Control device for vehicle, control method for vehicle, and computer program

Abstract

To enable prompting a driver, when necessary, to take countermeasures against a driving scene in which it is difficult to cause an action similar to the action of a driver.SOLUTION: A control device 5 of a vehicle 100 is configured such that, during execution of driving assistance involving travel control of the vehicle 100, when the vehicle is traveling in a congested section or a section in which congestion is expected, and when the number of times another vehicle cuts in between the vehicle 100 and a preceding vehicle of the vehicle 100 reaches a predetermined number or more, the control device lowers a driving control level of the driving assistance or requests taking-over to the driver of the vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

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

[0002] Patent Document 1 discloses a conventional vehicle control device that is configured to shorten or lengthen the distance between the subject vehicle and a vehicle ahead that is traveling in the same lane as the subject vehicle (the subject lane) based on the behavior and position of other vehicles traveling in adjacent lanes. This prevents other vehicles from forcibly cutting in between the subject vehicle and the vehicle ahead, or allows them to cut in safely. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-14175 Summary of the Invention [Problem to be solved by the invention]

[0004] In a merging scene in a congested section where vehicles are constantly starting and stopping and traveling at low speeds, it is common for vehicles in the merging lane to merge into the main lane one by one, alternating with vehicles traveling in the main lane. However, if, for safety reasons, the system is designed to make it easier for other vehicles to cut in between the vehicle and the vehicle ahead during driving assistance, there is a risk that multiple other vehicles will merge between the vehicle and the vehicle ahead in a merging scene in a congested section. In other words, there is a problem in that it is difficult to make the vehicle's control device perform actions similar to those of the driver in a merging scene in a congested section.

[0005] The present invention has been made with a focus on such problems, and aims to make it possible to prompt the driver, as necessary, to deal with a merging scene in a congested section where it is difficult to get the driver to behave in the same way as the other driver. [Means for solving the problem]

[0006] In order to solve the above problem, a vehicle control device according to one aspect of the present invention is configured to, while performing driving assistance involving vehicle driving control, lower the driving control level of the driving assistance or request the driver of the vehicle to take over driving when the number of times other vehicles cut in between the vehicle and a vehicle in front of the vehicle reaches a predetermined number or more while the vehicle is traveling in a congested section or a section where congestion is expected.

[0007] In addition, a vehicle control method according to one aspect of the present invention determines whether the vehicle is traveling in a congested section or a section where congestion is expected while driving assistance involving vehicle navigation control is being performed, and if the vehicle is traveling in a congested section or a section where congestion is expected, determines whether the number of times other vehicles have cut in between the vehicle and a vehicle in front of the vehicle has exceeded a predetermined number, and if the number of cut-in times has exceeded the predetermined number, reduces the driving control level of the driving assistance or requests the driver of the vehicle to take over driving.

[0008] In addition, a computer program according to one aspect of the present invention determines whether the vehicle is traveling through a congested section or a section where congestion is expected while driving assistance involving vehicle driving control is being performed, and if the vehicle is traveling through a congested section or a section where congestion is expected, determines whether the number of times other vehicles have cut in between the vehicle and a vehicle in front of the vehicle has exceeded a predetermined number, and if the number of cut-in times has exceeded the predetermined number, causes the computer to execute processing to lower the driving control level of the driving assistance or request the driver of the vehicle to take over driving. [Effects of the Invention]

[0009] According to these aspects of the present invention, it is possible to prompt the driver to take appropriate action as needed in a merging scene in a congested section where it is difficult to get the driver to take the same action as the other vehicle. [Brief explanation of the drawings]

[0010] [Figure 1]1 is a schematic configuration diagram of a vehicle according to an embodiment of the present invention; [Figure 2] 4 is a flowchart illustrating an example of driving assistance control. DETAILED DESCRIPTION OF THE INVENTION

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, like components are designated by like reference numerals.

[0012] FIG. 1 is a schematic diagram of a vehicle 100 according to an embodiment of the present invention.

[0013] The vehicle 100 includes a surrounding sensor 1, a vehicle sensor 2, an HMI (Human Machine Interface) 3, an actuator 4, and a control device 5. The surrounding sensor 1, the vehicle sensor 2, the HMI 3, the actuator 4, and the control device 5 are communicatively connected to each other via an in-vehicle network 9 that complies with a standard such as a controller area network.

[0014] The surrounding sensor 1 is a sensor for generating surrounding data that represents the situation around the vehicle 100. In this embodiment, the surrounding sensor 1 includes one or more external cameras 11 for capturing images of the surroundings of the vehicle 100, and one or more distance measuring sensors 12 for measuring distances to various targets, such as other vehicles, that exist around the vehicle 100.

[0015] The external camera 11 captures the surroundings of the vehicle 100 at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates a surrounding image showing the surroundings of the vehicle 100. Every time the external camera 11 generates a surrounding image, it transmits the generated surrounding image to the control device 5 as surrounding data.

[0016] The distance measurement sensor 12 irradiates a distance measurement area around the vehicle with laser light, radio waves, ultrasonic waves, or the like, and receives reflected light of the irradiated laser light or reflected waves of the irradiated radio waves or ultrasonic waves. The distance measurement sensor 12 then measures the distance to various targets present within the distance measurement area based on the received reflected light or reflected waves. The distance measurement sensor 12 transmits distance measurement data, which associates the distance to each target with coordinate information of each target, to the control device 5 as peripheral data. Examples of the distance measurement sensor 12 include a LiDAR (Light Detection and Ranging) that irradiates radar light and measures distance based on the reflected light, and a millimeter-wave radar sensor that irradiates radio waves and measures distance based on the reflected waves.

[0017] The vehicle sensor 2 is a sensor for generating vehicle data that indicates the state of the vehicle 100. In this embodiment, the vehicle sensor 2 includes, for example, a speed sensor 21 that generates speed data that indicates the traveling speed of the vehicle 100, and a positioning sensor 22 that generates current position data that indicates the current position of the vehicle 100, such as latitude and longitude. However, the vehicle sensor 2 is not limited to these sensors. Each piece of data acquired by the vehicle sensor 2 is transmitted to the control device 5 as vehicle data.

[0018] The HMI 3 is a user interface for exchanging information between the vehicle 100 and its occupants. The HMI 3 includes an output device 31 for notifying the vehicle occupants through their bodily senses (for example, vision, hearing, and touch), and an input device 32 for the vehicle occupants to perform input operations and response operations. The output device 31 is, for example, a display (for example, a meter display, a center display, a head-up display, etc.) or a speaker. The input device 32 is, for example, a touch panel or a microphone.

[0019] The HMI 3 notifies the vehicle occupant of information corresponding to the display signal received from the control device 5 via the output device 31, and transmits data input by the vehicle occupant to the control device 5 via the input device 32.

[0020] The HMI 3 may be pre-installed in the vehicle 100, or may be a terminal such as a smartphone owned by a vehicle occupant. In the latter case, for example, information may be exchanged between the vehicle 100 and the vehicle occupant's terminal by short-range wireless communication, or information may be exchanged indirectly via communication between the vehicle occupant's terminal and an external server (not shown).

[0021] The actuator 4 is a device used for driving control of the vehicle 100. In this embodiment, the actuator 4 includes an acceleration actuator 41 (for example, at least one of an engine and a motor) that controls acceleration of the vehicle 100, a brake actuator 42 (for example, a hydraulic actuator) that controls braking of the vehicle 100, and a steering actuator 43 (for example, a steering motor) that controls steering of the vehicle 100.

[0022] The control device 5 is an ECU (Electronic Control Unit) including a communication unit 51, a storage unit 52, and a processing unit 53.

[0023] The communication unit 51 includes an interface circuit for connecting the control device 5 to the in-vehicle network 9. The communication unit 51 supplies various data received from various sensors, the HMI 3, etc. to the processing unit 53. The communication unit 51 also outputs various signals output from the processing unit 53 to the HMI 3, the actuator 4, etc.

[0024] The storage unit 52 has a storage medium such as a hard disk drive (HDD), a solid disk drive (SSD), or a semiconductor memory, and stores various computer programs and data used for processing by the processing unit 53.

[0025] The processing unit 53 has one or more central processing units (CPUs) and their peripheral circuits, and executes various computer programs stored in the storage unit 52. The processing unit 53 is, for example, a processor. The processing unit 53 may further include other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit. The processing unit 53 executes processing in accordance with the computer programs, thereby functioning as a target detection unit 61, a feature detection unit 62, and a driving assistance unit 63, and operates as functional units (modules) that realize predetermined functions. In the following description, when processing is described using each of the functional units 61 to 63 as the subject, it indicates that the processing unit 53 is executing a program that realizes each of the functional units 61 to 63.

[0026] The following describes the specific processing carried out by the control device 5. That is, the details of the functional units 61 to 63 realized by the processing unit 53 executing processing in accordance with a computer program will be described.

[0027] The target detection unit 61 detects targets around the vehicle 100 based on the surrounding data. For example, the target detection unit 61 sequentially inputs surrounding images received from the external camera 11 into a classifier to detect areas in the surrounding images where targets such as other vehicles, motorcycles, pedestrians, and buildings are depicted, and the types of targets depicted in those areas. The classifier may be, for example, a convolutional neural network (CNN) having multiple convolution layers connected in series from the input side to the output side. The target detection unit 61 estimates the distance from the external camera 11 to the target using the standard size of the target stored in the memory unit 52 for each type of target and the size of the target detected in the surrounding images, and calculates the position and speed of the target by tracking the target detected in the surrounding images over time. Furthermore, the target detection unit 61 detects other vehicles present around the vehicle and detects the distance to the other vehicles by, for example, grouping reflection points that satisfy a predetermined condition among the multiple reflection points detected by the distance measurement sensor 12 as reflection points of laser light or the like reflected from the same object. Note that the method for detecting targets is not limited to this method, and various known methods may be used for detection.

[0028] The feature detection unit 62 detects features around the vehicle 100 based on the surrounding data. The feature detection unit 62 detects features such as lane markings of the vehicle's own lane and adjacent lanes, for example, based on surrounding images received from the external camera 11. The feature detection unit 62 detects lane markings of the vehicle's own lane and adjacent lanes, for example, using an image recognition method such as edge detection or semantic segmentation, based on surrounding images received from the external camera 11. Note that the method for detecting features is not limited to this method, and various known methods may be used for detection.

[0029] The driving assistance unit 63 controls the actuator 4 based on the targets and features detected by the target detection unit 61 and the feature detection unit 72, and performs driving assistance involving driving control of the vehicle 100. In this embodiment, the driving assistance unit 63 can perform driving assistance involving driving control of the vehicle 100 at a driving control level of Level 3 defined by the Society of Automotive Engineers (SAE), that is, a driving control level that does not require the driver to operate the actuators 41 to 43 or monitor the surroundings. Furthermore, the driving assistance unit 63 can perform driving assistance involving driving control of the vehicle 100 at a driving control level in which the driver is involved in driving the vehicle 100, for example, a driving control level of Level 1 or Level 2 defined by the SAE.

[0030] When the driving assistance unit 63 is performing, for example, follow-up control to perform follow-up driving while maintaining an appropriate inter-vehicle distance from a leading vehicle as driving assistance involving driving control of the vehicle 100, the driving assistance unit 63 detects another vehicle in a predetermined area ahead traveling in an adjacent lane as a cut-in predicted vehicle that is predicted to cut in between the vehicle 100 and the leading vehicle. Then, the driving assistance unit 63 determines whether or not to allow the cut-in predicted vehicle to cut in based on the blinker operation state of the cut-in predicted vehicle, the lateral speed of the cut-in predicted vehicle, the lateral distance (relative position) from the cut-in predicted vehicle, and the like, and adjusts the inter-vehicle distance from the leading vehicle.

[0031] Specifically, when cutting in is permitted, the driving assistance unit 63 controls the driving of vehicle 100 to increase the distance between the vehicle and the vehicle in front so that space is secured between the vehicle and the vehicle in front for the vehicle predicted to cut in; when cutting in is not permitted, the driving assistance unit 63 controls the driving of vehicle 100 to decrease the distance between the vehicle and the vehicle in front so that space is not secured between the vehicle and the vehicle in front for the vehicle predicted to cut in.

[0032] Here, in a merging scene where another vehicle in the merging lane is to merge into the vehicle's own lane, it is common practice to have one other vehicle merge between vehicle 100 and the vehicle in front, and then have the other vehicles in the merging lane merge into the vehicle's own lane one by one in turn.

[0033] However, when the driving assistance involving cruise control of the vehicle 100, for example, the aforementioned tracking control, is implemented, and the conditions for allowing cutting in are relatively relaxed for safety reasons (for example, if cutting in is permitted when the lateral speed is equal to or greater than a predetermined speed, the value of the predetermined speed is relatively small, or if cutting in is permitted when the lateral distance is less than a predetermined distance, the value of the predetermined distance is relatively large), there is a risk that multiple vehicles will merge between the vehicle 100 and the vehicle in front when the vehicle 100 is merging into a congested section where the vehicle 100 continues to start and stop or travel at low speeds. As a result, there is a risk that the start of the vehicle 100 will be delayed, which may irritate the following vehicles and induce them to tailgate. On the other hand, conversely, if the conditions for allowing cutting in are relatively strict, there is a risk that the distance between the vehicle in front or the vehicle cutting in will become too close.

[0034] As described above, there are driving situations where it is difficult to make the driver behave in the same way as he or she normally does when driving assistance involving driving control of the vehicle 100 is being implemented. Therefore, in this embodiment, in a merging scene at a congested section, which is an example of such a driving situation, when the number of times that vehicles cut in between the vehicle 100 and the vehicle in front reaches a predetermined number or more, the driving control level is lowered below the current driving control level, or the driver is requested to take over driving.

[0035] 2 is a flowchart illustrating an example of driving assistance control performed by the driving assistance unit 63, and therefore the control device 5. The control device 5 switches and executes this routine at a predetermined calculation period ΔT.

[0036] In step S1, the control device 5 determines whether driving assistance involving driving control of the vehicle 100 is being performed. If driving assistance involving driving control of the vehicle 100 is being performed, the control device 5 proceeds to the processing of step S2. On the other hand, if driving assistance involving driving control of the vehicle 100 is not being performed, the control device 5 ends this processing.

[0037] In step S2, the control device 5 determines whether the vehicle is traveling through a congested section. The method for determining whether the vehicle is traveling through a congested section is not particularly limited, and the determination can be made, for example, based on the traveling speed of the vehicle 100 acquired by the speed sensor 21. Alternatively, the determination can be made, for example, based on the traveling speed of other vehicles detected by the target detection unit 61. Alternatively, the determination can be made, for example, based on congestion information received from an external road traffic information center or the like. If the control device 5 is traveling through a congested section, the control device 5 proceeds to processing in step S4. On the other hand, if the control device 5 is not traveling through a congested section, the control device 5 proceeds to processing in step S3.

[0038] In step S3, the control device 5 determines whether the vehicle 100 is traveling in a section where congestion is expected (hereinafter referred to as the "expected congestion section"). The method for determining whether the vehicle 100 is traveling in a section where congestion is expected is not particularly limited. For example, the control device 5 can determine whether the vehicle 100 is traveling in a section that is pre-registered in the map information as a section where congestion frequently occurs, based on the current position acquired by the positioning sensor 22 and map information stored in the memory unit 52 or the like. In addition, for example, if it is determined that the vehicle 100 is traveling in a merging section based on a surrounding image received from the external camera 11, or if a sign indicating that lanes will be reduced due to construction or the like is confirmed, it can also be determined that the vehicle 100 is traveling in a section where congestion is expected. If the control device 5 is traveling in a section where congestion is expected, the control device 5 proceeds to the processing of step S4. On the other hand, if the control device 5 is not traveling in a section where congestion is expected, the control device 5 ends the current processing.

[0039] In step S4, the control device 5 determines whether the number of times other vehicles have cut in between the vehicle 100 and the vehicle in front has reached a predetermined number or more. The predetermined number can be two or more times, and is set to two in this embodiment. If the number of times other vehicles have cut in while traveling through the congested section or the section expected to be congested has reached a predetermined number or more, the control device 5 proceeds to the processing of step S5. On the other hand, if the number of times other vehicles have cut in while traveling through the congested section or the section expected to be congested is less than the predetermined number, the control device 5 ends the current processing.

[0040] In step S5, the control device 5 lowers the driving control level below the current driving control level, or requests the driver to take over driving via the HMI 3.

[0041] 2, for example, step S3 may be omitted, and the process may be terminated when it is determined in step S2 that the section is not congested. In other words, it may be determined whether the number of interrupts has reached a predetermined number only when congestion actually occurs.

[0042] Conversely, step S2 may be omitted, and the process of step S3 may be performed after step S1. In other words, it may be assumed that congestion is occurring in the congestion predicted section, and it may be determined whether the number of cut-ins has reached a predetermined number or more without determining whether congestion is actually occurring in the congestion predicted section.

[0043] The control device 5 of the vehicle 100 according to the present embodiment described above is configured to lower the driving control level of the driving assistance or request the driver of the vehicle 100 to take over driving when the number of times another vehicle cuts in between the vehicle 100 and a vehicle in front of the vehicle 100 exceeds a predetermined number while the vehicle 100 is traveling in a congested section or a section where congestion is expected, during which driving assistance involving driving control of the vehicle 100 is being performed. The driving assistance is, for example, driving assistance that performs following driving while maintaining an appropriate inter-vehicle distance from the vehicle in front.

[0044] As a result, in a merging scene in a congested section where it is difficult to make other vehicles behave in the same way as the driver, the driving control level of the driving assistance can be lowered as needed, or the driver of vehicle 100 can be requested to take over driving. Therefore, it is possible to urge the driver to take action as needed in a merging scene in a congested section where it is difficult to make other vehicles behave in the same way as the driver. As a result, it is possible to prevent other vehicles from cutting in front of vehicle 100 more than necessary, thereby preventing delays in the start of vehicle 100 and thereby preventing following vehicles from becoming irritated and tailgating the following vehicles.

[0045] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments.

[0046] In the above embodiment, the computer program executed by the control device 5 may be provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0047] 5. Control device 100 vehicles

Claims

1. A control device for a vehicle, During the implementation of driving assistance involving driving control of the vehicle, when the vehicle is traveling in a congested section or a section where congestion is expected, if the number of times that another vehicle cuts in between the vehicle and a vehicle ahead of the vehicle becomes equal to or exceeds a predetermined number, the driving control level of the driving assistance is lowered or a request is made to the driver of the vehicle to take over driving. Vehicle control device.

2. The driving assistance is driving assistance for following the vehicle ahead while maintaining an appropriate inter-vehicle distance from the vehicle ahead. The vehicle control device according to claim 1 .

3. A vehicle control method, comprising: determining whether the vehicle is traveling in a congested section or a section where congestion is expected during the execution of driving assistance involving driving control of the vehicle; When the vehicle is traveling in a congested section or a section where congestion is expected, it is determined whether the number of times that other vehicles have cut in between the vehicle and a vehicle ahead of the vehicle has reached a predetermined number or more, When the number of interruptions reaches or exceeds the predetermined number, the driving control level of the driving assistance is lowered or a request is made to the driver of the vehicle to take over driving. How to control the vehicle.

4. While performing driving assistance involving vehicle travel control, it is determined whether the vehicle is traveling in a congested section or a section where congestion is expected; When the vehicle is traveling in a congested section or a section where congestion is expected, it is determined whether the number of times that other vehicles have cut in between the vehicle and a vehicle ahead of the vehicle has reached a predetermined number or more, When the number of interruptions reaches or exceeds the predetermined number, the driving control level of the driving assistance is lowered or a request is made to the driver of the vehicle to take over driving. A computer program that causes a computer to perform a process.

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