Vehicle control device and program

Abstract

To provide a vehicle control device and a program capable of executing adequate ACC control according to environment in which a vehicle travels.SOLUTION: A vehicle control device 10 is provided with a control part 11 which executes cruise control for causing a vehicle 1 to travel at maintained setting speed. The control part determines whether or not traffic factor which affects cruise control exists on the basis of detection values for detecting environment around the vehicle in the cruise control for maintaining the setting speed. When traffic factor exists, the control part adjusts a first acceleration which is set to the cruise control according to description of the traffic factor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device and a program for causing a vehicle to travel while maintaining a set speed and a set inter-vehicle distance. [Background technology]

[0002] In recent years, a driving assistance technology called ACC (Adaptive Cruise Control) has been applied to vehicles, which maintains a set speed and following distance. ACC is used on high-standard roads such as expressways where high-speed driving is possible. ACC is also used for vehicles traveling at low speeds during traffic jams on high-standard roads. ACC is also sometimes used for vehicles traveling on ordinary roads.

[0003] For example, Patent Document 1 describes a driving assistance technology that automatically changes the set speed of the host vehicle according to the traveling speed of vehicles traveling around the host vehicle. This driving assistance technology allows the host vehicle to travel so that the set speed of the host vehicle approaches the set speed of the other vehicle based on the comparison result between first information on the set speed of the other vehicle traveling based on the ACC and second information on the set speed of the ACC of the host vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2005-75303 Summary of the Invention [Problem to be solved by the invention]

[0005] According to the driving assistance technology described in Patent Document 1, when the host vehicle is driven under ACC control, the set speed is automatically changed, but the acceleration is not changed. Therefore, according to the driving assistance technology described in Patent Document 1, when the set speed of ACC control is changed, the user may feel that the acceleration of the host vehicle is too high or too low in relation to other vehicles, which may cause discomfort.

[0006] An object of the present invention is to provide a vehicle control device and program that can execute appropriate ACC control according to the environment in which the vehicle is traveling. [Means for solving the problem]

[0007] One aspect of the present invention is a vehicle control device that includes a control unit that performs cruise control to maintain a vehicle at a set speed, and in the cruise control that maintains the set speed, the control unit determines whether or not there are traffic factors that affect the cruise control based on detection values ​​that detect the environment around the vehicle, and if there are traffic factors, adjusts a first acceleration set in the cruise control according to the content of the traffic factors. [Effects of the Invention]

[0008] According to the present invention, it is possible to execute appropriate ACC control in accordance with the environment in which the vehicle is traveling. [Brief explanation of the drawings]

[0009] [Figure 1] 1 is a block diagram showing a configuration of a vehicle control device according to an embodiment; [Figure 2] FIG. 2 is a diagram illustrating a cruise control method. [Figure 3] FIG. 10 is a diagram illustrating the relationship between the density of traffic participants and the adjustment gain. [Figure 4] FIG. 10 is a diagram illustrating the relationship between the attributes of the road environment and the adjustment gain. [Figure 5] 10A and 10B are diagrams illustrating a method for adjusting a first acceleration based on a second acceleration. [Figure 6] 3 is a flowchart showing a flow of processing of a vehicle control method executed in a vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0010] As shown in FIG. 1, vehicle 1 is configured to be able to communicate with multiple other vehicles Mn (n is a natural number) via network W. Vehicle 1 may be configured to communicate with multiple other vehicles Mn through vehicle-to-vehicle communication. By mutually communicating with other vehicles Mn, vehicle 1 transmits and receives data related to traveling and cooperates with other vehicles Mn to perform control related to traveling to smooth road traffic. Vehicle 1 may obtain information related to other vehicles Mn based on information present on network W.

[0011] The vehicle 1 is equipped with, for example, a vehicle control device 10 that executes control related to driving. The vehicle control device 10 controls the driving of the vehicle 1 based on the operation of the driver. The vehicle control device 10 executes driving assistance control such as ACC based on detection values ​​detected by a detection unit 2 that detects the environment around the vehicle. The detection unit 2 is configured, for example, to detect the environment around the vehicle 1 and output the detection values. The detection unit 2 is equipped with, for example, a camera 2A that captures an image of the environment around the vehicle 1. The detection unit 2 may be equipped with one or more cameras 2A so as to capture an image of a predetermined imaging range around the vehicle 1. The camera 2A generates image data capturing an image of the environment around the vehicle 1 and outputs the image data to the vehicle control device 10.

[0012] The detection unit 2 includes a LIDAR device 2B that detects objects around the vehicle 1. The LIDAR device 2B, for example, emits laser light within a scanning range and receives light reflected from the object, thereby acquiring three-dimensional data of the object around the vehicle 1. The LIDAR device 2B acquires three-dimensional data of the environment around the vehicle 1 within the scanning range of the laser light. The detection unit 2 includes a radar device 2C that detects objects around the vehicle 1. The radar device 2C, for example, emits millimeter-wave radar waves within a scanning range and measures the reflected waves, thereby detecting objects around the vehicle 1. The radar device 2C is configured to be able to measure the distance, speed, and angle to targets such as pedestrians and vehicles.

[0013] The detection unit 2 is provided with a position sensor 2D that measures the current position of the vehicle 1. The position sensor 2D is configured by, for example, a GPS (Global Positioning System) sensor or the like. The position sensor 2D may be used in, for example, a navigation device. The position sensor 2D outputs a measurement value to the vehicle control device 10.

[0014] The vehicle 1 is equipped with a display unit 3 that outputs a display image. The display unit 3 is configured, for example, by a display device such as a liquid crystal display or an organic EL (Electro-Luminescence) display. The display unit 3 displays a display image that indicates notification content when driving assistance is executed, for example. The display unit 3 may be configured to display the display content of a navigation device provided in the vehicle 1. The display unit 3 may be configured by a touch panel.

[0015] The display unit 3 may be configured as an input unit that accepts input operations input by a user. In this case, the display unit 3 may display a display image for accepting the input operations. The display unit 3 may be realized by communicating with a mobile terminal device such as a smartphone carried by the user.

[0016] The vehicle 1 is equipped with a communication unit 4 connectable to the network W. The communication unit 4 is configured, for example, by a communication device capable of wireless communication. The communication unit 4 may be configured to be able to communicate directly with other vehicles Mn. Data acquired through communication with other vehicles Mn present around the vehicle 1 is included in the detection value. Data relating to other vehicles Mn present around the vehicle 1 acquired from the network W may also be included in the detection value. The vehicle 1 is equipped with a drive unit 5 that serves as a drive source for traveling. The drive unit 5 may be configured by an internal combustion engine or an electric motor.

[0017] The drive unit 5 may be configured as a hybrid device that combines an internal combustion engine and an electric motor. If the vehicle 1 is a manually driven vehicle, the drive unit 5 is controlled based on the operation by the driver, and under predetermined conditions, the vehicle control device 10 executes driving assistance control that assists the driver's operation. If the vehicle 1 is an autonomous vehicle, the drive unit 5 is controlled by the vehicle control device 10.

[0018] The vehicle 1 is equipped with a braking unit 6 for decelerating the vehicle 1. The braking unit 6 is configured, for example, by a brake device. If the drive unit 5 is configured by an electric motor, the braking unit 6 may be configured by the drive unit 5. In this case, the drive unit 5 may be configured to decelerate the vehicle 1 by regenerating power based on the deceleration energy of the vehicle 1. The vehicle 1 is equipped with an operating unit 7 that accepts operations by the driver. The operating unit 7 is configured by operating system devices such as an accelerator pedal that adjusts the output of the drive unit 5 and a brake pedal that adjusts the braking degree of the brake unit 6. The operating unit 7 outputs a signal to the vehicle control device 10 according to the degree of operation of each operating system device, for example.

[0019] The vehicle control device 10 includes a control unit 11 that executes control related to the traveling of the vehicle 1, and a storage unit 12 that stores data and programs required for the control. The control unit 11 is configured with at least one hardware processor such as a CPU (Central Processing Unit). The storage unit 12 is configured with a non-transitory storage medium such as a hard disk drive (HDD) or a solid state disk (SSD). The storage unit 12 may also store map data used in the navigation device.

[0020] The memory unit 12 stores data of the detected values ​​output from the detector 2. The detected value data may be stored for a predetermined period and then updated with new detected value data. The controller 11 executes cruise control such as ACC, which keeps the vehicle 1 running at a set speed, based on the detected values ​​that detect the environment around the vehicle 1. The controller 11 switches from normal mode to cruise mode based on an input operation by the driver, and executes cruise control.

[0021] The control unit 11 executes cruise control based on detection values ​​by the detection unit 2, including, for example, image data captured by the camera 2A, measurement value data by the LIDAR device 2B, and measurement value data by the radar device 2C. The control unit 11 executes cruise control based on a combination of one or more detection values ​​from any of the detection values ​​of the devices included in the detection unit 2. The combination of one or more detection values ​​is set according to the type of vehicle 1.

[0022] For example, in cruise mode, the control unit 11 causes the vehicle 1 to travel in a constant speed mode in which the vehicle 1 travels at a constant speed at a set speed, or causes the vehicle 1 to travel in a follow-up travel mode in which the vehicle 1 travels following another vehicle Mn ahead.

[0023] As shown in FIG. 2, the vehicle 1 travels on a lane L under cruise control. The illustrated example shows a basic driving state of the cruise control. The control unit 11 determines the attributes of the road on which the vehicle 1 is traveling, for example, based on data of the detection value of the position sensor 2D. The road attributes are classified based on different road environments such as ordinary roads, expressways, toll roads, and high-standard roads including bypass roads. The control unit 11 determines, for example, based on the detection value by the detection unit 2, whether another vehicle Mn is present within a predetermined range P ahead of the vehicle 1 on the lane L on which the vehicle 1 is traveling.

[0024] The predetermined range P is a distance adjusted according to the road attribute and speed of the vehicle 1. For example, if the road attribute is a high-standard road, the predetermined range P is set to be longer than the distance applied to an ordinary road. For example, if the road attribute is an ordinary road, the predetermined range P is set to a predetermined distance. For example, the predetermined range P is set to be longer as the speed of the vehicle 1 increases above a threshold. For example, if the speed of the vehicle 1 is below a threshold, the predetermined range P is set to a predetermined fixed distance. If there is no other vehicle Mn within the predetermined range P ahead, the control unit 11 controls the drive unit 5 and the brake unit 6 to drive the vehicle 1 so as to maintain the set speed set by the driver.

[0025] When another vehicle Mn is present within a predetermined range P ahead, the control unit 11 controls the drive unit 5 and the brake unit 6 to maintain the distance between the other vehicle Mn and the vehicle 1 at or above a predetermined distance, and to drive the vehicle 1 to maintain a set speed set by the driver. When the speed of the other vehicle Mn traveling ahead is equal to or lower than the set speed, the control unit 11 controls the drive unit 5 and the brake unit 6 to maintain the distance between the other vehicle Mn and the vehicle 1 at or above a predetermined distance, and to drive the vehicle 1 to follow the other vehicle Mn. When adjusting the speed in basic cruise control, the control unit 11 controls the drive unit 5 and the brake unit 6 to set a preset first acceleration as a target acceleration, accelerate the vehicle 1, and make the speed of the vehicle 1 reach the set speed.

[0026] When the control unit 11 executes cruise control, the driver may perceive the first acceleration as high or low depending on the road environment on which the vehicle 1 is traveling. When a traffic factor that affects the cruise control is present in cruise control that maintains a set speed, the control unit 11 may adjust the first acceleration set for the cruise control in accordance with the nature of the traffic factor. For example, when cruise control that maintains a set speed is performed, the control unit 11 determines whether or not a traffic factor that affects the cruise control is present based on a detection value that detects the environment around the vehicle.

[0027] The traffic factors include factors that affect cruise control, such as the density of traffic participants around the vehicle 1, the attributes of the road environment on which the vehicle is traveling, and the difference between the second acceleration and the first acceleration set for the cruise control of another vehicle Mn around the vehicle 1. If, while executing cruise control of the vehicle 1, the control unit 11 determines based on the detection value that detects the environment around the vehicle that there is a traffic factor that affects the cruise control, the control unit 11 adjusts the first acceleration set for the cruise control in accordance with the content of the traffic factor.

[0028] When the density of traffic participants around the vehicle 1, among the traffic factors, affects cruise control, the control unit 11 adjusts the first acceleration according to the density. For example, among the traffic factors, the control unit 11 determines the density of traffic participants around the vehicle 1. The traffic participants include other vehicles Mn that are in the lane L. For example, the control unit 11 communicates with the other vehicles Mn to obtain data on the number of other vehicles Mn that are around the vehicle 1 and traveling in the lane L, and calculates the density of vehicles traveling in the lane L.

[0029] The control unit 11 may extract traffic participants present around the vehicle 1 based on the analysis results of the image data captured by the camera 2A, and calculate the density of the traffic participants. The control unit 11 may be configured to extract traffic participants such as other vehicles Mn and pedestrians included in the image data, for example, by previously performing machine learning such as deep learning using teacher data. The control unit 11 calculates the density of traffic participants in the lane L based on the number of extracted traffic participants. The control unit 11 may extract not only other vehicles Mn but also traffic participants such as pedestrians and light vehicles.

[0030] The control unit 11 may estimate the density of traffic participants on the lane L on which the vehicle 1 is traveling not only by calculating the density of traffic participants on the lane L on which the vehicle 1 is traveling, but also by calculating the density of traffic participants on lanes adjacent to the lane L. For example, the control unit 11 adjusts the first acceleration so as to decrease as the density of traffic participants increases.

[0031] 3, the control unit 11 calculates an adjustment gain Ω (0≦Ω≦1) for adjusting the first acceleration based on the density ρ of traffic participants. The adjustment gain Ω is set to decrease as the density ρ of traffic participants increases, and is set to a lower limit value when the density ρ of traffic participants exceeds a certain value. The control unit 11 calculates the adjusted target acceleration α'1 by multiplying the first acceleration α1 by the adjustment gain Ω based on the following equation (1): α'1=α1×Ω (1)

[0032] The control unit 11 executes cruise control based on the target acceleration obtained by adjusting the first acceleration. The set value of the adjustment gain Ω and the calculation method of the target acceleration α'1 described above are merely examples, and other calculation methods may be used as long as they can adjust the first acceleration according to the density ρ of traffic participants.

[0033] As shown in FIG. 4, the control unit 11 may adjust the first acceleration in accordance with the attributes of the road environment in which the vehicle is traveling, among traffic factors. The control unit 11 determines the attributes of the road environment of the lane L in which the vehicle 1 is traveling, for example, based on a detection value detected by the position sensor 2D. The control unit 11 classifies the attributes of the road environment (road attributes) that correlate with the density of traffic participants. For example, the control unit 11 classifies the road environment into preset attributes such as highways, rural roads, semi-urban areas, residential areas, etc., in order of the density of traffic participants. The control unit 11 calculates the adjusted target acceleration α'1 by multiplying the first acceleration by an adjustment gain Ω that is preset in accordance with the attributes of the road environment, for example.

[0034] For example, on a highway, control unit 11 calculates the adjusted target acceleration α'1 by multiplying the first acceleration by an adjustment gain Ω that is higher than that on a residential area. In addition to the attributes of the road environment described above, control unit 11 may also determine the number of lanes adjacent to lane L and adjust the first acceleration. For example, control unit 11 may adjust the first acceleration by multiplying the first acceleration by a larger adjustment gain Ω as the number of lanes adjacent to lane L increases, and by multiplying the first acceleration by a smaller adjustment gain Ω as the number of lanes adjacent to lane L decreases.

[0035] For example, the control unit 11 may determine the lane width of the lane L and adjust the first acceleration. The control unit 11 may adjust the first acceleration by multiplying the first acceleration by a larger adjustment gain Ω as the lane width of the lane L increases, and by multiplying the first acceleration by a smaller adjustment gain Ω as the lane width of the lane L decreases.

[0036] For example, the control unit 11 may determine the road curvature of the lane L and adjust the first acceleration. The control unit 11 may adjust the first acceleration by multiplying the first acceleration by an adjustment gain Ω that is larger as the road curvature of the lane L increases, and by multiplying the first acceleration by an adjustment gain Ω that is smaller as the road curvature of the lane L decreases.

[0037] For example, the control unit 11 may determine the road gradient of the lane L and adjust the first acceleration. The control unit 11 may adjust the first acceleration by multiplying the first acceleration by a larger adjustment gain Ω as the road gradient of the lane L becomes an upward gradient, and by multiplying the first acceleration by a smaller adjustment gain Ω as the road gradient of the lane L becomes a downward gradient.

[0038] For example, the control unit 11 may determine the signal density of the lane L and adjust the first acceleration. The control unit 11 may adjust the first acceleration by multiplying the first acceleration by a larger adjustment gain Ω as the signal density of the lane L increases, and by multiplying the first acceleration by a smaller adjustment gain Ω as the signal density of the lane L decreases.

[0039] The control unit 11 may adjust the first acceleration α1 depending on the traveling state of the other vehicle Mn, which is one of the traffic factors. The control unit 11 calculates the second acceleration α2 in the traveling state of the other vehicle Mn present around the vehicle 1, based on the detection value detected by the detection unit 2. The control unit 11 compares the calculated second acceleration α2 of the other vehicle Mn with the first acceleration α1.

[0040] 5, when the calculated difference between the second acceleration α2 and the first acceleration α1 of the other vehicle Mn exceeds a preset reference value, the control unit 11 adjusts the first acceleration α1 in accordance with the second acceleration α2. For example, the control unit 11 compares the absolute value of the difference between the second acceleration α2 and the first acceleration α1 with a reference value Q, and when the difference exceeds the reference value Q, the control unit 11 adjusts the first acceleration α1 so that the second acceleration α2 becomes the target acceleration. The reference value is set based on the difference, ratio, etc. between the second acceleration α2 and the first acceleration α1. The control unit 11 executes cruise control of the vehicle 1 based on the adjusted first acceleration α1.

[0041] 6 shows the processing flow of a vehicle control method based on cruise control executed by the vehicle control device 10. The vehicle control method is executed based on a computer program installed on a computer mounted on the vehicle control device 10. The vehicle control device 10 executes the following processes.

[0042] The control unit 11 starts cruise control to maintain a set speed based on an input operation by the driver (step S100). The control unit 11 acquires a detection value detected by the detection unit 2 (step S102). The control unit 11 determines whether or not there is a traffic factor that affects the cruise control based on the detection value that detects the environment around the vehicle 1 (step S104). If the control unit 11 determines that there is a traffic factor that affects the cruise control around the vehicle 1, it adjusts the first acceleration according to the content of the traffic factor (step S106).

[0043] As described above, the vehicle control device 10 can execute appropriate ACC control in accordance with the contents of traffic factors that affect cruise control around the vehicle 1. The vehicle control device 10 can reduce the discomfort that the driver feels from the first acceleration by adjusting the first acceleration in accordance with the contents of traffic factors that affect cruise control around the vehicle 1. The vehicle control device 10 can adjust the speed of the vehicle 1 to match the traffic flow of other vehicles Mn that are present around the vehicle 1 by adjusting the first acceleration in accordance with the density of traffic participants present around the vehicle 1.

[0044] According to the vehicle control device 10, by adjusting the first acceleration in accordance with the attributes of the road environment around the vehicle 1, it is possible to adjust the speed of the vehicle 1 in accordance with the road environment around the vehicle 1. According to the vehicle control device 10, by adjusting the first acceleration in accordance with the second acceleration of other vehicles Mn present around the vehicle 1, it is possible to adjust the speed of the vehicle 1 in accordance with the traffic flow of other vehicles Mn.

[0045] In the above-described embodiment, the computer program executed in each component of the vehicle control device 10 may be provided in a form recorded on a computer-readable, portable, non-transitory recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0046] 1 vehicle 2. Detection unit 2A Camera 2B Lidar Device 2C radar equipment 2D Position Sensor 3 Display section 4. Communications Department 5 Drive unit 6 Braking part 7 Control section 10 Vehicle control device 11 Control section 12 Storage section Mn Other vehicles

Claims

1. a control unit that performs cruise control to maintain the vehicle at a set speed, The control unit In the cruise control for maintaining the set speed, it is determined whether or not there is a traffic factor that affects the cruise control based on a detection value that detects an environment around the vehicle; If the traffic factor exists, adjusting the first acceleration set in the cruise control in accordance with the content of the traffic factor. Vehicle control device.

2. The control unit If the density of traffic participants around the vehicle among the traffic factors affects the cruise control, the first acceleration is adjusted in accordance with the density. The vehicle control device according to claim 1 .

3. The control unit If an attribute of a road environment on which the vehicle is traveling affects the cruise control among the traffic factors, the first acceleration is adjusted in accordance with the attribute. The vehicle control device according to claim 2.

4. The control unit When a difference between a second acceleration and the first acceleration in a traveling state of another vehicle around the vehicle among the traffic factors exceeds a reference value, the first acceleration is adjusted so that the second acceleration becomes a target acceleration. The vehicle control device according to claim 1 .

5. A program installed in a vehicle control device that performs cruise control to maintain a vehicle at a set speed, In the cruise control for maintaining the set speed, it is determined whether or not there is a traffic factor that affects the cruise control based on a detection value that detects an environment around the vehicle; If the traffic factor exists, the first acceleration set in the cruise control is adjusted according to the traffic factor. program.

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