Movable body control system, control method of the same, movable body and program

Abstract

To make it possible to generate travel trajectory having high dependability to other movable body which travels on other traffic lane.SOLUTION: A movable body control system includes target recognition means which recognizes state of a target of environment of a movable body and generation means which generates prediction travel trajectory of other movable body which travels on specific traffic lane different from a traffic lane where the movable body travels. At this time, the generation means generates prediction travel trajectory for avoiding other movable body from a target if it is determined that prescribed condition, corresponding to the fact that the target existing in a specific traffic lane is stationary, is satisfied on the basis of the recognized state of the target.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a mobile object control system, a control method therefor, a mobile object, and a program. [Background technology]

[0002] Conventionally, there is known a technology for generating a driving trajectory for a vehicle to avoid an obstacle when the vehicle is being driven autonomously and an obstacle is found on the road (Non-Patent Document 1). [Prior art documents] [Non-patent literature]

[0003] [Non-Patent Document 1] Joseph Funke, et al., “Simple Clothoid Lane Change Trajectories for Automated Vehicles Incorporating Friction Constraints,” Journal of Dynamic Systems, Measurement, and Control, February 2016. Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, when another moving body (e.g., a vehicle) is traveling in a lane (e.g., an oncoming lane) different from the lane in which the moving body (e.g., the own vehicle) is traveling, the other moving body may, for some reason, approach the lane in which the moving body itself is traveling. For this reason, in order to avoid a collision with the other moving body, it is necessary to generate the moving trajectory of the moving body itself taking into account the moving trajectory of the other moving body.

[0005] In such cases, if the reliability of the predicted travel trajectory of the other moving body is low, there is a problem that the travel trajectory of the moving body itself becomes unstable, such as controlling the steering of the moving body itself in accordance with the behavior of the other moving body that does not actually occur. Furthermore, prediction of the travel trajectory of the other moving body only takes into consideration the case where the other moving body travels only in the same lane, or the case where the other moving body that has deviated from the lane travels to return to the lane.

[0006] The present invention has been made in consideration of the above-mentioned problems, and aims to realize a technology that can generate a highly reliable traveling trajectory for other moving bodies traveling in other lanes. [Means for solving the problem]

[0007] According to the present invention, a target recognition means for recognizing the state of a target outside the moving body; generating means for generating a predicted travel trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling; A mobile object control system is provided in which the generation means generates the predicted driving trajectory for the other mobile object to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target in the specific lane being stationary is satisfied. [Effects of the Invention]

[0008] According to the present invention, it is possible to generate a highly reliable travel trajectory for other moving objects traveling in other lanes. [Brief explanation of the drawings]

[0009] [Figure 1] FIG. 1 is a diagram showing an example of the configuration of a vehicle as an example of a moving body according to an embodiment; [Figure 2] FIG. 1 is a block diagram illustrating an example of a functional configuration of a control device according to an embodiment. [Figure 3] FIG. 10 is a diagram illustrating a predicted traveling trajectory of another moving object according to an embodiment. [Figure 4]1 is a flowchart showing a series of operations of a driving assistance process according to an embodiment; [Figure 5] 1 is a flowchart showing a series of operations in a determination process for a target according to an embodiment; [Figure 6A] , [Figure 6B] , [Figure 6C] FIG. 10 is a diagram illustrating an example of generating a predicted traveling trajectory for another moving object according to an embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0010] Hereinafter, the embodiments will be described in detail with reference to the accompanying drawings. Note that the following embodiments do not limit the scope of the invention as claimed, and not all combinations of features described in the embodiments are necessarily essential to the invention. Two or more of the features described in the embodiments may be arbitrarily combined. Furthermore, the same reference numerals are used for the same or similar components, and redundant explanations will be omitted.

[0011] <Vehicle configuration example> FIG. 1 is a block diagram of a vehicle 1 as an example of a mobile body according to the present invention. In FIG. 1, the vehicle 1 is generally shown in plan view and side view. The vehicle 1 is a four-wheeled passenger car as an example, but may also be a two-wheeled vehicle or other types of vehicle. The mobile body control system according to this embodiment may be a mobile body, a control device such as an ECU included in the mobile body, or an information processing server on the cloud for controlling the mobile body. That is, part or all of the driving assistance processing according to this embodiment, which will be described later, may be executed in the mobile body or in an information processing server on the cloud. The mobile body is not limited to a vehicle, but may include various mobile bodies such as robots capable of autonomous driving.

[0012] The vehicle 1 includes a vehicle control device (hereinafter simply referred to as the control device 2) that controls the vehicle 1. The control device 2 includes multiple ECUs (Electronic Control Units) 20 to 29 that are communicatively connected via an in-vehicle network. Each ECU includes a processor such as a CPU (Central Processing Unit) or a GPU (Graphics Processing Unit), a memory such as a semiconductor memory, an interface with external devices, etc. The memory stores programs executed by the processor and data used by the processor for processing, etc. Each ECU may include multiple processors, memories, interfaces, etc. For example, the ECU 20 includes a processor 20a and a memory 20b. The processor 20a executes instructions included in a program stored in the memory 20b, thereby performing processing by the ECU 20. Alternatively, the ECU 20 may include a dedicated integrated circuit such as an ASIC (Application Specific Integrated Circuit) for performing processing by the ECU 20. The same applies to the other ECUs.

[0013] The functions and the like that are handled by each of the ECUs 20 to 29 will be described below. The number of ECUs and the functions that they are responsible for can be designed as appropriate, and they can be subdivided or integrated more than in this embodiment. For example, one ECU (e.g., ECU 22) may also have the functions of other ECUs.

[0014] The ECU 20 executes control related to manual driving and automatic driving of the vehicle 1. In automatic driving, at least one of steering and acceleration / deceleration of the vehicle 1 is automatically controlled. Note that the automatic driving by the ECU 20 may include automatic driving that does not require driving operation by the driver (also called automatic driving) and automatic driving that assists driving operation by the driver (also called driving assistance). The control of driving by the ECU 20 may include, for example, control to automatically stop or steer the vehicle to avoid a collision in place of driving by the driver.

[0015] The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism for steering the front wheels in response to a driver's driving operation (steering operation) on the steering wheel 31. The electric power steering device 3 also includes a motor that generates driving force to assist the steering operation and automatically steer the front wheels, a sensor that detects the steering angle, etc. When the driving state of the vehicle 1 is autonomous driving, the ECU 21 automatically controls the electric power steering device 3 in response to instructions from the ECU 20, and controls the traveling direction of the vehicle 1.

[0016] The ECUs 22 and 23 control the detection units that detect the vehicle's surroundings and process information on the detection results. The vehicle 1 includes, for example, one standard camera 40 and four fisheye cameras 41 to 44 as detection units that detect the vehicle's surroundings. The standard camera 40 and the fisheye cameras 42 and 44 are connected to the ECU 22. The fisheye cameras 41 and 43 are connected to the ECU 23. By analyzing images captured by the standard camera 40 and the fisheye cameras 41 to 44, the ECUs 22 and 23 can recognize the status of targets, such as their type, position, and speed, as well as lane boundaries on the travel path, lane boundaries (white lines), and dividing lines (broken lines, etc.) between lanes. Note that the type, number, and mounting positions of the cameras in the vehicle 1 are not limited to the example in this embodiment and may be other configurations. Furthermore, the vehicle 1 may include a lidar (light detection and ranging) or millimeter-wave radar as a detection unit for detecting targets around the vehicle 1 and measuring the distance to the targets.

[0017] The standard camera 40 is attached to the center of the front of the vehicle 1 and captures the surroundings in front of the vehicle 1. The fisheye camera 41 is attached to the center of the front of the vehicle 1 and captures the surroundings in front of the vehicle 1. In FIG. 1, the standard camera 40 and the fisheye camera 41 are shown aligned horizontally. However, the arrangement of the standard camera 40 and the fisheye camera 41 is not limited to this; for example, they may be aligned vertically. Furthermore, at least one of the standard camera 40 and the fisheye camera 41 may be attached to the front of the roof of the vehicle 1 (for example, on the inside of the front windshield). The fisheye camera 42 is attached to the center of the right side of the vehicle 1 and captures the surroundings to the right of the vehicle 1. The fisheye camera 43 is attached to the center of the rear of the vehicle 1 and captures the surroundings behind the vehicle 1. The fisheye camera 44 is attached to the center of the left side of the vehicle 1 and captures the surroundings to the left of the vehicle 1.

[0018] The ECU 22 controls the standard camera 40 and the fisheye cameras 42 and 44 and processes information on the detection results. The ECU 23 controls the fisheye cameras 41 and 43 and processes information on the detection results. By dividing the detection unit that detects the vehicle's surroundings into two systems, the reliability of the detection results can be improved. In addition, the ECU 22 can detect the driver's head direction and line of sight using an image of the driver captured by a fisheye camera (not shown) installed inside the vehicle cabin.

[0019] The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, and processes information on the detection results or communication results. The gyro sensor 5 detects the rotational motion of the vehicle 1. The path of the vehicle 1 can be determined based on the detection results of the gyro sensor 5, the wheel speed, etc. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c acquires map information and traffic information through wireless communication with a server that provides this information. The ECU 24 can access a database 24a of map information stored in memory, and performs tasks such as searching for a route from the current location to a destination. The ECU 24, the map database 24a, and the GPS sensor 24b constitute a so-called navigation device.

[0020] The ECU 25 includes a communication device 25a for vehicle-to-vehicle communication. The communication device 25a performs, for example, wireless communication with other vehicles in the vicinity, and exchanges information between the vehicles.

[0021] The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs driving force to rotate the drive wheels of the vehicle 1, and includes, for example, an engine and a transmission. The ECU 26 controls the output of the engine in response to a driving operation (accelerator operation or acceleration operation) by the driver detected by an operation detection sensor 7a provided on the accelerator pedal 7A, for example, and switches the gear position of the transmission based on information such as the vehicle speed detected by a vehicle speed sensor 7c.

[0022] The ECU 27 controls lighting devices (headlights, taillights, etc.) including turn signals 8. In the example of Fig. 1, the turn signals 8 are provided at the front, door mirrors, and rear of the vehicle 1.

[0023] The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to a passenger (e.g., the driver) and receives information input from the driver. The audio output device 91 notifies the driver of information by audio, for example, including a predetermined sound or speech. The content of the notification is output when, for example, the ECU 22 performs a driving assistance process described below, determines whether to issue a notification, and transmits the determined content to the ECU 28. The driving assistance process will be described later. The display device 92 notifies the driver of information by displaying an image. The display device 92 is disposed, for example, on the surface of the driver's seat and constitutes an instrument panel or the like. Note that, although audio and display are exemplified here, information may be notified by vibration or light. Information may also be notified by a combination of audio, display, vibration, and light. The input device 93 is a group of switches disposed in a position operable by the driver to issue instructions to the vehicle 1, but may also include an audio input device.

[0024] The ECU 29 controls the braking device 10 and the parking brake (not shown). The braking device 10 is, for example, a disk braking device, which is provided on each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the braking device 10 in response to a driving operation (braking operation) of the driver detected by an operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is in autonomous driving, the ECU 29 automatically controls the braking device 10 in response to an instruction from the ECU 20 and controls the deceleration and stop of the vehicle 1. The braking device 10 and the parking brake can also operate to maintain the stopped state of the vehicle 1. Further, when the transmission of the power plant 6 includes a parking lock mechanism, this can also operate to maintain the stopped state of the vehicle 1.

[0025] <Functional configuration example realized in the ECU 22> Next, referring to FIG. 2, a functional configuration example realized in the ECU 22 will be described. Although some or all of the functions described below as being realized in the ECU 22 may be realized in other ECUs (for example, the ECU 20). The functional configuration example shown in FIG. 2 shows an example of a functional configuration realized by the ECU 22 executing a program stored in an internal memory. Further, the functional configuration example shown in FIG. 2 focuses on the configuration related to the driving support process described later. Therefore, the functions realized in the ECU 22 are not limited to those shown in FIG. 2 and may include other functions. In the following description, the case where the vehicle 305 and the target 306 exist in the oncoming lane will be described as an example. However, this embodiment is applicable not only to the oncoming lane but also to other lanes (also referred to as specific lanes) different from the lane in which the vehicle 1 is traveling, when the vehicle 305 and the target 306 exist.

[0026] The target recognition unit 201 recognizes the state of targets in the external world of the vehicle 1 based on at least one of images obtained from the detection unit and sensor information from a lidar or the like. Targets include, for example, moving objects around the vehicle 1 (surrounding vehicles, bicycles), passersby such as pedestrians and cyclists, or fallen objects. Surrounding vehicles include other vehicles on the lane in which the vehicle 1 is traveling and other vehicles traveling in the opposite lane of the lane in which the vehicle 1 is traveling. The state of the target includes, for example, the type of the target, the position of the target, the speed of the target, the movement trajectory of the target, etc. The position of the target may be a relative position from the vehicle 1. The target recognition unit 201 can recognize the state of targets in the external world using, for example, one or more neural networks, but other learning models may also be used.

[0027] The driving lane recognition unit 202 recognizes the driving lanes on the travel route on which the vehicle 1 is traveling, based on at least one of images obtained from the detection unit and sensor information such as LIDAR. The information on the recognized driving lanes includes, for example, information on lane boundaries, lane markings, and lane areas on the travel route. The information on lane boundaries and lane markings may be provided, for example, as position information of a discrete point cloud at predetermined distances (for example, every meter). The driving lane recognition unit 202 can recognize the driving lanes on the travel route using, for example, one or more neural networks, but other learning models may also be used. Note that the functions of the target object recognition unit 201 and the driving lane recognition unit 202 may be implemented by a single neural network or learning model.

[0028] The stationary condition determination unit 203 determines whether a predetermined condition corresponding to a target in an oncoming lane being stationary is satisfied, using the target recognition result by the target recognition unit 201 and the recognition result by the driving lane recognition unit 202. The processing by the stationary condition determination unit 203 will be described later.

[0029] The predicted trajectory generating unit 204 generates a predicted traveling trajectory (also simply referred to as a predicted traveling trajectory) of another moving body traveling in an oncoming lane. FIG. 3 is a diagram illustrating a predicted traveling trajectory for another moving body. In the example shown in FIG. 3, a vehicle 301 (i.e., vehicle 1) which is the subject vehicle, is traveling in a traveling lane 302 on the travel route. A target object 306 (e.g., a vehicle) is present in a stationary state in an oncoming lane 304 of the traveling lane 302 shown in FIG. 3. In addition, a vehicle 305 is traveling in the oncoming lane.

[0030] When the vehicle 301 is traveling in the driving lane 302, the target recognition unit 201 recognizes the state of the target, including the position, speed, and movement trajectory of the vehicle 305 and the target 306. In addition, the driving lane recognition unit 202 recognizes the road boundaries, division lines, and lane areas of the driving lane 302 and the oncoming lane 304.

[0031] In the example shown in FIG. 3 , the stationary condition determination unit 203 determines whether a predetermined condition corresponding to the target 306 existing in the oncoming lane 304 being stationary is satisfied. For example, the stationary condition determination unit 203 can determine whether the predetermined condition is satisfied based on the moving speed and position of the target 306 existing in the oncoming lane 304. Specifically, the stationary condition determination unit 203 determines that the predetermined condition is satisfied when, for example, the moving speed of the target 306 is equal to or less than a predetermined threshold and the position of the target is a predetermined distance or more from the center of the oncoming lane 304 in a direction away from the traveling lane 302 (i.e., closer to the road boundary side). In other words, a vehicle that is almost stationary and closer to the road boundary side is a vehicle that is stopped or about to stop. When a stopped target 306 is present ahead in the traveling lane, the vehicle 305 travels on a traveling trajectory to avoid the target 306. On the other hand, a traveling target (vehicle) may temporarily stop due to a stop signal or the like. Since such a target (vehicle) stops approximately in the center of the lane, normally the vehicle 305 does not perform any driving action, including steering, to avoid this target, but simply decelerates.

[0032] The example shown in FIG. 3 shows a predicted traveling trajectory 307 generated by the predicted trajectory generating unit 204 when the stationary condition determining unit 203 determines that the above-mentioned predetermined condition is satisfied. The predicted traveling trajectory 307 is a traveling trajectory along which the vehicle 305 is predicted to travel, in order to avoid the target object 306. The predicted traveling trajectory 307 includes an avoidance start point 308-1 and an avoidance end point 308-4 on the trajectory when the vehicle 305 travels straight. The avoidance start point 308-1 is also the start point of a first steering (for example, steering in a first direction). The vehicle 305 starts steering from the avoidance start point 308-1 and ends the first steering at a steering end point 308-2. The vehicle 305 travels straight to the next steering start point 308-3. Thereafter, steering is started at a steering start point 308-3, which is the start point of a second steering (e.g., steering in a second direction opposite to the first direction), and the second steering is ended at an avoidance end point 308-4. For example, the section between the avoidance start point 308-1 and the steering end point 308-2 and the section between the steering start point 308-3 and the avoidance end point 308-4 are connected by clothoid curves. A clothoid curve is a curve whose trajectory curvature changes linearly with distance. In addition, a clothoid curve is generally known as the trajectory drawn by a vehicle equipped with a steering wheel when the steering wheel is turned at a constant rate while traveling at a constant speed. By constructing a traveling trajectory using a clothoid curve, it is possible to generate a complex trajectory with a high degree of freedom, such as one that meanders left and right. Note that, in this embodiment, an example is shown in which the predicted traveling trajectory generating unit 204 generates the predicted traveling trajectory 307 in a single trajectory generation, but the method of generating the trajectory is not limited to this example. For example, the predicted trajectory generating unit 204 may generate a traveling trajectory in the case where the target object 306 is not avoided, and correct or change the traveling trajectory so that the corrected or changed trajectory becomes the predicted traveling trajectory 307. In this case, the avoidance start point 308-1 and the steering end point 308-2 may be arranged on the traveling trajectory in the case where the target object 306 is not avoided.

[0033] In this way, when it is assumed with high certainty that the vehicle 305 will avoid the target object 306, a predicted travel trajectory of the vehicle 305 is generated to avoid the target object 306. In this way, it becomes possible to generate a highly reliable travel trajectory for the vehicle 305 traveling in another lane.

[0034] The driving control unit 205 generates a driving trajectory for the vehicle 301 by referring to the predicted driving trajectory generated for the vehicle 305. The driving control unit 205 can then control the driving of the vehicle 301 based on the determined driving trajectory. For example, when the driving trajectory of the vehicle 301 is within a predetermined distance from the predicted driving trajectory 307, the driving control unit 205 can generate a driving trajectory such that the vehicle 301 moves away from the vehicle 305. Alternatively, the driving control unit 205 may generate a driving trajectory for the vehicle 301 such that the vehicle 301 travels straight, and may decelerate the vehicle 301 so that the driving trajectory of the vehicle 301 moves away from the predicted driving trajectory 307 by more than a predetermined distance. In other words, the driving control unit 205 controls at least one of the speed and steering of the vehicle 301 so that the vehicle 301 automatically drives according to the determined driving trajectory. In addition to the speed and steering, the driving control unit 205 can perform various controls necessary for the vehicle 301 to automatically drive along the determined driving trajectory. Autonomous driving may include autonomous driving of a vehicle that does not require driving operation by a driver, or autonomous driving that assists driving operation by a driver.

[0035] For example, when the predicted trajectory generating unit 204 generates a predicted traveling trajectory for the vehicle 305 to avoid the target object 306, the notification unit 206 controls the input / output device 9 to notify the driver of the presence of the vehicle 305. In this case, the notification unit 206 notifies the driver with a predetermined warning sound or a voice using a natural language (including an expression describing the vehicle 305 or the target object 306). For example, when the notification unit 206 issues a voice notification, the voice notification includes at least one of the position, direction, distance, and time until a collision with the vehicle 305 or the target object 306. The notification unit 206 may display the content of the notification on the display device 92. For example, the notification unit 206 causes the display device 92 to display information including at least one of the position, direction, distance, and time until a collision with the vehicle 305 or the target object 306. The notification unit 206 may be configured to notify the driver when the distance from the vehicle 301 to the vehicle 305 is equal to or shorter than a predetermined distance, or when the time required to reach the vehicle 305 is equal to or shorter than a predetermined time.

[0036] Next, a series of operations of the driving assistance process in the vehicle will be described with reference to Fig. 4. This process is realized, for example, by the processor 20a of the ECU 22 of the control device 2 executing a program in the memory 20b.

[0037] In S401, the target object recognition unit 201 recognizes the state of targets in the external world of the vehicle 1 based on images obtained from the detection unit and sensor information such as LIDAR. In addition, the driving lane recognition unit 202 recognizes the driving lane in which the vehicle 1 is traveling and the oncoming lane based on images obtained from the detection unit and sensor information such as LIDAR.

[0038] In S402, the stationary condition determination unit 203 determines whether a vehicle is present in the oncoming lane. For example, the stationary condition determination unit 203 determines whether a vehicle is present traveling in the oncoming lane using the recognition result of the target by the target recognition unit 201 and the recognition result by the driving lane recognition unit 202. For example, the stationary condition determination unit 203 can determine the presence of a vehicle traveling in the oncoming lane based on the type of target, the position of the target, the speed of the target, the movement trajectory of the target, etc. If the stationary condition determination unit 203 determines that a vehicle is present traveling in the oncoming lane, the process proceeds to S403; otherwise, the process returns to S401.

[0039] In S403, the stationary condition determination unit 203 determines whether a target (other than the traveling vehicle) exists in the oncoming lane. For example, the stationary condition determination unit 203 can determine the presence of a target other than the traveling vehicle based on the type of the target, the position of the target, the speed of the target, the movement trajectory of the target, etc. The target may include vehicles other than the vehicle determined in S402. If the stationary condition determination unit 203 determines that the target exists in the oncoming lane, the process proceeds to S404; otherwise, the process ends (without performing the subsequent processes).

[0040] In S404, the stationary condition determination unit 203 determines whether a predetermined condition corresponding to a target in the oncoming lane being stationary is satisfied. This process will be described later as a determination process for a target. In S405, if the stationary condition determination unit 203 determines that the predetermined condition is satisfied in S404, the process proceeds to S406; otherwise, the process ends (without performing subsequent processes). That is, in this embodiment, if the predetermined condition is not satisfied, the predicted trajectory generation unit 204 does not generate a predicted traveling trajectory (for a vehicle in the oncoming lane to avoid the target). That is, in this embodiment, if it is not expected that a vehicle in the oncoming lane will avoid the target with high certainty, the predicted traveling trajectory of the vehicle for avoiding the target is not generated. In this way, by limiting the cases in which the predicted traveling trajectory of a vehicle in the oncoming lane is generated, the influence on the generation of the traveling trajectory of the host vehicle can be limited, and the traveling trajectory of the host vehicle can be stabilized. In this case, for example, the predicted trajectory generation unit 204 generates a predicted traveling trajectory in which a vehicle in the oncoming lane travels along the oncoming lane (for example, along the center of the oncoming lane). This reduces the influence of the predicted travel trajectory of the vehicle in the oncoming lane on the travel trajectory of the host vehicle, thereby stabilizing the travel trajectory of the host vehicle. In other words, it is possible to generate a highly reliable travel trajectory for other vehicles traveling in other lanes.

[0041] In S406, the predicted trajectory generating unit 204 generates a predicted traveling trajectory for the vehicle in the oncoming lane to avoid the target. The predicted trajectory generating unit 204 generates the predicted traveling trajectory 307 described above in FIG.

[0042] The process of generating a predicted traveling trajectory will be described with reference to Fig. 6A to Fig. 6C. Fig. 6A to Fig. 6C sequentially show how the predicted traveling trajectory generating unit 204 generates a predicted traveling trajectory. First, as shown in Fig. 6A, the predicted traveling trajectory 307 places an avoidance start point 601-1 and an avoidance end point 601-4 on a trajectory 602 when the vehicle 305 travels straight. The interval between the avoidance start point 601-1 and the avoidance end point 601-4 may be set based on, for example, the traveling speed of the vehicle 305.

[0043] The avoidance start point 601-1 is the start point of the first steering performed to avoid the target object 306. This steering is, for example, steering in the direction of the lane in which the host vehicle is traveling. The avoidance end point 601-4 represents the end point of the traveling trajectory for avoiding the target object 306. After the avoidance end point 601-4, the vehicle 305 travels along the oncoming lane (for example, in the center of the oncoming lane).

[0044] Furthermore, the predicted trajectory generating unit 204 arranges the steering end point 601-2 and the steering start point 601-3 on a substantially straight line. The steering end point 601-2 indicates the position where the steering started from the avoidance start point 601-1 ends. The predicted trajectory generating unit 204 can determine the steering end point 601-2, for example, as follows: The predicted trajectory generating unit 204 identifies the size and center point of the target 306 recognized in S402 and S403, and sets a rectangle (e.g., the dashed frame in FIG. 3) according to the size of the object based on the identified center point. The predicted trajectory control unit 204 determines the steering end point 601-2 based on the set rectangle and a predetermined margin distance for providing a gap between the set rectangle and the vehicle. The steering start point 601-3 indicates the position where the vehicle 305 starts a second steering to return to a traveling trajectory along the oncoming lane 304 after avoiding the target 306. The predicted trajectory generating unit 204 can set the position of the steering start point 601-3 according to, for example, the size of the target recognized from the steering end point 601-2 or the size of the set rectangle.

[0045] Next, the predicted trajectory generating unit 204 sets midpoints 603-1 and 603-2 between the avoidance start point 601-1 and the steering end point 601-2, and between the steering start point 601-3 and the avoidance end point 601-4, respectively, as shown in Fig. 6B. The midpoints 603-1 and 603-2 correspond to the positions where the curvature of the clothoid curve reaches its peak.

[0046] Finally, the predicted trajectory generating unit 204 sets a clothoid curve that passes through the avoidance start point 601-1, the steering end point 601-2, and the midpoint 603-1, and also sets a clothoid curve that passes through the steering start point 601-3, the avoidance end point 601-4, and the midpoint 603-2.

[0047] In S407, the traveling control unit 205 generates a traveling trajectory of the host vehicle (for example, the vehicle 301) by referring to the predicted traveling trajectory.

[0048] In S408, the driving control unit 205 generates a driving trajectory of the host vehicle according to the driving trajectory of the host vehicle. As described above, the driving control unit 205 controls at least one of the speed and steering of the host vehicle so that the host vehicle performs automatic driving according to the determined driving trajectory.

[0049] In S409, the notification unit 206 controls the input / output device 9 to notify the driver of the presence of a vehicle in the oncoming lane (because the predicted trajectory generation unit 204 has generated a predicted traveling trajectory for the vehicle to avoid the target).

[0050] Next, a series of operations of the determination process for a target will be described with reference to Fig. 5. For example, this is realized by the processor 20a of the ECU 22 of the control device 2 executing a program in the memory 20b. This process is executed when the process of S404 described above is started.

[0051] In S501, the stationary condition determination unit 203 acquires the moving speed and position of a target in the oncoming lane. For example, the stationary condition determination unit 203 acquires information from the target recognition unit 201 to acquire the position and moving speed of the target.

[0052] In S502, the stationary condition determination unit 203 determines whether the moving speed of the target is equal to or less than a predetermined threshold. If the stationary condition determination unit 203 determines that the moving speed of the target is equal to or less than the predetermined threshold, the process proceeds to S503; otherwise, the process proceeds to S505.

[0053] In S503, the stationary condition determination unit 203 determines whether the position of the target object is closer to the road boundary than the center of the oncoming lane. That is, the stationary condition determination unit 203 determines whether the position of the target object is a predetermined distance or more away from the center of the oncoming lane in a direction away from the lane in which the vehicle is traveling. If this determination is true, the stationary condition determination unit 203 proceeds to S504, and if not, proceeds to S505.

[0054] In S504, the stationary condition determination unit 203 determines that the condition corresponding to the target being stationary is satisfied. On the other hand, in S505, the stationary condition determination unit 203 determines that the condition corresponding to the target being stationary is not satisfied. Upon completing the processing of S504 or S505, the stationary condition determination unit 203 returns the processing to the caller.

[0055] In this way, in the above-described embodiment, the state of a target object outside the vehicle is acquired, and a predicted traveling trajectory of another vehicle (moving object) traveling in the oncoming lane is generated. At this time, if a predetermined condition corresponding to a target object existing in the oncoming lane being stationary is satisfied, a predicted traveling trajectory (for the other vehicle to avoid the target object) is generated. In this way, it is possible to predict a traveling trajectory with high reliability for another moving object traveling in another lane (for example, the oncoming lane).

[0056] 5, the stationary condition determination unit 203 determines whether or not the condition corresponding to the target being stationary is satisfied based on the moving speed and position of the target. However, this is not limiting, and the stationary condition determination unit 203 may determine whether or not the condition corresponding to the target being stationary is satisfied based only on the moving speed of the target. Furthermore, the stationary condition determination unit 203 may determine whether the magnitude of the relative speed between the vehicle 305 and the target 306 is equal to or greater than a predetermined value, instead of or in addition to the moving speed of the target. If the relative speed is high, the vehicle 305 may overtake the target 306, and the vehicle 305 may travel on a travel trajectory that avoids the target 306.

[0057] <Summary of the embodiment> (Item 1) A target recognition means (e.g., 201) for recognizing the state of a target in the external world of a moving body (e.g., 1); generating means (e.g., 204) for generating a predicted travel trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling; A mobile object control system characterized in that the generation means generates the predicted driving trajectory for the other mobile object to avoid the target when it is determined (e.g., S504) that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied based on the state of the recognized target.

[0058] According to this embodiment, it is possible to generate a highly reliable travel trajectory for other moving bodies traveling in other lanes.

[0059] (Item 2) The mobile object control system described in item 1, characterized in that the generation means does not generate the predicted driving trajectory for the other mobile object to avoid a target object present in the specific lane if it is determined that the predetermined condition is not satisfied (e.g., S505).

[0060] According to this embodiment, by restricting the cases in which a predicted driving trajectory of a moving body in a specific lane is generated, the influence on the generation of the driving trajectory of the moving body itself can be limited, and the driving trajectory of the moving body itself can be stabilized.

[0061] (Item 3) 3. The mobile object control system according to claim 2, wherein the generation means generates the predicted driving trajectory in which the other mobile object drives along the specific lane when it is determined that the predetermined condition is not satisfied.

[0062] According to this embodiment, it is possible to reduce the influence of the predicted travel trajectory of a moving body in a specific lane on the travel trajectory of the own moving body.

[0063] (Item 4) The system further includes a determination means (e.g., 203) for determining whether the predetermined condition is satisfied based on the state of the recognized target, 2. The mobile object control system according to claim 1, wherein the determination means determines that the predetermined condition is satisfied when the moving speed of the target in the specific lane is equal to or less than a predetermined threshold.

[0064] According to this embodiment, when it is assumed with high certainty that another moving body will avoid the target, a predicted traveling trajectory can be generated.

[0065] (Item 5) The system further includes a determination means (e.g., 203) for determining whether the predetermined condition is satisfied based on the state of the recognized target, 2. The mobile object control system according to item 1, wherein the determination means determines whether the predetermined condition is satisfied based on the moving speed and position of a target object present in the specific lane.

[0066] According to this embodiment, it is possible to accurately identify targets that other moving bodies are likely to avoid.

[0067] (Item 6) 6. The mobile object control system according to item 5, wherein the determination means determines that the predetermined condition is satisfied when the moving speed of the target object in the specific lane is equal to or less than a predetermined threshold and the position of the target object is at a predetermined distance or more from the center of the specific lane in a direction away from the lane in which the mobile object is traveling.

[0068] According to this embodiment, it is possible to distinguish between a target traveling in a specific lane that has stopped and a parked target, and to accurately identify targets that a moving body is likely to avoid.

[0069] (Item 7) 2. The mobile object control system according to claim 1, wherein the generation means generates the predicted driving trajectory for the other mobile object to avoid a target in the specific lane by connecting four passing points including the start point and end point of the predicted driving trajectory with a clothoid curve.

[0070] According to this embodiment, the travel trajectory of another moving object in a specific lane can be predicted with high accuracy.

[0071] (Item 8) Item 10. The mobile object control system according to item 1, further comprising a control means (e.g., 205) for controlling the traveling of the other mobile object by referring to a predicted traveling trajectory generated for the other mobile object.

[0072] According to this embodiment, it is possible to control one's own travel by taking into consideration the predicted travel trajectories of other moving bodies in a particular lane.

[0073] (Item 9) 9. The mobile body control system according to item 8, wherein the traveling of the mobile body includes automatic traveling of the mobile body that does not require driving operation by the driver, or automatic traveling to assist driving operation by the driver.

[0074] According to this embodiment, it is possible to provide automatic driving or driving assistance that takes into account the predicted driving trajectories of other moving objects.

[0075] (Item 10) Item 10. The mobile body control system according to item 9, wherein the control means controls at least one of the speed and steering of the mobile body so that the mobile body follows a travel trajectory when the mobile body is driven automatically without requiring a driver to operate the mobile body.

[0076] According to this embodiment, it is possible to provide automatic driving that takes into account the predicted driving trajectories of other moving objects.

[0077] (Item 11) 9. The mobile body control system according to item 8, wherein the control means controls the notification means to notify the driver of the mobile body of the presence of the other mobile body that is avoiding the target in the specific lane.

[0078] According to this embodiment, it is possible to notify the driver of other moving objects that may approach while avoiding the target in the specific lane, and to call his or her attention.

[0079] (Item 12) A target recognition means (e.g., 201) for recognizing the state of a target in the external world of a moving body (e.g., 1); A generating means (e.g., 204) for generating a predicted travel trajectory of another moving object traveling on a specific lane different from the lane on which the moving object is traveling; a control means (e.g., 205) for controlling the travel of the other moving object by referring to the predicted travel trajectory generated for the other moving object; The generating means generates the predicted driving trajectory for the other moving body to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

[0080] According to this embodiment, it is possible to generate a highly reliable travel trajectory for other moving bodies traveling in other lanes.

[0081] (Item 13) A control method for a mobile object control system, comprising: a target recognition step (e.g., S401) for recognizing the state of a target outside the moving body; a generating step (e.g., S406) of generating a predicted traveling trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling, A control method for a mobile object control system, characterized in that the generation step generates the predicted driving trajectory for the other mobile object to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

[0082] According to this embodiment, it is possible to generate a highly reliable travel trajectory for other moving bodies traveling in other lanes.

[0083] (Item 14) A program for causing a computer to function as each means of a mobile object control system, the mobile object control system comprising: A target recognition means (e.g., 201) for recognizing the state of a target outside the moving body; generating means (e.g., 204) for generating a predicted travel trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling; The program is characterized in that the generation means generates the predicted driving trajectory for the other moving body to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

[0084] According to this embodiment, it is possible to generate a highly reliable travel trajectory for other moving bodies traveling in other lanes.

[0085] The invention is not limited to the above-described embodiment, and various modifications and variations are possible within the scope of the gist of the invention. [Explanation of symbols]

[0086] 1...vehicle, 2...control device, 21-29...ECU

Claims

1. a target recognition means for recognizing the state of a target outside the moving body; generating means for generating a predicted travel trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling; The generating means generates the predicted driving trajectory for the other moving body to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

2. 2. The mobile object control system according to claim 1, wherein the generation means does not generate the predicted driving trajectory for the other mobile object to avoid a target object present in the specific lane when it is determined that the predetermined condition is not satisfied.

3. 3. The mobile object control system according to claim 2, wherein the generation means generates the predicted traveling trajectory in which the other mobile object travels along the specific lane when it is determined that the predetermined condition is not satisfied.

4. The method further includes a determination means for determining whether or not the predetermined condition is satisfied based on the state of the recognized target, 2. The mobile object control system according to claim 1, wherein the determining means determines that the predetermined condition is satisfied when the moving speed of the target existing in the specific lane is equal to or less than a predetermined threshold value.

5. The method further includes a determination means for determining whether or not the predetermined condition is satisfied based on the state of the recognized target, 2. The mobile object control system according to claim 1, wherein the determining means determines whether the predetermined condition is satisfied based on a moving speed and a position of a target object existing in the specific lane.

6. 6. The mobile object control system according to claim 5, wherein the determination means determines that the predetermined condition is satisfied when the movement speed of a target object present in the specific lane is equal to or less than a predetermined threshold and the position of the target object is at a predetermined distance or more from the center of the specific lane in a direction away from the lane in which the mobile object is traveling.

7. 2. The mobile object control system according to claim 1, wherein the generation means generates the predicted driving trajectory for the other mobile object to avoid a target present in the specific lane by connecting four passing points including a start point and an end point of the predicted driving trajectory with a clothoid curve.

8. The mobile object control system according to claim 1 , further comprising a control unit that controls the traveling of the other mobile object by referring to a predicted traveling trajectory generated for the other mobile object.

9. 9. The mobile body control system according to claim 8, wherein the traveling of the mobile body includes automatic traveling of the mobile body that does not require driving operation by a driver, or automatic traveling to assist driving operation by the driver.

10. The mobile body control system according to claim 9, characterized in that, when the mobile body is driven automatically without requiring a driver to operate the vehicle, the control means controls at least one of the speed and steering of the mobile body so that the mobile body follows a driving trajectory.

11. 9. The mobile body control system according to claim 8, wherein the control means controls the notification means to notify the driver of the mobile body of the presence of the other mobile body that is avoiding the target in the specific lane.

12. a target recognition means for recognizing the state of a target outside the moving body; a generation means for generating a predicted travel trajectory of another moving object traveling on a specific lane different from the lane on which the moving object is traveling; a control means for controlling the traveling of the other moving object by referring to the predicted traveling trajectory generated for the other moving object; The generating means generates the predicted driving trajectory for the other moving body to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

13. A control method for a mobile object control system, comprising: a target recognition step of recognizing a state of a target outside the moving body; a generating step of generating a predicted traveling trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling, A control method for a mobile object control system, characterized in that the generation step generates the predicted driving trajectory for the other mobile object to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

14. A program for causing a computer to function as each means of a mobile object control system, the mobile object control system comprising: a target recognition means for recognizing the state of a target outside the moving body; generating means for generating a predicted travel trajectory of another moving object traveling in a specific lane different from the lane in which the moving object is traveling; The program is characterized in that the generation means generates the predicted driving trajectory for the other moving body to avoid the target when it is determined, based on the state of the recognized target, that a predetermined condition corresponding to the target existing in the specific lane being stationary is satisfied.

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