Vehicle control device

Abstract

To provide a new technique for determining a travel track of a vehicle.SOLUTION: A vehicle control device 10 includes: a detection section 12 for detecting a predetermined behavior of a preceding vehicle; and a control section 11 for executing one of first control to allow an own vehicle to move along a standard track set along a road and second control to allow the own vehicle to move by control different from the first control when the predetermined behavior of the preceding vehicle is detected. The detection section 12 detects, for example, a behavior to move rightward after moving leftward with respect to a travel direction within a predetermined time or a behavior to move leftward after moving rightward with respect to the travel direction within the predetermined time.SELECTED DRAWING: Figure 1

Description

[Technical field]

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

[0002] Patent Documents 1 and 2 disclose technologies relating to autonomous driving.

[0003] Patent Document 1 discloses a driving trajectory generation device that generates a movement strategy for positioning within a road area according to the driving environment. For example, the document discloses that when a vehicle parked ahead is detected, a driving trajectory that avoids the vehicle is generated.

[0004] Patent Document 2 discloses a driving route generation device that detects the driving path of a preceding vehicle and determines the driving path of the host vehicle so as to follow the driving path of the preceding vehicle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2010-198578 A [Patent Document 2] JP 2015-191553 A Summary of the Invention [Problem to be solved by the invention]

[0006] In the case of the technology described in Patent Document 1, for example, if the vehicle is behind a preceding vehicle and there is a delay in detecting an obstacle on the road, the generation of a travel trajectory to avoid the obstacle is delayed, which may result in an accident caused by the obstacle.

[0007] According to the technology described in Patent Document 2, if a preceding vehicle takes a driving trajectory that avoids an obstacle, the obstacle can be avoided by following that trajectory. Therefore, the obstacle can be avoided even if there is a delay in detecting the obstacle.

[0008] However, because the preceding vehicle and the own vehicle have different destinations, etc., there is a possibility that unnecessary behavior will occur if the vehicle always follows the driving path of the preceding vehicle. For example, if the preceding vehicle changes lanes to the right to make a right turn, the own vehicle, which plans to go straight through that spot, may not need to change lanes. If the vehicle always follows the driving path of the preceding vehicle, unnecessary lane changes will occur in such cases.

[0009] An example of an objective of the present invention is to provide a new technique for determining a travel trajectory of a vehicle. [Means for solving the problem]

[0010] The invention described in claim 1 is A detection unit that detects a predetermined behavior of a preceding vehicle; a control unit that executes one of a first control for moving the host vehicle along a standard trajectory set along a road and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected; The vehicle control device has the following features.

[0011] The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: The computer A detection step of detecting a predetermined behavior of a preceding vehicle; a control step of executing one of a first control for moving the host vehicle along a standard trajectory set along a road and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected; The vehicle control method executes the above.

[0012] The present invention also provides a method for producing a method for manufacturing a semiconductor device comprising the steps of: Computer, A detection means for detecting a predetermined behavior of a preceding vehicle; a control means for executing one of a first control for moving the host vehicle along a standard trajectory set along a road and a second control for moving the host vehicle in a manner different from the first control when the predetermined behavior is detected; It is a program that functions as a [Brief description of the drawings]

[0013] [Figure 1] FIG. 2 is a diagram showing an example of a functional block diagram of the vehicle control device according to the present embodiment. [Diagram 2] 1 is a block diagram showing an example of a hardware configuration of a vehicle control device according to an embodiment of the present invention; [Diagram 3] FIG. 4 is a diagram for explaining a standard trajectory according to the present embodiment. [Figure 4] 4 is a flowchart showing an example of a processing flow of the vehicle control device of the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In all the drawings, the same components are given the same reference numerals and the description will be omitted as appropriate.

[0015] First, an overview of the vehicle control device of this embodiment will be described. The vehicle control device of this embodiment is mounted on a vehicle and controls the operation of the vehicle (operation of the steering wheel, accelerator, brake, etc.). The vehicle control device moves the vehicle (a vehicle equipped with the vehicle control device; the same applies below) along a route determined according to the destination.

[0016] The vehicle control device selectively executes a plurality of controls to determine the travel trajectory on the road. First, the vehicle control device can execute a first control to move the vehicle along a standard trajectory set in advance along the road. The standard trajectory indicates the trajectory (position) to be traveled on the road (in each lane). The standard trajectory is determined in advance based on, for example, the road characteristics (width of each lane, number of lanes, straight line, gentle curve, sharp curve, uphill, downhill, width of sidewalk, etc.) and is embedded in the map data. For example, on a straight road with wide lanes, the standard trajectory may be set in the middle of the lane. An example of details of moving the vehicle along the standard trajectory will be described below.

[0017] In addition, when the vehicle control device detects a predetermined behavior of the preceding vehicle (a predetermined behavior that is considered to be avoiding an obstacle on the road), it can execute a second control to move the vehicle along the driving trajectory of the preceding vehicle.

[0018] In the case of the vehicle control device of this embodiment, the host vehicle can be moved along a standard trajectory set in advance along the road unless a predetermined event (for example, a predetermined behavior of the preceding vehicle) is detected (first control). Therefore, by constantly moving the host vehicle along the travel trajectory of the preceding vehicle, it is possible to suppress the inconvenience of the host vehicle performing unnecessary behavior (unnecessary lane changes, etc.).

[0019] Furthermore, in the case of the vehicle control device of this embodiment, when a predetermined behavior of the preceding vehicle (predetermined behavior that is considered to have avoided an obstacle on the road) is detected, the vehicle can move along the travel path of the preceding vehicle accordingly (second control). Therefore, even if the vehicle is behind the preceding vehicle and there is a delay in detecting an obstacle on the road, the obstacle can be avoided by moving along the travel path of the preceding vehicle.

[0020] Next, the configuration of the vehicle control device according to this embodiment will be described in detail.

[0021] The vehicle control device is a device that is installed in a vehicle and controls the vehicle itself. The vehicle control device is, for example, an ECU (Electronic Control Unit).

[0022] 1 shows an example of a functional block diagram of a vehicle control device 10 according to the present embodiment. As shown in the figure, the vehicle control device 10 has a control unit 11 and a detection unit 12.

[0023] First, an example of the hardware configuration of the vehicle control device 10 that realizes these functional units will be described. Each functional unit is realized by any combination of hardware and software, centered on a CPU (Central Processing Unit) of any computer, memory, programs loaded into the memory, a storage unit such as a hard disk that stores the programs (in addition to programs that are stored before the device is shipped, it can also store programs downloaded from storage media such as CDs (Compact Discs) or servers on the Internet), and a network connection interface. Those skilled in the art will understand that there are various variations in the realization methods and devices.

[0024] Fig. 2 is a block diagram illustrating a hardware configuration of the vehicle control device 10 of this embodiment. As shown in Fig. 2, the vehicle control device 10 has a processor 1A, a memory 2A, an input / output interface 3A, a peripheral circuit 4A, and a bus 5A. The peripheral circuit 4A includes various modules. Note that the vehicle control device 10 does not necessarily have to have the peripheral circuit 4A.

[0025] The bus 5A is a data transmission path for the processor 1A, memory 2A, peripheral circuit 4A, and input / output interface 3A to transmit and receive data to and from each other. The processor 1A is an arithmetic processing device such as a CPU or a GPU (Graphics Processing Unit). The memory 2A is a memory such as a RAM (Random Access Memory) or a ROM (Read Only Memory). The input / output interface 3A includes interfaces for acquiring information from input devices (keyboard, mouse, microphone, touch panel display device, touch sensor, gesture interface, etc.), external devices, external servers, external sensors, etc., output devices (display, speaker, printer, etc.), and interfaces for outputting information to external devices, external servers, etc. (mailer, etc.). The processor 1A can issue commands to each module and perform calculations based on the results of those calculations.

[0026] Next, the function of each functional unit shown in FIG. 1 will be described in detail.

[0027] The detection unit 12 detects a predetermined event that switches the control content (the above-mentioned first and second controls, etc.) of the control unit 11. The detection unit 12 can detect the predetermined event based on the output of a sensor (camera, LIDAR (Laser Illuminated Detection And Ranging, Laser Imaging Detection And Ranging or LiDAR (Light Detection And Ranging)), radar, etc.) mounted on the vehicle, information acquired from an external device, etc.

[0028] For example, the detection unit 12 can detect a predetermined behavior of the preceding vehicle as the predetermined event. The predetermined behavior of the preceding vehicle is a predetermined behavior that is considered to be an avoidance of an obstacle on the road. The detection unit 12 may detect the predetermined behavior of the preceding vehicle based on the output of a sensor mounted on the vehicle itself, or may obtain a notification of the performance of the predetermined behavior from the preceding vehicle itself through vehicle-to-vehicle communication.

[0029] For example, the detection unit 12 may detect "moving leftward with respect to the traveling direction and then moving rightward within a predetermined time, or moving rightward with respect to the traveling direction and then moving leftward within a predetermined time" as the predetermined behavior of the preceding vehicle. In addition, the detection unit 12 may detect "moving leftward with respect to the traveling direction and then moving rightward without a turn signal (with the turn signal off), or moving rightward with respect to the traveling direction and then moving leftward without a turn signal (with the turn signal off)" as the predetermined behavior of the preceding vehicle.

[0030] Alternatively, the detection unit 12 may detect "moving left with respect to the traveling direction and then moving right without a turn signal within a predetermined time, or moving right with respect to the traveling direction and then moving left without a turn signal within a predetermined time" as the predetermined behavior of the preceding vehicle. Alternatively, the detection unit 12 may detect "moving left with respect to the traveling direction and then moving right in the same lane, or moving right with respect to the traveling direction and then moving left in the same lane" as the predetermined behavior of the preceding vehicle.

[0031] Alternatively, the detection unit 12 may detect "moving leftward with respect to the traveling direction within a predetermined time in the same lane and then moving rightward, or moving rightward with respect to the traveling direction within a predetermined time in the same lane and then moving leftward" as the predetermined behavior of the preceding vehicle. Alternatively, the detection unit 12 may detect "moving leftward with respect to the traveling direction within a predetermined time in the same lane and then moving rightward without a turn signal, or moving rightward with respect to the traveling direction within a predetermined time in the same lane and then moving leftward without a turn signal" as the predetermined behavior of the preceding vehicle.

[0032] All of these are behaviors that occur when the vehicle avoids an obstacle in front of it with small deviations to the left or right.

[0033] The above conditions of "moving leftward relative to the traveling direction" and "moving rightward relative to the traveling direction" respectively mean "movement of deviation leftward relative to the traveling direction" and "movement of deviation rightward relative to the traveling direction". The above conditions of "moving leftward relative to the traveling direction" and "moving rightward relative to the traveling direction" may be movements (deviations of a reference value or more) that are greater than a reference value. That is, when the vehicle ahead moves rightward (or leftward) relative to the traveling direction by a reference value or more, the detection unit 12 may determine that the vehicle ahead has made the rightward (or leftward) movement of the above condition. By appropriately setting the reference value, it is possible to accurately detect the vehicle's movement to avoid an obstacle in front of the vehicle.

[0034] The "predetermined time" in the above condition is a matter of design, but is expected to be a relatively short time (such as a few seconds).

[0035] The above condition of "moving left and right relative to the direction of travel within the same lane" may refer to left and right movement with all of the vehicle body remaining in the same lane, or left and right movement with at least part of the vehicle body remaining in the same lane.

[0036] Alternatively, the detection unit 12 may detect "circular motion with a predetermined radius of curvature (reference value) or less" as the predetermined behavior of the preceding vehicle. The reference value of this condition is a design matter, but in this case, it is set to a relatively small value because it is assumed that the vehicle moves (shifts) suddenly to the right or left due to a sudden steering operation.

[0037] The detection unit 12 may detect the predetermined behavior based on, for example, the travel path of the preceding vehicle. The travel path of the preceding vehicle may be acquired from the preceding vehicle through vehicle-to-vehicle communication, or may be calculated based on the output of a sensor mounted on the vehicle itself. In either case, the detection unit 12 acquires the travel path of the preceding vehicle through real-time processing. In this case, the detection unit 12 may sequentially calculate the curvature radius of a plurality of measurement points on the travel path of the preceding vehicle according to a predetermined rule. Then, if there is a point where the curvature radius is below a reference value, it may be determined that the vehicle has made a circular movement with a predetermined curvature radius (reference value) or less. In addition, the detection unit 12 may determine that the vehicle has made a circular movement with a predetermined curvature radius (reference value) or less when a predetermined number or more of points are consecutively provided with a curvature radius below the reference value. In addition, the detection unit 12 may determine that the vehicle has made a circular movement with a predetermined curvature radius (reference value) or less when a statistical value (average value, maximum value, minimum value, mode, median, etc.) of the curvature radius of each of the most recent measurement points is below a reference value. The reference value of the radius of curvature may be changed depending on the speed of the preceding vehicle.

[0038] In addition, the detection unit 12 may detect the specified behavior of the preceding vehicle as "behavior of moving to the right or left relative to the direction of travel and then maintaining the moved position (position in the width direction of the road) for a specified period of time (design matter) or more."

[0039] The predetermined behavior of the preceding vehicle detected by the detection unit 12 may be any two or more of the plurality of predetermined behaviors exemplified above.

[0040] The control unit 11 controls the vehicle. For example, the control unit 11 controls the steering wheel, accelerator, brakes, and other operations of the vehicle. The control of the vehicle can be realized by using any technology.

[0041] When the control unit 11 acquires the route to the destination, it moves the vehicle along the route. The route to the destination is determined based on the destination set by the user, the current position of the vehicle, and the user's selection from among multiple calculated routes. Setting the destination, acquiring the current position of the vehicle, and determining the route can be achieved using any technology.

[0042] The control unit 11 can selectively execute a plurality of controls to determine a travel path on a road.

[0043] First, the control unit 11 executes a first control for moving the host vehicle along a standard trajectory set in advance along a road. The control unit 11 controls the host vehicle so that a predetermined position of the host vehicle (for example, the center in the vehicle width direction) moves on the standard trajectory.

[0044] The standard trajectory indicates the trajectory (position) along which the vehicle should travel on the road (in each lane). The standard trajectory is determined in advance based on the road characteristics (width of each lane, number of lanes, straightness, gentle curves, sharp curves, uphill, downhill, width of sidewalks, etc.) and is embedded in the map data. For example, on a straight road with wide lanes, the standard trajectory may be set in the middle of the lane.

[0045] Fig. 3 shows an example of a standard trajectory A set along a straight road. The standard trajectory may be shown as a set of points specified by a distance D1 from a mark located on the right side of each lane in the traveling direction, or a distance D2 from a mark located on the left side in the same direction. Alternatively, the standard trajectory may be shown as a set of points specified by a ratio of D1 to D2 (e.g., 1:1). The mark may be a line separating each lane (such as a white line painted on the road) or something else.

[0046] The control unit 11 can calculate the position of the vehicle in the lane width direction based on the output of a sensor mounted on the vehicle. The position of the vehicle in the lane width direction may be indicated by a distance d1 from a mark located on the right side in the traveling direction of each lane to a predetermined part of the vehicle (for example, the center in the vehicle width direction), or may be indicated by a distance d2 from a mark located on the left side in the same direction to a predetermined part of the vehicle, or may be indicated by a ratio of d1 to d2. The mark may be a line separating each lane (such as a white line drawn on the road) or may be something else. The calculation of the position of the vehicle in the lane width direction based on the output of a sensor mounted on the vehicle can be realized by using any technology.

[0047] Then, the control unit 11 adjusts the position of the host vehicle in the lane width direction so that the position of the host vehicle in the lane width direction is on the standard trajectory. For example, the control unit 11 adjusts the position of the host vehicle in the lane width direction so that D1 and d1 match, or so that D2 and d2 match, or so that the ratio of D1 and D2 matches the ratio of d1 and d2. The match here may be a perfect match, or some difference may be allowed.

[0048] Here, when a predetermined behavior of the preceding vehicle is detected while the control unit 11 is executing the first control, the control unit 11 executes a second control different from the first control. In the second control, the control unit 11 moves the host vehicle along the travel path of the preceding vehicle. The means for moving the host vehicle along the travel path of the preceding vehicle can be realized by using any technology.

[0049] In addition, when the control unit 11 is moving the vehicle using the second control and a preceding vehicle enters and moves into another lane, the control unit 11 may check for the presence of other vehicles in the other lane before the vehicle enters the other lane.

[0050] Then, for example, when there is no other vehicle within a predetermined area of ​​the other lane including the position where the leading vehicle is to enter the other lane, the control unit 11 may cause the host vehicle to enter the other lane.

[0051] On the other hand, when there is another vehicle in a predetermined area of ​​the other lane including the entry position of the preceding vehicle into the other lane, the control unit 11 may decelerate or stop the vehicle before entering the other lane along the travel path of the preceding vehicle. Then, the control unit 11 may check a predetermined state in the other lane before allowing the vehicle to enter the other lane. Examples of the predetermined state include, but are not limited to, a state where there is no other vehicle in the predetermined area of ​​the other lane, and a predetermined state of a vehicle behind the vehicle in the predetermined area (e.g., stopping, decelerating, or other actions to give way).

[0052] In addition, after switching from the "first control for moving the vehicle along the standard trajectory" to the "second control for moving the vehicle along the driving trajectory of the preceding vehicle", the control unit 11 can switch back to the first control when a return condition is satisfied.

[0053] The return condition may be, for example, "identification of the cause of the predetermined behavior by the forward vehicle" and "confirmation of avoidance of the identified cause." When the control unit 11 detects one or more obstacles that impede the progress of the vehicle based on the output of a sensor mounted on the host vehicle in the vicinity of the position where the predetermined behavior by the forward vehicle was performed, for example, in the driving lane of the forward vehicle and in an area up to a predetermined distance from the position where the predetermined behavior was performed by the forward vehicle, the control unit 11 may determine that the obstacle is the cause of the predetermined behavior by the forward vehicle. Then, when the host vehicle passes the obstacle, the control unit 11 may determine that the cause has been avoided.

[0054] Alternatively, the return condition may be that a predetermined time has elapsed since the preceding vehicle performed a predetermined behavior. Alternatively, the return condition may be that the distance traveled by the host vehicle after the host vehicle has left the "position of the preceding vehicle when the preceding vehicle performed a predetermined behavior" exceeds a reference value.

[0055] Next, an example of the flow of processing of the vehicle control device 10 of this embodiment will be described with reference to the flowchart of FIG.

[0056] When the control unit 11 acquires a route to the destination (S10), it controls the vehicle to start moving along the route. At the start, the control unit 11 moves the vehicle using the first control. That is, the control unit 11 acquires a standard locus that is set in advance along a road from map data, and controls the vehicle to move along the standard locus (S11).

[0057] While the predetermined behavior of the preceding vehicle is not detected (No in S12) and while the destination is not reached (No in S13), the control unit 11 continues the first control.

[0058] When a predetermined behavior of the preceding vehicle is detected (Yes in S12), the control unit 11 switches from the first control to the second control. That is, the control unit 11 starts a control to move the host vehicle along the travel path of the preceding vehicle (S14). The second control is continued while the return condition is not satisfied (No in S15). When the return condition is satisfied (Yes in S15), the control unit 11 switches from the second control to the first control. That is, the control unit 11 starts a control to move the host vehicle along the standard path (S16). The control unit 11 repeats the above process while the destination is not reached (No in S13).

[0059] When the vehicle arrives at the destination (Yes in S13), the control unit 11 stops the vehicle and ends the process.

[0060] Here, a modified example will be described. In the above description, the detection unit 12 detects a predetermined behavior of the preceding vehicle as a predetermined event for switching from the first control to another control, but the detection unit 12 may detect other events in addition to the predetermined behavior of the preceding vehicle. For example, the detection unit 12 may detect a predetermined obstacle (e.g., a parked vehicle, a fallen object, etc.) that impedes movement on the standard trajectory based on the output of a sensor mounted on the host vehicle. In this case, the control unit 11 may determine a travel trajectory (a trajectory that deviates from the standard trajectory) that avoids the detected predetermined obstacle in response to the detection of the event, and perform control (third control) to move the host vehicle along the travel trajectory. That is, the first control may be switched to the third control in response to the detection of a predetermined obstacle (parked vehicle, a fallen object, etc.) that impedes movement on the standard trajectory.

[0061] The process of determining a driving trajectory that avoids an obstacle (a trajectory that deviates from the standard trajectory) can be realized using any technology. The driving trajectory of the third control is determined as a trajectory of a section from just before the obstacle (start point) to a predetermined position (end point) after passing the obstacle. Both the start point and the end point may be located on the standard trajectory. Then, the control unit 11 may switch from the first control to the third control when the vehicle arrives at the start point, and switch from the third control to the first control when the vehicle arrives at the end point.

[0062] According to the vehicle control device 10 of the present embodiment described above, unless a predetermined event (for example, a predetermined behavior of a preceding vehicle) is detected, the host vehicle can be moved along a standard trajectory set in advance along a road (first control). Therefore, by constantly moving the host vehicle along the travel trajectory of the preceding vehicle, it is possible to suppress the inconvenience of the host vehicle performing unnecessary behavior (unnecessary lane changes, etc.).

[0063] Furthermore, according to the vehicle control device 10 of this embodiment, when a predetermined behavior of the preceding vehicle (predetermined behavior that is considered to have avoided an obstacle on the road) is detected, the vehicle can move along the travel path of the preceding vehicle accordingly (second control). Therefore, even if the vehicle is behind the preceding vehicle and there is a delay in detecting an obstacle on the road, the obstacle can be avoided by moving along the travel path of the preceding vehicle.

[0064] Furthermore, according to the vehicle control device 10 of this embodiment, when the host vehicle deviates from the standard trajectory and moves along the travel trajectory of the preceding vehicle, if a predetermined return condition is satisfied, the host vehicle can be controlled so as to move again along the standard trajectory. By appropriately determining the predetermined return condition, it is possible to suppress inconveniences caused by unnecessarily continuing the second control for a long time and inconveniences caused by switching from the second control to the first control too quickly.

[0065] Furthermore, according to the vehicle control device 10 of this embodiment, when the vehicle is moved along the travel path of the preceding vehicle and the preceding vehicle moves into another lane, the vehicle control device 10 can check the situation of the other lane, decelerate the vehicle, and check the safety before allowing the vehicle to enter the other lane. Therefore, safety can be ensured.

[0066] Although the embodiment and examples have been described above with reference to the drawings, these are merely examples of the present invention, and various configurations other than those described above can also be adopted. [Explanation of symbols]

[0067] 1A Processor 2A Memory 3A input / output I / F 4A Peripheral circuit 5A Bus 10 Vehicle control device 11 Control section 12 Detection section

Claims

[Claim 1] A detection unit that detects a predetermined behavior of a preceding vehicle; a control unit that executes one of a first control for moving the host vehicle along a standard trajectory set along a road and a second control for moving the host vehicle by a control different from the first control when the predetermined behavior is detected; A vehicle control device having the above configuration.

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