Vehicle control device

Abstract

To provide a vehicle control device that can maintain an inter-vehicle distance and ensure smooth operation in a compatible manner.SOLUTION: A vehicle control device 1 includes: an inter-vehicle distance acquisition unit 10 that acquires an inter-vehicle distance between a preceding vehicle A1 and an own vehicle A0 based on communication between the preceding vehicle A1 and the own vehicle A0; a maintaining unit 20 that maintains a target inter-vehicle distance between the preceding vehicle A1 and the own vehicle A0 and an abnormality determination distance D0 that is a distance at which the own vehicle A0 can stop with a margin D3 between the preceding vehicle A1 and the own vehicle A0 if the communication is interrupted; an inter-vehicle distance control unit 30 that controls the inter-vehicle distance by increasing or decreasing a target vehicle speed if the inter-vehicle distance exceeds a specified range before or after the target inter-vehicle distance; and a stopping control unit 40 that stops the own vehicle A0 if the communication is interrupted and it is detected that the inter-vehicle distance is likely to be the abnormality determination distance D0 or smaller.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device. [Background technology]

[0002] Patent Document 1 describes a vehicle control system. In this vehicle control system, a host vehicle capable of traveling in an autonomous automatic driving mode and a remote automatic driving mode and a nearby vehicle acquires the inter-vehicle distance between the host vehicle and the nearby vehicles through vehicle-to-vehicle communication. The system then determines whether the inter-vehicle distance between the host vehicle and the nearby vehicles is less than a predetermined distance, and if it is less than the predetermined distance, controls the traveling of the host vehicle in the autonomous automatic driving mode so that the inter-vehicle distance between the host vehicle and the nearby vehicles is equal to or greater than the predetermined distance. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-011235 Summary of the Invention [Problem to be solved by the invention]

[0004] However, as in the above-described vehicle control system, when a vehicle and another vehicle perform some kind of communication, such as vehicle-to-vehicle communication or communication with a remote control system, the communication may be interrupted. When the communication is interrupted, it may be difficult to maintain a sufficient distance between the vehicle and the other vehicle. Therefore, when the communication is interrupted, it is conceivable to immediately stop the vehicle so as not to shorten the distance between the vehicle and the other vehicle. However, in this case, the vehicle must be stopped every time the communication is interrupted, making smooth operation difficult.

[0005] Therefore, an object of the present invention is to provide a vehicle control device that can maintain a safe inter-vehicle distance while also ensuring smooth operation. [Means for solving the problem]

[0006] The vehicle control device of the present invention is [1] "a vehicle control device that controls the inter-vehicle distance between a preceding vehicle and its own vehicle, comprising: an inter-vehicle distance acquisition unit that acquires the inter-vehicle distance between the preceding vehicle and its own vehicle based on communication between the preceding vehicle and its own vehicle; a storage unit that stores a target inter-vehicle distance between the preceding vehicle and its own vehicle and an abnormality judgment distance that is a distance at which the own vehicle can stop with a margin between itself and the preceding vehicle if the communication is interrupted; an inter-vehicle distance control unit that controls the inter-vehicle distance by increasing a target vehicle speed of the own vehicle when the inter-vehicle distance acquired by the inter-vehicle distance acquisition unit exceeds a first threshold that is longer than the target inter-vehicle distance by a first distance, and by decreasing the target vehicle speed when the inter-vehicle distance is below a second threshold that is shorter than the target inter-vehicle distance by a second distance; and a stopping control unit that stops the own vehicle when the communication is interrupted and it is detected that the inter-vehicle distance will be equal to or shorter than the abnormality judgment distance."

[0007] This vehicle control device acquires the inter-vehicle distance between the preceding vehicle and the subject vehicle based on communication between the preceding vehicle and the subject vehicle. Then, when the inter-vehicle distance exceeds a first threshold value that is a first distance longer than a pre-stored target inter-vehicle distance, the target speed of the subject vehicle is increased, and when the inter-vehicle distance falls below a second threshold value that is a second distance shorter than the target inter-vehicle distance, the target speed of the subject vehicle is decreased. This enables appropriate inter-vehicle distance control even when the target inter-vehicle distance is set to a distance that is out of reach of the autonomous sensors of the subject vehicle and the preceding vehicle.

[0008] Furthermore, this vehicle control device maintains an abnormality determination distance. The abnormality determination distance is a distance at which the vehicle can stop with a margin between it and the preceding vehicle if communication is interrupted. Then, if communication is interrupted and it is detected that the inter-vehicle distance may become equal to or less than the abnormality determination distance, the host vehicle is stopped. This allows the inter-vehicle distance to be maintained even if communication is interrupted. On the other hand, this also prevents the host vehicle from stopping unnecessarily even if communication is interrupted. Therefore, interruptions to smooth driving are suppressed. As described above, this vehicle control device achieves both maintaining the inter-vehicle distance and smooth driving.

[0009] The vehicle control device according to the present invention may be the vehicle control device according to [2] above [1], wherein the abnormality determination distance is set based on a communication interruption determination time, which is a time for determining that the communication has been interrupted, a first vehicle speed based on a maximum vehicle speed set on the route of the host vehicle, a stopping distance required for the host vehicle traveling at the first vehicle speed to stop, and the margin. In this case, the abnormality determination distance can be set appropriately.

[0010] The vehicle control device according to the present invention may be [3] "the vehicle control device according to the above [2], wherein the first vehicle speed is a vehicle speed obtained by adding an increase in vehicle speed when the inter-vehicle distance control unit performs control to increase the target vehicle speed to the maximum vehicle speed." In this case, it is possible to more appropriately set the abnormality determination distance.

[0011] The vehicle control device according to the present invention may be [4] "the vehicle control device according to the above [2] or [3], wherein the abnormality determination distance is a distance obtained by multiplying the communication interruption determination time by the first vehicle speed, the stopping distance, and the margin." In this case, the abnormality determination distance can be easily and appropriately set.

[0012] The vehicle control device according to the present invention may be [5] "the vehicle control device according to any one of the above [1] to [4], wherein the communication is communication between the preceding vehicle and a remote control system of the host vehicle, or vehicle-to-vehicle communication between the preceding vehicle and the host vehicle." In this way, the communication for acquiring the inter-vehicle distance between the preceding vehicle and the host vehicle may be vehicle-to-vehicle communication, or communication with a remote control system. [Effects of the Invention]

[0013] According to the present invention, it is possible to provide a vehicle control device that can maintain a safe inter-vehicle distance while also ensuring smooth operation. [Brief explanation of the drawings]

[0014] [Figure 1] FIG. 1 is a block diagram showing the functional configuration of a vehicle control device according to this embodiment. [Figure 2] FIG. 2 is a schematic diagram for explaining an abnormality determination distance held by the vehicle control device shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0015] Hereinafter, a vehicle control device according to an embodiment will be described with reference to the drawings. In the description of each drawing, the same or corresponding elements are denoted by the same reference numerals, and redundant description may be omitted.

[0016] Fig. 1 is a block diagram showing the functional configuration of a vehicle control device according to this embodiment. Fig. 2 is a schematic diagram for explaining an abnormality determination distance maintained by the vehicle control device shown in Fig. 1. In Fig. 2, the traveling direction of the host vehicle A0 and the preceding vehicle A1 is illustrated as the X direction. The vehicle control device 1 shown in Fig. 1 is mounted on the host vehicle A0 that is capable of autonomous driving, or is provided in a remote control system that is capable of wireless communication with the host vehicle A0 and the preceding vehicle A1 of the host vehicle A0.

[0017] The vehicle control device 1 includes an inter-vehicle distance acquisition unit 10, a storage unit 20, an inter-vehicle distance control unit 30, and a stop control unit 40. The vehicle control device 1 is a computer having, for example, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), etc. The control unit 70 stores data in the RAM based on a signal output by the CPU, loads a program stored in the ROM into the RAM, and executes the program loaded into the RAM, thereby realizing the processing of each functional unit.

[0018] The inter-vehicle distance acquisition unit 10 acquires the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1 based on communication between the host vehicle A0 and the preceding vehicle A1. The communication here may be inter-vehicle communication between the host vehicle A0 and the preceding vehicle A1, communication with remote control systems of the host vehicle A0 and the preceding vehicle A1, or both. The inter-vehicle distance acquisition unit 10 can acquire the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1, for example, by acquiring position information of the host vehicle A0 and the preceding vehicle A1 via the communication. Time synchronization (position synchronization) using GPS time can be performed to manage and calculate the position information of the host vehicle A0 and the preceding vehicle A1. In this case, the preceding vehicle A1 is also controlled in the same way as the host vehicle A0.

[0019] The storage unit 20 stores a target inter-vehicle distance, which is a target value for the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1. The target inter-vehicle distance may be set to a distance that is beyond the reach of the autonomous sensors of the host vehicle A0 and the preceding vehicle A1. The storage unit 20 also stores an abnormality determination distance D0. The abnormality determination distance D0 is a distance at which the host vehicle A0 can stop with a margin between it and the preceding vehicle A1 if communication between the host vehicle A0 and the preceding vehicle A1 is interrupted.

[0020] More specifically, the abnormality determination distance D0 is set based on a communication interruption determination time t [s], which is the time required to determine that the communication has been interrupted, a first vehicle speed v [m / s] based on the maximum vehicle speed set on the route of the host vehicle A0, a stopping distance D2 [m] (the distance required for an emergency stop) required for the host vehicle A0 traveling at the first vehicle speed v to stop, and a margin D3 [m]. As an example, the abnormality determination distance D0 is a distance obtained by adding a distance D1 obtained by multiplying the communication interruption determination time t by the first vehicle speed v, the stopping distance D2, and the margin D3. Also, as an example, the first vehicle speed v is a vehicle speed obtained by adding an increase in vehicle speed when the inter-vehicle distance control unit 30 performs control to increase the target vehicle speed to the maximum vehicle speed.

[0021] The stopping distance D2 may be a value determined in advance by experiment, or may be determined from the deceleration G and free running distance during an emergency stop. The abnormality determination distance set as described above is a distance at which the host vehicle A0 can stop with a margin D3 between it and the preceding vehicle A1, even in the worst case scenario where the host vehicle A0 is traveling at maximum vehicle speed +α and the preceding vehicle A1 stops for some reason and communication is simultaneously interrupted.

[0022] The inter-vehicle distance control unit 30 increases or decreases the target vehicle speed of the host vehicle A0 when the inter-vehicle distance acquired by the inter-vehicle distance acquisition unit 10 exceeds a predetermined range before or after the target inter-vehicle distance stored in the storage unit 20. More specifically, the inter-vehicle distance control unit 30 increases the target vehicle speed of the host vehicle A0 when the inter-vehicle distance acquired by the inter-vehicle distance acquisition unit 10 exceeds a first threshold value that is longer than the target inter-vehicle distance by a first distance, and decreases the target vehicle speed when the inter-vehicle distance is below a second threshold value that is shorter than the target inter-vehicle distance by a second distance. In this way, the inter-vehicle distance control unit 30 controls the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1.

[0023] Furthermore, if the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1 does not approach a predetermined range before or after the target inter-vehicle distance (for example, the inter-vehicle distance does not widen) even after the target vehicle speed has been increased or decreased, the inter-vehicle distance control unit 30 can additionally increase or decrease the target vehicle speed. However, the inter-vehicle distance control unit 30 sets upper and lower limits for the target vehicle speed. These upper and lower limits can be set within a range that is recognized as a speed error. The first threshold value and the second threshold value may be different values ​​from each other, or may be the same value.

[0024] The stopping control unit 40 stops the vehicle A0 when communication between the vehicle A0 and the preceding vehicle A1 is interrupted and detects that the inter-vehicle distance between the vehicle A0 and the preceding vehicle A1 is likely to become equal to or less than the abnormality determination distance D0.

[0025] For example, if the distance traveled by the host vehicle A0 in the time since communication between the host vehicle A0 and the preceding vehicle A1 was interrupted is subtracted from the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1 at the time communication was interrupted, the stopping control unit 40 can determine that a possibility has been detected that the inter-vehicle distance between the host vehicle A0 and the preceding vehicle A1 will be less than the abnormality judgment distance D0.

[0026] On the other hand, if the distance traveled by the host vehicle A0 in the time since communication between the host vehicle A0 and the preceding vehicle A1 was interrupted, minus the distance between the host vehicle A0 and the preceding vehicle A1 at the time communication was interrupted, is longer than the target distance, the stopping control unit 40 can determine that there is no possibility that the distance between the host vehicle A0 and the preceding vehicle A1 will become less than the abnormality judgment distance D0.

[0027] In other words, even if communication between the subject vehicle A0 and the preceding vehicle A1 is interrupted, the stopping control unit 40 will continue to operate the subject vehicle A0 without stopping the subject vehicle A0 if the inter-vehicle distance between the subject vehicle A0 and the preceding vehicle A1 is sufficiently secured (i.e., longer than the abnormality determination distance), and will stop the subject vehicle A0 when the inter-vehicle distance between the subject vehicle A0 and the preceding vehicle A1 becomes equal to or less than the abnormality determination distance assumed for the worst-case scenario.

[0028] The control of the host vehicle A0 (and the preceding vehicle A1) by the vehicle control device 1 described above may be applied, for example, when multiple vehicles travel around a certain course, such as in a road evaluation test, or when the host vehicle A0 and the preceding vehicle A1 travel along a predetermined route on a public road (without traveling around).

[0029] As described above, the vehicle control device 1 according to this embodiment acquires the inter-vehicle distance between the preceding vehicle A1 and the host vehicle A0 based on communication between the preceding vehicle A1 and the host vehicle A0. If the inter-vehicle distance exceeds a first threshold value that is a first distance longer than a pre-stored target inter-vehicle distance, the target speed of the host vehicle A0 is increased, and if the inter-vehicle distance falls below a second threshold value that is a second distance shorter than the target inter-vehicle distance, the target speed of the host vehicle A0 is decreased. This enables appropriate inter-vehicle distance control even when the target inter-vehicle distance is set to a distance that is beyond the reach of the autonomous sensors of the host vehicle A0 and the preceding vehicle A1.

[0030] Furthermore, the vehicle control device 1 stores an abnormality determination distance D0. The abnormality determination distance D0 is a distance at which the vehicle can stop with a margin D3 between it and the preceding vehicle A1 if communication is interrupted. Then, if communication is interrupted and it is detected that the inter-vehicle distance may become equal to or less than the abnormality determination distance D0, the host vehicle A0 is stopped. This allows the inter-vehicle distance to be maintained even if communication is interrupted. On the other hand, this also prevents the host vehicle A0 from stopping unnecessarily even if communication is interrupted. Therefore, interruptions to smooth driving are suppressed. As described above, the vehicle control device 1 achieves both maintaining the inter-vehicle distance and smooth driving.

[0031] Furthermore, in the vehicle control device 1 according to this embodiment, the abnormality determination distance D0 is set based on a communication interruption determination time t, which is the time at which it is determined that the communication has been interrupted, a first vehicle speed v based on the maximum vehicle speed set on the route of the host vehicle A0, a stopping distance D2 required for the host vehicle A0 traveling at the first vehicle speed v to stop, and a margin D3. This makes it possible to appropriately set the abnormality determination distance assuming the worst-case scenario.

[0032] In the vehicle control device 1 according to this embodiment, the first vehicle speed v is a vehicle speed obtained by adding to the maximum vehicle speed an increase in the vehicle speed when the inter-vehicle distance control unit 30 performs control to increase the target vehicle speed. In this case, it is possible to set the abnormality determination distance more appropriately, assuming a worst-case scenario.

[0033] In the vehicle control device 1 according to this embodiment, the abnormality determination distance D0 is a distance obtained by adding a distance D1 obtained by multiplying the communication interruption determination time t by the first vehicle speed v, a stopping distance D2, and a margin D3. This makes it possible to easily and appropriately set the abnormality determination distance.

[0034] Furthermore, in the vehicle control device 1 according to this embodiment, communication between the host vehicle A0 and the preceding vehicle A1 may be communication between the preceding vehicle A1 and a remote control system of the host vehicle A0, or may be vehicle-to-vehicle communication between the preceding vehicle A1 and the host vehicle A0. In this way, communication for acquiring the inter-vehicle distance between the preceding vehicle A1 and the host vehicle A0 may be vehicle-to-vehicle communication or communication with a remote control system.

[0035] The above embodiment has described one aspect of the vehicle control device according to the present invention. Therefore, the vehicle control device according to the present invention is not limited to the vehicle control device 1 according to the above embodiment, and can be modified as desired.

[0036] For example, the abnormality determination distance D0 may be set by a method different from the above, as long as it is a distance at which the vehicle can stop with a margin D3 between it and the preceding vehicle A1 when communication is interrupted. [Explanation of symbols]

[0037] 1...vehicle control device, 10...inter-vehicle distance acquisition unit, 20...storage unit, 30...inter-vehicle distance control unit, 40...stopping control unit, A0...host vehicle, A1...leading vehicle, D0...abnormality determination distance, D1...distance, D2...stopping distance, D3...margin.

Claims

1. A vehicle control device that controls a distance between a preceding vehicle and a vehicle itself, an inter-vehicle distance acquisition unit that acquires an inter-vehicle distance between the preceding vehicle and the subject vehicle based on communication between the preceding vehicle and the subject vehicle; a storage unit that stores a target inter-vehicle distance between the preceding vehicle and the host vehicle and an abnormality determination distance that is a distance at which the host vehicle can stop with a margin between the preceding vehicle and the host vehicle when the communication is interrupted; an inter-vehicle distance control unit that controls the inter-vehicle distance by increasing a target vehicle speed of the host vehicle when the inter-vehicle distance acquired by the inter-vehicle distance acquisition unit exceeds a first threshold value that is longer than the target inter-vehicle distance by a first distance, and by decreasing the target vehicle speed when the inter-vehicle distance is lower than a second threshold value that is shorter than the target inter-vehicle distance by a second distance; a stop control unit that stops the host vehicle when the communication is interrupted and it is detected that the inter-vehicle distance may become equal to or shorter than the abnormality determination distance; A vehicle control device comprising:

2. The abnormality determination distance is set based on a communication interruption determination time, which is a time for determining that the communication has been interrupted, a first vehicle speed based on a maximum vehicle speed set on the route of the host vehicle, a stopping distance required for the host vehicle traveling at the first vehicle speed to stop, and the margin. The vehicle control device according to claim 1 .

3. The first vehicle speed is a vehicle speed obtained by adding an increase in vehicle speed when the inter-vehicle distance control unit performs control to increase the target vehicle speed to the maximum vehicle speed. The vehicle control device according to claim 2.

4. The abnormality determination distance is a distance obtained by multiplying the communication interruption determination time by the first vehicle speed, the stopping distance, and the margin. The vehicle control device according to claim 2.

5. The communication is communication between a remote control system of the preceding vehicle and the host vehicle, or vehicle-to-vehicle communication between the preceding vehicle and the host vehicle. The vehicle control device according to any one of claims 1 to 4.

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