distance sensor 12. In the Fig. In the example shown, the vehicle control system 1 comprises a single ECU 30, but it can also comprise multiple ECUs 30, each divided for one of the functions. The ECU 30 includes a communication interface 31, a memory unit 32, and a processor 33. The communication interface 31, the memory unit 32, and the processor 33 can be separate circuits or can be configured as a single integrated circuit.

[0018] The communication interface 31 comprises a communication interface circuit and a device interface circuit. The communication interface circuit connects the ECU 30 to the vehicle's internal network 25. The device interface circuit outputs a control signal to the vehicle actuator 21. The communication interface 31 transmits signals received from the vehicle's external camera 11, the distance sensor 12, the position sensor 13, the driving status sensor 14, and the input device 161 of the HMI 16 to the processor 33. Furthermore, the communication interface 31 transmits a signal output by the processor 33 to the output device 162 of the HMI 16 and to the vehicle actuator 21.

[0019] The storage unit 32 stores data. The storage unit 32 comprises, for example, at least one volatile semiconductor memory, one non-volatile semiconductor memory, one hard disk drive (HDD), and one solid-state drive (SSD). The storage unit 32 stores a program that is executed by the processor 33 of the ECU 30. Furthermore, the storage unit 32 stores data transmitted by the vehicle's external camera 11 or the like.

[0020] The processor 33 comprises one or more central processing units (CPUs) and their peripheral circuitry. The processor 33 may also include an additional arithmetic circuit, such as a logic unit or a numeric processing unit. The processor 33 executes the computer program stored in the memory unit 32.

[0021] Fig. Figure 2 is a functional block diagram of processor 33 of ECU 30. As shown in Fig. As shown in Figure 2, the processor 33 comprises an object detection unit 331, an object trajectory estimation unit 332, a vehicle trajectory estimation unit 333, and a vehicle control unit 334. These units included in the processor 33 are, for example, functional modules that are executed by the computer program running on the processor 33. Alternatively, the units included in the processor 33 can be mounted as independent integrated circuits, microprocessors, or firmware in the ECU 30.

[0022] The object detection unit 331 detects the object in front of the vehicle 100 based on the image data received from the vehicle's exterior camera 11 and the distance measurement data received from the distance sensor 12. For example, by sequentially inputting the image data into a discriminator, the object detection unit 331 detects the type of object (e.g., a pedestrian, a bicycle, a motorcycle, a car, a building, a plant, or the like) depicted in one image from each set of image data, and the area within the image where that object is depicted. The discriminator is, for example, a convolutional neural network (CNN) that has a plurality of convolutional layers connected in series from an input side to an output side.Furthermore, the object detection unit 331 determines the distance to each of the objects and the speed of each object based on the area of ​​the object represented in the image by each of the image data and the distance measurement data received from the distance sensor 12. As a result, the object detection unit 331 determines the type of object in front of the vehicle 100 (for example, the pedestrian, bicycle, motorcycle, automobile, building, plant, or the like), the object's relative position with respect to the vehicle 100 (hereinafter also referred to simply as "relative position"), and its relative speed with respect to the vehicle 100 (hereinafter also referred to simply as "relative speed"). The detection of the object in front of the vehicle 100 is not limited to the method described above and can also be carried out using other known methods.

[0023] The object trajectory estimation unit 332 estimates a predicted motion trajectory, which corresponds to a trajectory along which the object detected by the object detection unit 331, i.e., the object positioned in front of the vehicle 100, is expected to move in the future. In the present embodiment, the predicted motion trajectory is a set of combinations of a future position of the object and time. Therefore, the predicted motion trajectory includes not only a route along which the object is predicted to travel in the future, but also a time at which the object is predicted to reach each of the points on the route.

[0024] In the present embodiment, the object trajectory estimator 332 estimates the predicted motion trajectory of a moving specific object (for example, a pedestrian, bicycle, motorcycle, automobile, or the like) from the objects detected by the object detection unit 331. In this embodiment, the object trajectory estimator 332 estimates the predicted motion trajectory of the object based on the relative position and relative velocity of the specific object in front of the vehicle 100, which was detected by the object detection unit 331. For example, if the specific object detected by the object detection unit 331 is stationary, the object trajectory estimator 332 estimates that the object will remain at that position, and thus the predicted motion trajectory is estimated as a point where the object is currently located.On the other hand, if the specific object detected by the object detection unit 331 is moving at a predetermined speed, the object trajectory estimator 332 estimates the predicted motion trajectory, assuming that the object will continue to move at its current speed in the direction in which it is currently moving. In particular, in the present embodiment, the object trajectory estimator 332 estimates the predicted motion trajectory of this object when the object located in front of the vehicle 100 is moving. The object trajectory estimator 332 may estimate the predicted motion trajectory by a method different from the method described above, as long as the predicted motion trajectory of the specific object detected by the object detection unit 331 can be estimated.

[0025] The vehicle trajectory estimation unit 333 estimates a planned motion trajectory, which is a trajectory along which the vehicle 100 is planned to move in the future. In the present embodiment, the planned motion trajectory is a set of combinations of a future position of the vehicle 100 and the time. Therefore, the planned motion trajectory includes not only a route along which the vehicle 100 is planned to travel in the future, but also a time at which the vehicle 100 is predicted to reach each of the points on the route.Furthermore, in the present embodiment, the vehicle trajectory estimation unit 333 estimates the planned motion trajectory of the vehicle 100 in a case where the separation steering control (described later) is performed by the vehicle control unit 334, and the planned motion trajectory of the vehicle 100 in a case where the separation steering control is not performed.

[0026] If a specific object (for example, a pedestrian, bicycle, motorcycle, automobile, or the like) is located in a predefined area in front of the vehicle 100, the vehicle control unit 334 performs vehicle control of the vehicle 100 to reduce the possibility of a collision with the object. Specifically, if the specific object is located in a steering action area defined in front of the vehicle 100, the vehicle control unit 334 performs a separation steering control, in which steering is carried out to maintain a distance from the object. Furthermore, the vehicle control unit 334 performs a deceleration control to slow the vehicle if the specific object is located in a deceleration action area defined in front of the vehicle 100. Basic driving control

[0027] Next, the driving control is carried out by the driving control unit 334 with reference to the Fig. 3 and Fig. 4 described in more detail.

[0028] First, the separation steering control is described with reference to Fig. 3 described. Fig. Figure 3 is a diagram that schematically represents a state in which the separation steering control is carried out. Fig. 3 specifically represents a case in which a pedestrian P, corresponding to the specific object, is present to the side in front of vehicle 100. The left side of Fig. Figure 3 is an illustration depicting the movement of vehicle 100 on the road, and the right side of Fig. Figure 3 is a time diagram of the positions of the vehicle 100 and the pedestrian P in a longitudinal direction (a direction of travel of the vehicle 100) and a transverse direction (the direction perpendicular to the direction of travel of the vehicle 100).

[0029] As in Fig. As shown in Figure 3, a steering actuation range Rs is defined in front of the vehicle 100. In the area shown in Fig. In the example shown, the steering actuation range Rs is, in order not to complicate the illustration, only defined on the left side of the vehicle 100; however, the steering actuation range Rs can also be defined on the right side of the vehicle 100.

[0030] In the present embodiment, the steering actuation range Rs is an area in front of and to the side of the vehicle 100, that is, an area in which a moving object that jumps out in front of the vehicle 100 may be located. In the present embodiment, if the specific object, i.e., the pedestrian P, the bicycle, the motorcycle, the automobile, or the like, is present in the steering actuation range Rs, the separation steering control is executed to prevent a collision between the vehicle 100 and the specific object. In particular, the separation steering control of the present embodiment involves steering based on the current position of the object, so that the distance between the vehicle 100 and the object is maintained.In particular, in separation steering control, the steering is carried out in such a way that the vehicle 100 and the object are separated by a predetermined reference distance when the vehicle 100 passes the object.

[0031] In the Fig. In the example shown, if at time t it is detected that pedestrian P is within the steering range Rs, the separation steering control is executed from time t1 to prevent a collision between vehicle 100 and pedestrian P. During the separation steering control, a steering maneuver is performed such that vehicle 100 maintains a distance between itself and pedestrian P, meaning that vehicle 100 is separated or spaced apart from pedestrian P in the lateral direction (vehicle width direction). Consequently, vehicle 100 moves laterally within a range where it does not leave its lane, in a direction away from pedestrian P (towards an opposite lane).If the vehicle 100 passes the pedestrian P at time t2, the vehicle 100 is therefore separated from the pedestrian P in the lateral direction, and the collision between the vehicle 100 and the pedestrian P is suppressed.

[0032] At the in Fig. In the example shown in Figure 3, the entry of pedestrian P into the steering range Rs before time t is detected. If pedestrian P continues to be detected within the steering range Rs for a predetermined accuracy assurance period from the time at which pedestrian P entered the steering range Rs, it is recognized that pedestrian P is located within the steering range Rs. Here, as described above, the detection of the object, such as pedestrian P, is based on the image data received from the vehicle's external camera 11 and the distance measurement data received from the distance sensor 12. However, since noise may be present in the image data and the distance measurement data, the type of object, the distance, and the like may be detected incorrectly.In the present embodiment, the erroneous detection of the object in the steering actuation range Rs is suppressed, since the object is only detected if it is continuously detected over the accuracy assurance period.

[0033] Next, the delay control will be discussed with reference to Fig. 4 described. Fig. Figure 4 is a diagram that schematically represents a state in which the delay control is performed. Fig. Figure 4 specifically represents a case in which the pedestrian P, corresponding to the specific object, is present centrally in front of the vehicle 100. The left side of Fig. Figure 4 is an illustration depicting the movement of vehicle 100 on the road, and the right side of Fig. Figure 4 is a time diagram of the positions of the vehicle 100 and the pedestrian P in the longitudinal direction (the direction of travel of the vehicle 100) and the lateral direction or transverse direction (the direction perpendicular to the direction of travel of the vehicle 100).

[0034] As in Fig. As shown in Figure 4, a deceleration actuation area Rd is defined in front of the vehicle 100. In the present embodiment, the deceleration actuation area Rd is an area in front of and in the middle of the vehicle 100, that is, an area in which the object located in this area will come into contact with the vehicle 100 if the vehicle 100 continues on its current course. Therefore, in the present embodiment, the steering actuation area Rs and the deceleration actuation area Rd are distinct areas. The steering actuation area Rs comprises an area in front of and to the sides of the vehicle 100, while the deceleration actuation area Rd comprises an area centrally in front of the vehicle 100. Furthermore, in the present embodiment, the steering actuation area Rs and the deceleration actuation area Rd are areas that do not overlap or intersect each other, although they may be areas that partially overlap.The steering actuation range Rs and the deceleration actuation range Rd can be the same range.

[0035] In the present embodiment, when it is detected that the specific object—that is, the pedestrian, bicycle, motorcycle, automobile, or the like—is present in the deceleration activation area Rd, the deceleration control is executed to prevent a collision between the vehicle 100 and the specific object. In particular, in the present embodiment, the deceleration control is executed if, for the predetermined accuracy assurance period, it is continuously detected that the specific object is located in the deceleration activation area Rd. Therefore, even if the specific object is detected in the deceleration activation area Rd, the deceleration control is not executed unless the specific object is continuously detected over the accuracy assurance period.

[0036] In the Fig. In the example shown, the presence of pedestrian P in the deceleration activation zone Rd is detected at time t. Then, at time t2, pedestrian P is detected in the deceleration activation zone Rd for the predetermined accuracy assurance period from time t1. Thus, it is recognized that pedestrian P is in the deceleration activation zone Rd at time t2. When it is detected that pedestrian P is in the deceleration activation zone Rd at time t2, deceleration control is initiated from time t2 onwards to prevent a collision between vehicle 100 and pedestrian P. During deceleration control, a deceleration action is performed so that vehicle 100 reaches pedestrian P's position more slowly.In particular, during deceleration control, for example, a target speed is set such that it decreases as the distance between vehicle 100 and pedestrian P decreases, and the speed of vehicle 100 is controlled to this target speed. This gradually reduces the speed of vehicle 100 from time t2 onwards, thus preventing a collision between vehicle 100 and pedestrian P.

[0037] Next, problems in implementing the separation steering control and the deceleration control, as described above, will be addressed with reference to the Fig. 5 and Fig. 6 described.

[0038] First, a problem in the implementation of the separation steering control is addressed with reference to Fig. 5 described. Fig. 5 is a view similar to Fig. 3, which represents a state in which the separation steering control is performed. In which in Fig. In example 5, for the sake of simplicity, the deceleration of vehicle 100 based on the deceleration control is not carried out. In the example shown in Fig. The example shown in Figure 5 depicts a state in which the pedestrian P is about to enter a lane L on which vehicle 100 is driving (that is, to enter the path of vehicle 100) at time t2.

[0039] In the Fig. In the example shown in section 5, the presence of pedestrian P in the steering operation range Rs at time t is detected, just as in the example shown in Fig. Example 3. Therefore, the separation steering control is implemented in vehicle 100. In the example shown in Fig. In the example shown in Figure 5, pedestrian P is moving in the same direction as vehicle 100 at time t and changes direction at time t2 to move in a direction that crosses vehicle lane L. Here, as described above, the separation steering control performs the steering based on the object's current position, thus maintaining the distance between vehicle 100 and the object. Therefore, from time t2 onward, the separation steering control performs the steering such that vehicle 100 moves away from pedestrian P, who is about to cross vehicle lane L; that is, vehicle 100 moves faster to the side of the opposite vehicle lane.

[0040] Since, however, in the separation steering system, the steering of vehicle 100 takes place within an area in which vehicle 100 does not move out of lane L, if vehicle 100 reaches an edge of lane L in the lateral direction at time t3, it does not continue to move laterally (towards the opposite lane). Consequently, a collision occurs in the Fig. 5. Example of pedestrian P and vehicle 100 at time t4.

[0041] Next, a problem in the implementation of delay control will be addressed with reference to Fig. 6 described. Fig. 6 is a diagram similar to Fig. 4, which represents a state in which the delay control is performed. In the Fig. In the example shown in Figure 6, the steering of vehicle 100 based on the separation steering control is not carried out to simplify the description. Fig. 6 represents in particular a state in which the pedestrian P enters the vehicle lane L at time t2.

[0042] In the Fig. In the example shown, pedestrian P is not in the deceleration activation zone Rd at time t. Furthermore, from time t, pedestrian P moves in the direction of travel of vehicle 100 and towards the inside of the vehicle lane L, and enters the deceleration activation zone Rd at time t2. When pedestrian P enters the deceleration activation zone Rd at time t2, it is detected that pedestrian P is in the deceleration activation zone Rd. Then, over the accuracy assurance period from time t2, pedestrian P continues to be detected in the deceleration activation zone Rd, and it is thus recognized that pedestrian P is in the deceleration activation zone Rd at time t3. Therefore, the deceleration control is executed from time t3.

[0043] However, vehicle 100 proceeds without executing the deceleration control for a period until the end of the accuracy assurance period, starting from time t2, when the presence of pedestrian P in the deceleration activation area Rd is first detected. Thus, during the period from time t2 to time t3, vehicle 100 approaches pedestrian P, and even if the deceleration control is initiated at time t3, vehicle 100 may not be able to decelerate in time and could collide with pedestrian P, as shown in [reference]. Fig. 6 (time t4) is shown, or it can be quickly delayed using delay control. Control in the present embodiment

[0044] In the present embodiment, the vehicle control unit 334, in a case where the specific object enters or is about to enter the path of the vehicle 100 during the execution of the separation steering control, modifies an execution mode of the separation steering control or the deceleration control in such a way as to reduce the risk of a collision with the object, in contrast to any other case. Such a change of the execution mode is now described with reference to the Fig. 7 and Fig. 8 described.

[0045] Fig. 7 is one of the Fig. 3 and Fig. 5. Similar illustration, which depicts a state in which the separation steering control is executed. Also in the case of the Fig. In example 7, for the sake of simplicity, the deceleration of vehicle 100 based on the deceleration control is not carried out. The Fig. Example 7 also represents a state in which the pedestrian P is about to enter the vehicle lane L at time t2.

[0046] In the Fig. The example shown in section 7 is treated the same way as in the examples shown in the Fig. 3 and Fig. In the five examples shown, the presence of pedestrian P in the steering actuation range Rs at time t is detected, and the separation steering control is executed. In the example shown in Fig. In the example shown in 7, the pedestrian P then switches in the same way as in the example shown in Fig. In the example shown in point 5, at time t2, the direction is chosen to move in a direction that crosses the vehicle track L.

[0047] In the present embodiment, the predicted motion trajectory of the object is estimated by the object trajectory estimation unit 332. In particular, the pedestrian P moves in the Fig. The example shown in Figure 7 at time t2 in the direction that crosses lane L. The object trajectory estimation unit 332 estimates the predicted motion trajectory of pedestrian P based on the relative position and relative velocity of pedestrian P at time t2. In the example shown in Figure 7, the object trajectory is calculated as follows: Fig. In the example shown in Figure 7, the predicted movement trajectory of pedestrian P at time t2 is estimated under the assumption that pedestrian P will move in the direction of movement of pedestrian P at time t2 with the movement speed of pedestrian P at time t2.

[0048] Furthermore, in the present embodiment, the vehicle trajectory estimation unit 333 estimates the planned motion trajectory of the vehicle 100 in the case where the separation steering control is executed, and the planned motion trajectory of the vehicle 100 in the case where the separation steering control is not executed. In the Fig. In the example shown in Figure 7, the planned trajectory of vehicle 100 is estimated at time t2. Specifically, in the present embodiment, the planned trajectory of vehicle 100 is estimated, in the case where the separation steering control is executed, under the assumption that pedestrian P remains at the position at time t2 even after time t2. It should be noted that, when the separation steering control is executed, the planned trajectory of vehicle 100 can be estimated under the assumption that pedestrian P moves along the predicted trajectory.

[0049] In the present embodiment, the planned trajectory of vehicle 100, when the separation steering control is not executed, is estimated assuming that the position of vehicle 100 in the lateral direction within the vehicle track no longer changes after time t2. Therefore, for example, if vehicle 100 is traveling on a straight road, the planned trajectory of vehicle 100, in the case where the separation steering control is not executed, is estimated assuming that vehicle 100 travels in a straight line. Conversely, if vehicle 100 is traveling on a curve, the planned trajectory of vehicle 100, in the case where the separation steering control is not executed, is estimated assuming that vehicle 100 follows the curvature of the curve.It should be noted that the planned motion trajectory of vehicle 100, if the separation steering control is not executed, can be estimated based on the assumption that normal steering control is carried out, in a case where normal steering control is carried out, which differs from separation steering control when separation steering control is not carried out.

[0050] Then, in the present embodiment, the vehicle control unit 334 calculates a shortest distance Ds between the object passing along the predicted trajectory and the vehicle 100 passing along the planned trajectory in the case where the separation steering control is executed (hereinafter also referred to as the "shortest distance when separation steering control is executed"). Furthermore, the vehicle control unit 334 calculates a shortest distance Dn between the object passing along the predicted trajectory and the vehicle 100 passing along the planned trajectory in the case where separation steering control is not executed (hereinafter also referred to as the "shortest distance when separation steering control is not executed").If the shortest distance Ds during the execution of the separation steering control is longer than the shortest distance Dn when the separation steering control is not executed, the vehicle control unit 334 continues the execution of the separation steering control. Conversely, if the shortest distance Ds during the execution of the separation steering control is shorter than the shortest distance Dn when the separation steering control is not executed, the vehicle control unit 334 stops the separation steering control and does not execute it. In the section in . Fig. In the example shown in Figure 7, the shortest distance Ds when the separation steering control is executed is shorter than the shortest distance Dn when the separation steering control is not executed. Therefore, the separation steering control is not executed after time t2.

[0051] Furthermore, the following is located in the Fig. In the example shown in Figure 7, pedestrian P is outside vehicle lane L and within steering range Rs, and is about to enter vehicle lane L (time t2), and it is predicted that this will affect vehicle 100 if vehicle 100 is controlled by the separation steering control. In such a case, the vehicle control unit 334 does not execute the separation steering control. Likewise, the vehicle control unit 334 cannot execute the separation steering control if pedestrian P is on vehicle lane L and within steering range Rs, is about to cross lane L, and it is predicted that this will affect vehicle 100 if vehicle 100 is controlled by the separation steering control.Therefore, the vehicle control unit 334 does not execute the separation steering control if the object enters or is about to enter the path of the vehicle 100 when the separation steering control is executed, and it is predicted that this object will affect the vehicle 100 when the vehicle 100 is controlled by the separation steering control. By performing such control, the vehicle control unit 334 reduces the possibility of a collision between the vehicle 100 and the specific object (such as a pedestrian) that enters or is about to enter the path of the vehicle 100.

[0052] Fig. 8 is a view similar to Fig. 4, which represents a state when the delay control is performed. In the Fig. In example 8, the execution mode of the deceleration control is changed when the specific object has entered the path of vehicle 100 during the separation steering control. It should be noted that even in the example shown in Fig. In the example shown in Figure 8, for the sake of simplicity, the steering of vehicle 100 is not carried out on the basis of the separation steering control.

[0053] In the Fig. In example 8, the pedestrian P moves in the same way as in the example shown. Fig. In the example shown in 6, from time t, in the direction of travel of vehicle 100 and in a direction towards the inside of the vehicle lane L, and enters the deceleration activation range Rd at time t2. In the Fig. In the example shown in Figure 8, it is recognized before time t that the pedestrian P is located in the steering actuation range Rs, and the separation steering control is executed (however, for the sake of simplicity, the lateral movement of vehicle 100 as a consequence of the separation steering control is not shown). In the example shown in Fig. In the example shown in 8, the pedestrian P then enters the deceleration activation range Rd at time t2, just as in the example shown in Fig. Example 6. If pedestrian P enters the deceleration activation area Rd at time t2, it is detected that pedestrian P is in the deceleration activation area Rd.

[0054] In the present embodiment, the vehicle control unit 334 executes the deceleration control during the execution of the separation steering control as soon as it detects that the specific object is located in the deceleration actuation range Rd. In particular, in the present embodiment, the vehicle control unit 334 executes the deceleration control in the case where the separation steering control is executed as soon as it detects that the object, which was recognized as being located in the steering actuation range Rs, is located in the deceleration actuation range Rd.

[0055] In the Fig. In the example shown in Figure 8, during the state in which the steering separation control is executed, pedestrian P, detected as being in the steering actuation range Rs, enters the deceleration actuation range Rd at time t2. Therefore, when it is detected that pedestrian P is in the deceleration actuation range Rd, the vehicle control unit 334 immediately begins deceleration control without waiting for the accuracy assurance period to elapse. During deceleration control, the deceleration actuation is carried out, so that the vehicle 100 reaches the current position of pedestrian P more slowly.

[0056] On the other hand, in the present embodiment, if the separation steering control is not executed, even if it is detected that the specific object is positioned in the deceleration actuation area Rd, the deceleration control is executed after the accuracy assurance period has elapsed. Therefore, in such a case, even if it is detected that the specific object is located in the deceleration actuation area Rd, the deceleration control is not executed immediately. Thus, in the present embodiment, the time of commencement of the deceleration control is shifted earlier when the specific object enters the path of the vehicle 100 if the separation steering control is executed, compared to when the specific object enters the path of the vehicle 100 if the separation steering control is not executed.

[0057] Furthermore, even if the steering separation control is executed, if the specific object, which differs from the object recognized as being in the steering actuation range Rs, is detected as being in the deceleration actuation range Rd, the deceleration control can be executed if the specific object is continuously detected as being in the deceleration actuation range Rd over the accuracy assurance period (if the specific object is detected as being in the deceleration actuation range Rd). Thus, even in such a case, even if it is detected that the specific object is in the deceleration actuation range Rd, the deceleration control is not executed immediately.

[0058] In the present embodiment, when the separation steering control is executed, the deceleration control is initiated as soon as it is detected that the specific object (such as a pedestrian) is located within the deceleration activation range Rd. Thus, according to the present embodiment, the possibility of a collision between the specific object (e.g., the pedestrian) and the vehicle 100 is reduced compared to a case in which the deceleration control is initiated after waiting for the accuracy assurance period to expire. In particular, when the separation steering control is executed because, at the time of its initiation, it has been detected that the specific object is within the steering activation range Rs for the duration of the accuracy assurance period, there is a low probability that the specific object will be falsely detected.In particular, if the object detected as being in the steering actuation range Rs is actually detected as being in the deceleration actuation range Rd, there is a small probability that the specific object will be falsely detected. Therefore, in the present embodiment, while simultaneously reducing the possibility of the specific object being falsely detected, the possibility of a collision between the specific object and the vehicle 100 is reduced.

[0059] As described above, in the present embodiment, the vehicle control unit 334 does not execute the separation steering control if the specific object enters or is about to enter the path of the vehicle 100 (the vehicle lane in a case where there is a vehicle lane delimited by a boundary line) during the execution of the separation steering control, and it is predicted that this will affect the vehicle 100 when the vehicle 100 is controlled by the separation steering control. Furthermore, if the specific object enters the path of the vehicle 100 while the separation steering control is executed, the vehicle control unit 334 sets the start time of the deceleration control earlier than if the specific object enters the path of the vehicle 100 when the separation steering control is not executed.Therefore, in the present embodiment, if the specific object enters or is about to enter the path of the vehicle 100 during the execution of the separation steering control, the driving control unit 334 modifies the execution mode of the separation steering control or the deceleration control in such a way that the risk of a collision with the specific object is reduced, in contrast to any other case. Accordingly, the possibility of a collision between the specific object and the vehicle 100 is reduced. Specific example of the control

[0060] The following is a specific example of the control system with reference to the Fig. 9 and Fig. 10 described. Fig. Figure 9 is a flowchart illustrating the sequence of a steering separation process to determine whether or not the execution of the steering separation control is necessary. The steering separation process is executed at a constant time interval by the vehicle control unit 334 of processor 33.

[0061] When the separation steering process is executed, as in Fig. As shown in Figure 9, the driving control unit 334 first determines whether the specific object is located within the steering range Rs or not (step S11). In particular, the driving control unit 334 determines whether the object detected by the object detection unit 331 is the specific object (for example, the pedestrian, bicycle, motorcycle, automobile, or the like) or not. If the detected object is the specific object, the driving control unit 334 further determines whether the specific object is located within the steering range Rs or not.

[0062] If, in step S11, it is determined that the specific object is not located within the steering operation range Rs, the vehicle control unit 334 does not execute the separation steering control (step S12). Therefore, the steering of vehicle 100 is operated manually by the driver. Alternatively, if the steering of vehicle 100 is performed automatically, the normal steering control, which is not the separation steering control, is carried out.

[0063] In normal steering control, the driving control unit 334 performs the steering in such a way that the vehicle 100 travels through the center of the lane L, for example based on the outputs of the vehicle's external camera 11, the distance sensor 12, the position sensor 13 and the driving condition sensor 14.

[0064] If, in step S11, it is determined that the specific object is located within the steering actuation range Rs, the object trajectory estimation unit 332 estimates the predicted motion trajectory of the specific object (step S13). Next, the vehicle trajectory estimation unit 333 estimates the planned motion trajectory of vehicle 100 (step S14). At this time, the vehicle trajectory estimation unit 333 estimates the planned motion trajectory of vehicle 100 if the separation steering control is performed, and the planned motion trajectory of vehicle 100 if the separation steering control is not performed.

[0065] Next, the vehicle control unit 334 calculates the shortest distance Ds when the separation steering control is executed and the shortest distance Dn when the separation steering control is not executed (step S15), based on the predicted motion trajectory estimated in step S13 and the planned motion trajectory estimated in step S14.

[0066] The vehicle control unit 334 then determines whether the shortest distance Ds, when the separation steering control is executed, is longer than the shortest distance Dn, when the separation steering control is not executed (step S16). If step S16 determines that the shortest distance Ds, when the separation steering control is executed, is equal to or less than the shortest distance Dn, when the separation steering control is not executed, the vehicle control unit 334 does not execute the separation steering control (step S12). Conversely, the vehicle control unit 334 executes the separation steering control (step S17) if step S16 determines that the shortest distance Ds, when the separation steering control is executed, is longer than the shortest distance Dn, when the separation steering control is not executed.

[0067] Fig. Figure 10 is a flowchart illustrating the sequence of delay processing to determine whether or not the execution of the delay control is necessary. The delay processing is executed at a constant time interval by processor 33 of ECU 30.

[0068] When delay processing is performed, as in Fig.As shown in Figure 10, the vehicle control unit 334 first determines whether the specific object is located within the deceleration activation range Rd or not (step S21). In particular, the vehicle control unit 334 determines whether the object detected by the object detection unit 331 is the specific object (for example, the pedestrian, bicycle, motorcycle, automobile, or the like). If the detected object is the specific object, the vehicle control unit 334 further determines whether the specific object is located within the deceleration activation range Rd or not.

[0069] If, in step S21, it is determined that the specific object is not within the deceleration control range Rd, the vehicle control unit 334 does not execute deceleration control (step S22). Thus, the acceleration and deceleration of vehicle 100 is manually controlled by the driver. Alternatively, if the acceleration / deceleration of vehicle 100 is performed automatically, normal acceleration / deceleration control, which is not deceleration control, is performed based on the outputs from the vehicle's exterior camera 11, distance sensor 12, position sensor 13, and driving condition sensor 14. For example, if another vehicle is in front of vehicle 100 during normal acceleration / deceleration control, the vehicle control unit 334 performs acceleration and deceleration so that the distance to the other vehicle is a predetermined constant distance.Furthermore, the driving control unit 334, for example, performs acceleration and deceleration when the other vehicle is not driving in front of vehicle 100, so that vehicle 100 travels at a predetermined constant speed.

[0070] If step S21 determines that the specific object is located within the deceleration actuation range Rd, the vehicle control unit 334 determines whether or not the separation steering control is executed before the object enters the deceleration actuation range Rd (step S23). If step S23 determines that the separation steering control is executed, the vehicle control unit 334 executes the deceleration control (step S24). Conversely, if step S23 determines that the separation steering control is not executed, the vehicle control unit 334 determines whether or not the predetermined accuracy assurance time interval has elapsed since the specific object entered the deceleration actuation range Rd (step S25). If step S25 determines that the predetermined accuracy assurance time interval has elapsed, the vehicle control unit 334 executes the deceleration control (step S24).If, on the other hand, step S25 determines that the predetermined accuracy assurance period has not elapsed, the vehicle control unit 334 does not execute the delay control (step S22).

[0071] Although the preferred embodiments according to the present disclosure have been described above, the present invention is not limited to these embodiments, and various modifications and changes can be made within the scope of the claims. Furthermore, a computer program product comprising the computer program according to the embodiment described above can be stored in a storage medium or distributed via a communication line. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2019 - 028 951 A [0002, 0003] JP 2015 - 155 295 A [0002, 0003]

Claims

[1] Driving control device which controls the movement of a vehicle, wherein the driving control device comprises: a vehicle control unit configured such that, when a specific object is located in a steering actuation range defined in front of the vehicle, it performs a separation steering control to perform steering in order to maintain a distance between the vehicle and the object, and when the specific object is located in a deceleration actuation range defined in front of the vehicle, it performs a deceleration control to decelerate the vehicle, wherein In a case where an object enters or is about to enter the vehicle's path during the execution of the separation steering control, the vehicle control unit changes an execution mode of the separation steering control or the deceleration control to cause the risk of collision with the object to be reduced compared to any other case. [2] Driving control device according to claim 1, wherein In the case of separation steering control, the vehicle control unit performs steering to maintain the distance between the vehicle and the object based on the object's current position, and The vehicle control unit does not execute the separation steering control in a case where the object enters or is about to enter the vehicle's path during the execution of the separation steering control, and it is predicted that the object will affect the vehicle if the vehicle is controlled by the separation steering control. [3] Driving control device according to claim 1 or 2, further comprising: an object trajectory estimation unit configured to estimate a predicted motion trajectory of the object; and a vehicle trajectory estimation unit configured to estimate a planned motion trajectory of the vehicle in a case where the separation steering control is executed, and in a case where the separation steering control is not executed, wherein In a case where the object enters or is about to enter the vehicle's path during the execution of the separation steering control, and the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory is shorter than the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory, in a case where the separation steering control is executed, the separation steering control is not executed. [4] Driving control device according to claim 3, wherein in a case where the object enters or is about to enter the vehicle's path during the execution of the separation steering control, and the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory in a case where the separation steering control is executed is longer than the shortest distance between the object passing along the predicted trajectory and the vehicle passing along the planned trajectory in a case where the separation steering control is not executed, the separation steering control is executed. [5] Driving control device according to one of claims 1 to 4, wherein in a case where the object enters the driving path of the vehicle during the execution of the separation steering control, the driving control unit causes an earlier start time of the deceleration control, compared with a case where the object enters the driving path of the vehicle when the separation steering control is not executed. [6] Driving control device according to claim 5, further comprising: an object detection unit configured to detect an object in front of the vehicle, wherein The vehicle control unit, in a case where the separation steering control is not executed, executes the deceleration control if it is continuously detected over a certain period of time that the object is in the deceleration actuation range, and the deceleration control is not executed before the end of the certain period of time, and In a case where the separation steering control is executed, the driving control unit performs the deceleration control as soon as it detects that the object is in the deceleration actuation area. [7] Driving control device according to claim 6, wherein The vehicle control unit, in a case where the separation steering control is executed, executes the deceleration control as soon as it detects that an object, which is recognized as being in the steering actuation range that differs from the deceleration actuation range, is located in the deceleration actuation range, and The driving control unit, in a case where it is detected during the execution of the separation steering control that an object which differs from the object recognized as being in the steering actuation range is located in the deceleration actuation range, executes the deceleration control if it is continuously detected over a certain period of time that the object is located in the deceleration actuation range. [8] Driving control device according to any one of claims 1 to 7, wherein The steering actuation range and the braking actuation range are different areas. the steering operation area includes an area in front of and to the side of the vehicle, and The deceleration activation area covers a region centrally in front of the vehicle. [9] Driving control method for controlling the journey of a vehicle, wherein the method comprises: If a specific object is located in a steering actuation range defined in front of the vehicle, execute a separation steering control to perform steering in order to maintain a distance between the vehicle and the object; and if the specific object is located in a deceleration actuation range defined in front of the vehicle, execute a deceleration control to decelerate the vehicle; and In a case where an object enters or is about to enter a vehicle's path during the execution of the separation steering control, changing an execution mode of the separation steering control or the deceleration control to cause a reduction in the risk of collision with the object compared to any other case. [10] Driving control program for controlling the movement of a vehicle, wherein the driving control program causes a computer to execute processes which include: If a specific object is located in a steering actuation range defined in front of the vehicle, execute a separation steering control to perform steering in order to maintain a distance between the vehicle and the object; and if the specific object is located in a deceleration actuation range defined in front of the vehicle, execute a deceleration control to decelerate the vehicle; and in a case where an object enters or is about to enter the vehicle's path during the execution of the separation steering control, changing an execution mode of the separation steering control or the deceleration control, to reduce the risk of collision with the object compared to any other case.

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