Information processing device for vehicle

Abstract

To generate a target travel trajectory reflecting a user's intention.SOLUTION: A CPU 12 performs: receiving a setting signal related to a target travel trajectory of a vehicle 90, generated on the basis of user's operation; acquiring white line information of a travel lane on which the vehicle 90 travels; acquiring a center line shape and width information of the travel lane from a current position of the vehicle 90 up to a certain range ahead on the basis of the white line information; setting specific positions in a lateral direction of the vehicle 90 in the travel lane as reference positions of the target travel trajectory on the basis of the setting signal; generating a virtual line obtained by connecting the reference positions in a direction that the travel lane extends as the target travel trajectory; generating instruction information of steering angles of steering wheels to make the vehicle 90 travel along the target travel trajectory; and outputting the instruction information to a steering device 75 for adjusting the steering angles.SELECTED DRAWING: Figure 1

Description

Technical Field

[0001] This invention relates to an information processing device for vehicles.

Background Art

[0002] The vehicle disclosed in Patent Document 1 is provided with an information processing device. The information processing device supports the user's driving with respect to the steering of the vehicle. The information processing device stores in advance the characteristics of the steering operation for each user. During the running of the vehicle, the information processing device generates instruction information regarding the steering angle of the steering wheel so that a driving trajectory suitable for the preferences of each individual user can be obtained based on this characteristic and the road shape. The information processing device controls the steering device based on this instruction information.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] As part of driving support for the user or fully autonomous driving of the vehicle, an information processing device as disclosed in Patent Document 1 may be responsible for controlling the steering of the vehicle. In such a case, in consideration of the user's driving feeling and the like, the user may want to adjust the driving trajectory while the control of the steering by the information processing device continues. For example, the driving trajectory as a whole may be shifted to the left or right side from the current position. From the viewpoint of reflecting such a user intention in the control of the vehicle steering, the technology of Patent Document 1 has room for improvement.

Means for Solving the Problems

[0005] An information processing apparatus for a vehicle for solving the above problems includes receiving a setting signal regarding a target travel trajectory of the vehicle, which is generated based on a user's operation; acquiring white line information of a travel lane on which the vehicle is traveling; acquiring information on the center line shape and width of the travel lane from the current position of the vehicle to a certain range ahead based on the white line information; when the direction along the vehicle width of the vehicle is defined as the left-right direction, setting a specific position in the left-right direction in the travel lane as a reference position of the target travel trajectory based on the setting signal; generating a virtual line connecting the reference positions in the direction in which the travel lane extends as the target travel trajectory; generating instruction information for the steering angle of the steering wheel for traveling the vehicle along the target travel trajectory; and outputting the instruction information to a steering apparatus that adjusts the steering angle.

Effect of the Invention

[0006] In the above technical idea, a target travel trajectory reflecting the user's intention can be generated.

Brief Description of the Drawings

[0007]

Figure 1

Figure 2

Figure 3

Figure 4

Embodiment for Carrying Out the Invention

[0008] <Overall Configuration of the Vehicle> Hereinafter, an embodiment of the information processing apparatus for a vehicle will be described with reference to the drawings. As shown in FIG. 1, a vehicle 90 includes a drive unit 91, a brake unit 92, a steering unit 70, a display 30, and an information processing apparatus 10.

[0009] Although illustration is omitted, the drive unit 91 includes a drive source of the vehicle 90 and a drive ECU. An example of the drive source of the vehicle 90 is an engine. The drive source of the vehicle 90 may also be a power generation motor. The drive ECU is a control device that controls the drive source of the vehicle 90. The drive ECU controls the drive source of the vehicle 90 according to the instruction information from the information processing device 10.

[0010] Although illustration is omitted, the brake unit 92 includes a brake device for each wheel and a brake ECU. The brake device is a hydraulic type. The brake ECU is a control device that controls each brake device. The brake ECU controls each brake device according to the instruction information from the information processing device 10.

[0011] The steering unit 70 includes a steering device 75 and a steering ECU 71. The steering device 75 includes an electric motor 75A, a conversion mechanism (not shown), and a steering shaft. The steering shaft is connected to the left and right steering wheels of the vehicle 90. The conversion mechanism converts the rotational motion of the electric motor 75A into the linear motion of the steering shaft. When the steering shaft linearly operates in response to the drive of the electric motor 75A, the steering angles of the left and right steering wheels change. The steering ECU 71 is a control device that controls the steering device 75. The steering ECU 71 controls the electric motor 75A of the steering device 75 according to the instruction information from the information processing device 10. And the steering device 75 adjusts the steering angle of the steering wheel under the control of the steering ECU 71.

[0012] As shown in FIG. 2, the display 30 is provided on the meter panel 96. As shown in FIG. 1, the display 30 displays information according to the image data GD output by the information processing device 10. Note that the display 30 is not limited to being provided on the meter panel 96, and any device that can display information to the user may be used. For example, the display 30 may be a so-called head-up display that displays information on the front windshield.

[0013] As shown in FIG. 1, the vehicle 90 includes a first switch 21 and a second switch 22 as operation switches. As shown in FIG. 2, the two operation switches are attached to the steering wheel 20 of the vehicle 90. In the example shown in FIG. 2, the two operation switches are arranged at separate left and right positions on the steering wheel 20. Note that the mode of the operation switches is not limited to the example shown in FIG. 2. For example, the operation switches may be of the cross key type. As long as the individual functions of the two operation switches can be realized, the mode of the operation switches does not matter. As shown in FIG. 1, the first switch 21 outputs a first setting signal T1 in response to a user's operation. That is, the first setting signal T1 is a signal generated based on the user's operation. The second switch 22 outputs a second setting signal T2 in response to a user's operation. That is, the second setting signal T2 is a signal generated based on the user's operation. These first setting signal T1 and second setting signal T2 are setting signals that transmit command information regarding the setting of the target travel trajectory R of the vehicle 90. The command information borne by the first setting signal T1 is information indicating that the reference position RX of the target travel trajectory R is shifted to the left side from the current point. The reference position RX will be described later. The command information borne by the second setting signal T2 is information indicating that the reference position RX of the target travel trajectory R is shifted to the right side from the current point. In the present embodiment, the direction along the vehicle width of the vehicle 90 is treated as the left-right direction. And "left" and "right" in the present embodiment relate to the left-right direction when viewed from the driver's seat of the vehicle 90.

[0014] As shown in FIG. 1, the vehicle 90 includes a camera 51, a position receiver 52, and a plurality of driving sensors 59. The camera 51 images the surroundings of the vehicle 90 with the outside of the vehicle 90 as the target. By doing so, the camera 51 acquires an imaging image C. The position receiver 52 receives its own current position coordinates Y from global positioning satellites. The position coordinates are composed of latitude and longitude. These camera 51 and position receiver 52 are information acquisition devices for acquiring the surrounding information of the vehicle 90. Although not shown, the vehicle 90 includes information acquisition devices other than the camera 51 and the position receiver 52. As another example of the information acquisition device, a radar that detects obstacles existing around the vehicle 90 can be mentioned. The camera 51 and the position receiver 52 repeatedly output the information they have acquired or received to the information processing device 10.

[0015] The plurality of driving sensors 59 are sensors for detecting the driving state of the vehicle 90. In FIG. 1, one of the plurality of driving sensors 59 is represented by way of example. Examples of the driving sensor 59 include a sensor for detecting the driving speed of the vehicle 90, a sensor for detecting the acceleration of the vehicle 90, a sensor for detecting the yaw rate of the vehicle 90, and a sensor for detecting the steering angle of the steering wheel. Each driving sensor 59 repeatedly outputs the information it has detected to the information processing device 10.

[0016] In this embodiment, among the above-described respective components, the steering unit 70, the two operation switches, the display 30, the camera 51, the position receiver 52, the plurality of driving sensors 59, and the information processing device 10 constitute an orbit adjustment system for adjusting the target driving orbit R of the vehicle 90.

[0017] <Information Processing Device> As shown in FIG. 1, the information processing apparatus 10 is a computer including a processing circuit. The processing circuit includes a CPU 12 and a memory 14. The memory 14 includes three types: a RAM, a ROM, and an electrically rewritable non-volatile memory. In the present embodiment, these three types are collectively referred to as the memory 14. The memory 14 stores in advance various programs in which the processing to be executed by the CPU 12 is described. The memory 14 stores in advance the data necessary for the CPU 12 to execute the programs.

[0018] The memory 14 stores in advance map data M. The map data M includes information on a plurality of nodes and a plurality of links. The nodes indicate the position coordinates of specific locations on the road. The links are defined as line segments connecting adjacent nodes. The links indicate roads. For example, the map data M may include detailed information on the road, such as the curvature of the road, the number of driving lanes provided on the road, and the trajectories of the left and right white lines W that define the driving lanes. For example, the map data M may include information on three-dimensional objects around the road, such as signals and road signs.

[0019] The memory 14 stores in advance a plurality of applications A. The application A is a program for controlling the movement of the vehicle 90. In FIG. 1, one of the plurality of applications is shown representatively. One of the plurality of applications A is an application that realizes an automatic driving function for autonomously driving the vehicle 90 without driver operation. The plurality of applications A includes applications for realizing the functions of an advanced driver assistance system that supports the driver's operation.

[0020] <Trajectory generation process> The CPU 12 has the function of executing each of the above-described applications A and the function of a so-called motion manager that coordinates motion requests from each application A. During the execution of the application A, the CPU 12 outputs various types of instruction information corresponding to the motion requests from the application A to each ECU. Hereinafter, among these various types of instruction information, the process of generating instruction information for the steering angle of the steering wheel will be described. This process is referred to as the trajectory generation process.

[0021] The CPU 12 repeats the trajectory generation process at a predetermined control cycle. The predetermined control cycle is, for example, a time scale of less than 1 second. As shown in FIG. 3, when starting the trajectory generation process, the CPU 12 first performs the process of step S1. In step S1, the CPU 12 acquires the white line information of the driving lane on which the vehicle 90 is traveling. The CPU 12 acquires the white line information for a certain range K ahead from the current position of the vehicle 90. The white line information includes the curvature of the left and right white lines W that define the driving lane, the distance between the left and right white lines W in the left-right direction, and the distance between the vehicle 90 and the white line W in the left-right direction. The CPU 12 acquires the white line information based on the captured image C of the camera 51. For example, the CPU 12 specifies the trajectories of the left and right white lines W, the positional relationship between the left and right white lines W, and the degree of proximity to the image center of the left and right white lines W for the captured image C of the camera 51. The CPU 12 grasps the white line information based on such specified contents. Note that the above-mentioned certain range K is predetermined. The certain range K is, for example, slightly longer than the distance that the vehicle 90 can travel within the control cycle of the trajectory generation process on a highway. That is, the certain range K is, for example, a length scale of several tens of meters where the curvature of the left and right white lines W and the distance between the left and right white lines W can be regarded as substantially constant. Note that the CPU 12 may acquire the white line information from the map data M instead of or in addition to the captured image C of the camera 51. When using the map data M, the CPU 12 is configured to read out information around the vehicle 90 grasped from the current position coordinates Y of the vehicle 90 from the map data M. After acquiring the white line information of the driving lane, the CPU 12 proceeds with the process to step S2.

[0022] In step S2, the CPU 12 generates a virtual driving lane based on the white line information acquired in step S1. Specifically, first, the CPU 12 identifies the center line shape of the driving lane from the current position of the vehicle 90 to a certain range K ahead. The center line WQ is a virtual line connecting the positions at the center in the left - right direction in the driving lane, that is, the center positions between the left and right white lines W. In conjunction with identifying the center line shape, the CPU 12 identifies the width of the driving lane. The width of the driving lane is the distance between the left and right white lines W in the left - right direction. When the CPU 12 has identified the center line shape and width of the driving lane, it generates a virtual driving lane that simulates the driving lane in a manner that reflects this information. The CPU 12's identification of the center line shape and width of the driving lane corresponds to the CPU 12's acquisition of this information. Note that instead of generating a virtual driving lane, the CPU 12 may generate a virtual road that simulates the entire road including the driving lane on which the vehicle 90 is traveling. That is, for example, when a plurality of driving lanes are running side by side, the virtual road may include all of these plurality of driving lanes. In this way, when generating the virtual road of the entire road, the CPU 12 may comprehensively analyze various information about the road environment around the vehicle 90, including the captured image C of the camera 51 and the map data M. When the CPU 12 has generated the virtual driving lane, it proceeds with the process to step S3.

[0023] In step S3, the CPU 12 sets a restriction range H for determining the target travel trajectory R of the vehicle 90. The restriction range H is a range in the left - right direction within the travel lane that allows the vehicle 90 to travel. The restriction range H has a width that is symmetric about the center line WQ of the travel lane. When setting the restriction range H, the CPU 12 refers to a setting map stored in the memory 14. The setting map represents the relationship between the size of the restriction range H, the width of the travel lane, and the curvature of the travel lane. In the setting map, the restriction range H, the width of the travel lane, and the curvature have the following relationship. If the curvature of the travel lane is the same, the larger the width of the travel lane, the larger the restriction range H. If the width of the travel lane is the same, the larger the curvature of the travel lane, that is, the sharper the curve, the smaller the restriction range H. Note that the restriction range H is not limited to gradually changing according to the width and curvature of the travel lane as in the above - mentioned setting map, and may change step - by - step with respect to the width and curvature of the travel lane. That is, the restriction range H may be larger when the width of the travel lane is a first value than when the width of the travel lane is a second value smaller than the first value. Also, the restriction range H may be larger when the curvature of the travel lane is a third value than when the curvature of the travel lane is a fourth value larger than the third value.

[0024] Now, the CPU 12 determines the restricted range H of the driving lane on which the vehicle 90 is traveling by using the above setting map. The CPU 12 applies the curvature and width of the driving lane grasped from the virtual driving lane to the setting map, thereby calculating the restricted range H corresponding to these curvature and width. When the CPU 12 calculates the restricted range H, it determines a left boundary position H1 that is the boundary position on the left side with respect to the center line WQ and a right boundary position H2 that is the boundary position on the right side. As shown in FIG. 4, these left boundary position H1 and right boundary position H2 are the ends of the restricted range H in the left-right direction. For example, the CPU 12 determines each boundary position based on the distance from the center line WQ. At this time, for the sake of convenience, the CPU 12 assigns plus and minus signs to each boundary position so that it can distinguish between the left and right sides across the center line WQ. That is, the CPU 12 sets a value that is half of the restricted range H to each boundary position, with the left side viewed from the center line WQ being negative and the right side being positive. When the restricted range H is set as described above, as shown in FIG. 3, the CPU 12 advances the process to step S4.

[0025] In step S4, the CPU 12 sets a reference position RX of the target travel trajectory R of the vehicle 90. The reference position RX is a specific position in the lateral direction within the travel lane. For example, the reference position RX is defined by the distance from the center line WQ of the travel lane, similar to each boundary position of the restriction range H. In the initial state at the start time of the execution of the application A, the reference position RX is set on the center line WQ. As a prerequisite for performing the process of step S4, the CPU 12 can receive a first setting signal T1 from the first switch 21 and a second setting signal T2 from the second switch 22. The CPU 12 varies the setting method of the reference position RX according to whether or not it has received these setting signals. If the CPU 12 has not received a setting signal between the previous execution of step S4 and the current execution of step S4, the CPU 12 sets the reference position RX to be the same as when the previous step S4 was executed. On the other hand, if the CPU 12 has received a setting signal between the previous execution of step S4 and the current execution of step S4, the CPU 12 changes the reference position RX. Specifically, when the CPU 12 receives the first setting signal T1, the CPU 12 sets a position on the left side by a predetermined distance from the current reference position RX as the new reference position RX. At this time, if the position on the left side by the predetermined distance from the current reference position RX is on the left side of the left boundary position H1, the CPU 12 sets the left boundary position H1 as the new reference position RX. Also, when the CPU 12 receives the second setting signal T2, the CPU 12 sets a position on the right side by the predetermined distance from the current reference position RX as the new reference position RX. At this time, if the position on the right side by the predetermined distance from the current reference position RX is on the right side of the right boundary position H2, the CPU 12 sets the right boundary position H2 as the new reference position RX. The predetermined distance is set to a value that does not cause a sudden change in the steering angle of the target travel trajectory R and thus the vehicle 90. The predetermined distance may be made user-configurable. As described above, the CPU 12 sets the reference position RX based on the setting signal. Also, the CPU 12 sets the reference position RX within the lateral restriction range H in the travel lane.Regarding the process of step S4, even if the CPU 12 has not received a setting signal between the previous execution of step S4 and the current execution of step S4, if the previous reference position RX has deviated from the limit range H set in step S3, the CPU 12 will reset the reference position RX. That is, if the previous reference position RX is to the left of the left boundary position H1, the CPU 12 will set the left boundary position H1 as the new reference position RX. Similarly, if the previous reference position RX is to the right of the right boundary position H2, the CPU 12 will set the right boundary position H2 as the new reference position RX. When the CPU 12 sets the reference position RX, it proceeds with the process to step S5.

[0026] In step S5, the CPU 12 generates a target travel trajectory R of the vehicle 90 on the virtual travel lane. Specifically, first, the CPU 12 specifies the reference position RX at each position in the direction in which the travel lane extends, for example, based on the center line WQ, for a range of a certain distance K ahead from the current position of the vehicle 90. Then, with respect to this range of a certain distance K, the CPU 12 generates a virtual line connecting each reference position RX in the direction in which the travel lane extends as the target travel trajectory R. When the CPU 12 generates the target travel trajectory R of the vehicle 90, it proceeds with the process to step S6.

[0027] In step S6, the CPU 12 generates steering angle instruction information for the steering device 75. First, the CPU 12 identifies the position of the vehicle 90 in the left - right direction within the driving lane based on the white line information acquired in step S1. Then, the CPU 12 generates the steering angle instruction information necessary for the vehicle 90 to travel along the target travel trajectory R based on the information on the position of the vehicle 90 and the information on the current driving state of the vehicle 90. For example, when the reference position RX is shifted to the left in step S4, the CPU 12 generates the steering angle instruction information so that the vehicle 90 heads to the left. The driving state of the vehicle 90 includes the magnitudes of variables related to the driving trajectory of the vehicle 90, such as the steering angle of the steered wheels, the yaw rate of the vehicle 90, the driving speed of the vehicle 90, and the acceleration of the vehicle 90. When the CPU 12 generates the steering angle instruction information, it outputs the instruction information to the steering device 75. Substantially, the CPU 12 outputs the instruction information to the steering ECU 71. After that, the CPU 12 advances the process to step S7.

[0028] In step S7, the CPU 12 generates the integrated image GA. As shown in FIG. 4, the integrated image GA includes the following five images. The first image G1 is a line indicating the trajectories of the left and right white lines W that define the driving lane. The second image G2 is a line indicating the trajectory of the center line WQ of the driving lane. In FIG. 4, the second image G2 is shown as a dotted line. The third image G3 is a line indicating the target travel trajectory R. The fourth image G4 is a band - shaped line obtained by continuously connecting the restricted range H in the direction in which the driving lane extends. That is, the fourth image G4 indicates the restricted range H. In FIG. 4, the area of this band - shaped line is shown by hatching. The fifth image G5 is an icon indicating the current position of the vehicle 90. Note that the integrated image GA is for the vehicle 90's current position within the above - mentioned fixed range K.

[0029] When generating the integrated image GA, the CPU 12 first generates a first image G1 that serves as the basis for the integrated image GA. That is, the CPU 12 generates the first image G1 in a manner that reflects the trajectories of the left and right white lines W specified in steps S1 and S2 and the distance between the left and right white lines W. Then, the CPU 12 superimposes the second image G2, the third image G3, the fourth image G4, and the fifth image G5 on this first image G1. At this time, the CPU 12 ensures that the center line WQ comes to the center of the left and right white lines W at each position in the direction in which the running rail extends. Also, the CPU 12 ensures that the positional relationship between the left and right white lines W and the center line WQ, and the target running trajectory R, is maintained at each position in the direction in which the running rail extends. Further, the CPU 12 ensures that the positional relationship between the left and right white lines W and the center line WQ, and the left boundary position H1 and the right boundary position H2 of the restricted range H, is maintained at each position in the direction in which the running rail extends. Furthermore, the CPU 12 superimposes the fifth image G5 on each image in a manner that reflects the current position of the vehicle 90 with respect to the left and right white lines W specified in step S6. When the CPU 12 generates the integrated image GA as described above, it generates image data GD, which is data for displaying this integrated image GA. The image data GD includes various information such as the scale for displaying the integrated image GA itself, and the display instruction for the integrated image GA, in addition to the integrated image GA itself. When the CPU 12 generates the image data GD, it outputs this image data GD to the display 30. In response to the CPU 12 outputting the image data GD, the display 30 displays the integrated image GA. After this, the CPU 12 temporarily terminates a series of processes of the trajectory generation process. Then, the CPU 12 returns to the process of step S1.

[0030] <Operations of the Embodiment> Now, assume that the CPU 12 is in charge of controlling the steering of the vehicle 90. Under such circumstances, assume that the user operates the first switch 21. Then, the first switch 21 outputs a first setting signal T1. When the CPU 12 receives the first setting signal T1, it sets a position to the left of the current reference position RX by a predetermined distance as the new reference position RX and generates a target travel trajectory R. Then, the CPU 12 controls the steering angle of the steered wheels according to the target travel trajectory R. After that, assume that the user operates the second switch 22. Then, the second switch 22 outputs a second setting signal T2. When the CPU 12 receives the second setting signal T2, it sets a position to the right of the current reference position RX by a predetermined distance as the new reference position RX and generates a target travel trajectory R. Then, the CPU 12 controls the steering angle of the steered wheels according to the target travel trajectory R.

[0031] <Effects of the Embodiment> (1) The setting signal for the CPU 12 to set the reference position RX is generated based on the user's operation. That is, the user can customize the position of the target travel trajectory R in the left - right direction. Due to the possibility of such customization, the CPU 12 can generate a target travel trajectory R according to the user's intention.

[0032] (2) The CPU 12 changes the reference position RX to the left and right in response to receiving the first setting signal T1 and the second setting signal T2. With such a configuration, the user can freely change the target travel trajectory R to the left and right according to their driving feeling. That is, the configuration of the present embodiment is suitable for the user to customize the target travel trajectory R to the left and right.

[0033] (3) The CPU 12 variably sets a limit range H for restricting the reference position RX in accordance with the width and curvature of the driving lane. Accordingly, in a road environment where the driving safety of the vehicle 90 is high, such as when the width of the driving lane is wide or the driving lane is straight, the limit range H is set wide. Therefore, in such a road environment, the degree of freedom for customization by the user is increased. On the other hand, in a road environment where the driving safety of the vehicle 90 tends to be low, such as when the width of the driving lane is narrow or the curve of the driving lane is sharp, the limit range H is set narrow. Therefore, in such a road environment, the user's request to change the reference position RX is regulated to a certain extent. Generally, with the configuration of this embodiment, it is possible to customize the target driving trajectory R according to the road environment.

[0034] (4) Regarding the positional relationship between the positions at both ends and the center of the driving lane and the target driving trajectory R, the positional relationship that the user perceives intuitively does not necessarily match the actual positional relationship. For example, it is possible that the actual position of the vehicle 90 is closer to the left or right side than the position that the user perceives intuitively. In this regard, the CPU 12 displays an integrated image GA that combines the trajectories of the left and right white lines W, the trajectory of the center line WQ, and the target driving trajectory R. By this, the user can accurately grasp the actual positional relationship of these respective trajectories. And the user can adjust the target driving trajectory R while grasping these actual positional relationships. Therefore, it is possible to prevent the target driving trajectory R from being set at a position different from the user's intention. Furthermore, the CPU 12 includes the limit range H in the integrated image GA. By this, the user can adjust the target driving trajectory R after grasping to what extent the target driving trajectory R can be further changed. Therefore, there is no concern that the user operates the operation switch uselessly even though, for example, the reference position RX cannot be changed any further. Generally, the configuration of this embodiment is highly convenient when the user adjusts the target driving trajectory R by operating the operation switch.

[0035] <Modification Example> The above-described embodiment can be implemented with the following modifications. The above-described embodiment and the following modification examples can be implemented in combination with each other within a technically consistent range.

[0036] · The method of setting the restriction range H is not limited to the example of the above-described embodiment. The restriction range H may reflect not only the width and curvature of the driving lane but also other characteristics of the road on which the vehicle 90 is traveling. And in that case, the restriction range H may be set asymmetrically with respect to the center line WQ of the driving lane. For example, when a plurality of driving lanes in the same direction of travel of the vehicle 90 are running side by side, such as two lanes on one side or three lanes on one side, the restriction range H may be set as follows. That is, when the vehicle 90 is traveling in the rightmost driving lane among the plurality of driving lanes, the restriction range H is set so that the width on the right side with respect to the center line WQ of the driving lane is wider than the width on the left side. Also, when the vehicle 90 is traveling in the leftmost driving lane among the plurality of driving lanes, the restriction range H is set so that the width on the left side with respect to the center line WQ of the driving lane is wider than the width on the right side. Depending on the user's driving sensation, there may be a desire to set the target travel trajectory R at a position away from the adjacent driving lane. If the restriction range H is made wider on the side farther from the adjacent driving lane as in the configuration of this modification example, it becomes easier to satisfy the user's requirement when setting the target travel trajectory R considering the distance from the adjacent driving lane.

[0037] ·In addition to the above examples, various settings for the restriction range H are conceivable. For example, the restriction range H may be set in consideration of the reduction of the road shoulder due to construction or the like. Specifically, for example, when the right road shoulder is reduced, the restriction range H is set so that the width on the left side is wider than the width on the right side with respect to the center line WQ of the driving lane. Also, for example, in the case of a two-way road, the restriction range H may be set so that the width on the left side is wider than the width on the right side with respect to the center line WQ of the driving lane. For example, when a bicycle lane runs parallel to the left side of the driving lane, the restriction range H may be set so that the width on the right side is wider than the width on the left side with respect to the center line WQ of the driving lane. Thus, the restriction range H may be set in consideration of various situations to be considered during the driving of the vehicle 90. In grasping the road environment in which the vehicle 90 is placed, various information such as road signs included in the map data M and the captured image C of the camera 51 may be used.

[0038] ·Setting the restriction range H is not essential. By setting the reference position RX by the user himself / herself in consideration of the road environment, the target driving trajectory R suitable for various road environments can be set. ·The setting signal is not limited to changing the reference position RX left and right. For example, the following may be adopted as the setting signal and its related configuration. In addition to the first switch 21 and the second switch 22, a third switch and a fourth switch are attached to the steering wheel 20 as operation switches. The third switch outputs a third setting signal T3, which is a kind of setting signal, in response to the user's operation. The fourth switch outputs a fourth setting signal T4, which is a kind of setting signal, in response to the user's operation. And the CPU 12 can receive these third setting signal T3 and fourth setting signal T4. When the CPU 12 once receives the third setting signal T3 during the execution of the application A, it treats the command information borne by the third setting signal T3 as always valid until it receives a cancel signal in response to the operation of a separately provided cancel switch. Similarly, when the CPU 12 once receives the fourth setting signal T4, it treats the command information borne by the fourth setting signal T4 as always valid until it receives a cancel signal. The requirement that the curvature of the driving lane in which the vehicle 90 is traveling is greater than a predetermined value is called a setting requirement. The command information borne by the third setting signal T3 is to set the first predetermined position on the inner circumferential side of the center line WQ of the driving lane as the reference position RX on the condition that the setting requirement is satisfied. The command information borne by the fourth setting signal T4 is to set the second predetermined position on the outer circumferential side of the center line WQ of the driving lane as the reference position RX on the condition that the setting requirement is satisfied. The predetermined value is predetermined as a value at which the driving lane can be regarded as substantially straight. The first predetermined position and the second predetermined position are predetermined in consideration of the driving stability of the vehicle 90 and the like.

[0039] When adopting such a third setting signal T3 and fourth setting signal T4, the trajectory generation process may be configured as follows. That is, in step S2, the CPU 12 determines whether the curvature of the driving lane is greater than a predetermined value in accordance with generating a virtual driving lane. When the curvature of the driving lane is less than or equal to the predetermined value, that is, when the driving lane can be regarded as a substantially straight line, the CPU 12 performs the processes after step S3 with the same processing content as in the above embodiment. On the other hand, when the curvature of the driving lane is greater than the predetermined value, that is, when the driving lane can be regarded as a curve, the CPU 12 cancels the process of step S3. And in this case, the CPU 12 performs the following processes in step S4. That is, in step S4, when the command information of the third setting signal T3 is valid, the CPU 12 sets a first predetermined position on the inner peripheral side of the center line WQ of the driving lane as the reference position RX. On the other hand, when the command information of the fourth setting signal T4 is valid, the CPU 12 sets a second predetermined position on the outer peripheral side of the center line WQ of the driving lane as the reference position RX. When both the command information of the third setting signal T3 and the command information of the fourth setting signal T4 are not valid, the CPU 12 sets the center line WQ of the driving lane as the reference position RX. After setting the reference position RX in this way, the CPU 12 proceeds to the processes after step S5. Incidentally, while the CPU 12 repeats the trajectory generation process in this way, when the curvature of the driving lane returns from a state where the curvature is greater than the predetermined value to a value less than or equal to the predetermined value, the CPU 12 returns the reference position RX to the position before the curvature of the driving lane becomes greater than the predetermined value. Adopting this modified example has the following advantages. Depending on the user's driving feeling, for example, when curves are continuous, there may be cases where the user always wants to maintain the target driving trajectory R closer to the inside of the curve or always closer to the outside of the curve. Adopting the third setting signal T3 and the fourth setting signal T4 enables such customization regarding being closer to the inside or outside of the curve.

[0040] · When adopting the third setting signal T3 and the fourth setting signal T4 as in the above modification example, the first predetermined position may be freely changed according to the operation of the third switch by the user. Similarly, the second predetermined position may be freely changed according to the operation of the fourth switch by the user. When adopting a configuration in which the user can adjust the first predetermined position and the second predetermined position, the restricted range may be determined in consideration of the road environment and the like.

[0041] · It is not essential to use the first setting signal T1 and the second setting signal T2 as setting signals. For example, when adopting the third setting signal T3 and the fourth setting signal T4 in the above modification example, the first setting signal T1 and the second setting signal T2 may be abolished. In this case, the reference position RX when the curvature of the driving lane is equal to or less than a predetermined value may be the center line WQ of the driving lane.

[0042] · The setting signal is not limited to the above examples, and any signal may be used as long as it transmits command information regarding the target travel trajectory R of the vehicle 90 to the information processing device 10. For example, the setting signal may be used to set the target travel trajectory R at an intersection. In this case, the setting signal may instruct the information processing device 10 to make the target travel trajectory R deviate to the left when turning left at an intersection and to the right when turning right.

[0043] · The integrated image GA is not limited to the example of the above embodiment. The integrated image GA may show the center line WQ, the target travel trajectory R, and the restricted range H together with the left and right white lines W, and the display method of each of these pieces of information may be changed as appropriate. For example, the target travel trajectory R may be a band-shaped line. The fifth image G5 is not essential. The integrated image GA may include, for example, multiple driving lanes running side by side, etc., other than the images superimposed in the above embodiment.

[0044] · It is not essential to display the integrated image GA. Even without the integrated image GA, the user can set an optimal target travel trajectory R by appropriately changing the reference position RX. ·The output source that outputs the setting signal to the information processing apparatus 10 is not limited to a switch. The output source may be any device that can output a setting signal related to the target travel trajectory R of the vehicle 90 to the information processing apparatus 10.

Explanation of Signs

[0045] 10…Information processing apparatus 12…CPU 14…Memory 75…Steering apparatus 90…Vehicle

Claims

1. Receiving a setting signal related to a target driving trajectory of a vehicle, which is generated based on a user operation; Obtaining white line information of a driving lane on which the vehicle is traveling; Based on the white line information, obtaining information on the center line shape and width of the driving lane from the current position of the vehicle to a certain distance ahead; When the direction along the vehicle width is defined as the left-right direction, based on the setting signal, setting a specific position in the left-right direction in the driving lane as a reference position of the target driving trajectory; Generating a virtual line connecting the reference positions in the direction in which the driving lane extends as the target driving trajectory; Generating instruction information for the steering angle of a steering wheel for driving the vehicle along the target driving trajectory; Outputting the instruction information to a steering device that adjusts the steering angle. An information processing device for a vehicle.

2. It is possible to receive a first setting signal and a second setting signal as the setting signal. When setting the reference position, When receiving the first setting signal, setting a position on the left side by a predetermined distance from the current reference position as the new reference position; When receiving the second setting signal, setting a position on the right side by the predetermined distance from the current reference position as the new reference position. The information processing device for a vehicle according to Claim 1.

3. When setting the reference position, set the reference position within a restricted range in the left-right direction within the driving lane. The restricted range is larger when the width of the driving lane is a first value than when the width of the driving lane is a second value smaller than the first value, and when the curvature of the driving lane is a third value, it is larger than when the curvature of the driving lane is a fourth value larger than the third value. The information processing device for a vehicle according to Claim 2.

4. Generating an integrated image in which a first image showing the trajectories of the left and right white lines defining the driving lane, a second image showing the central position of the driving lane, a third image showing the target driving trajectory, and a fourth image showing the restricted range are superimposed; Outputting image data for displaying the integrated image to the outside. The information processing device for a vehicle according to Claim 3.

5. It is possible to receive a third setting signal and a fourth setting signal as the setting signal. When setting the reference position, When the third setting signal is received, on the condition that the curvature of the driving lane is greater than a predetermined value, a position on the inner circumferential side of the center in the left-right direction of the driving lane is set as the reference position. When the fourth setting signal is received, on the condition that the curvature of the driving lane is greater than the predetermined value, a position on the outer circumferential side of the center in the left-right direction of the driving lane is set as the reference position. The information processing apparatus for a vehicle according to claim 1.

Images