Vehicle control method

Abstract

To provide a vehicle control method that can improve continuity of autonomous driving.SOLUTION: A vehicle control method is a vehicle control method for controlling an own vehicle 100, which is an autonomous vehicle including a plurality of route deviation determination functions (for example, route deviation determination functions by route deviation determination units 11 and 12 that constitute a redundant determination system E10), and includes step S104 of decelerating the own vehicle 100 and ensuring control of the own vehicle 100 through remote monitoring when all of the plurality of route deviation determination functions cannot be used.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 describes a vehicle control device in which, in a situation where the vehicle is unable to acquire surrounding information and autonomous driving is difficult, a remote control device receives camera images and vehicle information from an internal sensor from the vehicle, and transmits remote control information for controlling the vehicle to the vehicle control device of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent Publication No. 2021-015567 Summary of the Invention [Problem to be solved by the invention]

[0004] Incidentally, it is conceivable to provide a function for determining whether the vehicle, which is capable of autonomous driving as described in Patent Document 1, is deviating from a route. In this case, by providing the vehicle with multiple route deviation determination functions, such as white line recognition by a camera or GNSS, as a redundant system, it becomes possible to continue autonomous driving even when at least some of the route deviation determination functions are unavailable. Meanwhile, when multiple route deviation determination functions are used, there is a demand for enabling autonomous driving to continue while ensuring safety.

[0005] Therefore, an object of the present invention is to provide a vehicle control method that can improve the continuity of autonomous driving. [Means for solving the problem]

[0006] The vehicle control method of the present invention is [1] "a vehicle control method for controlling an autonomous vehicle having multiple route deviation determination functions, the vehicle control method including a control step of decelerating the autonomous vehicle and ensuring control of the autonomous vehicle by remote monitoring when all of the multiple route deviation determination functions are unavailable."

[0007] In this vehicle control method, the autonomous vehicle to be controlled has multiple route deviation detection functions. Therefore, even if at least some of the route deviation detection functions are unavailable, autonomous driving can continue. Furthermore, this control method includes a control step of decelerating the autonomous vehicle and ensuring control of the autonomous vehicle through remote monitoring when all of the multiple route deviation detection functions are unavailable. Therefore, for example, when at least some of the multiple route deviation detection functions become available again as the autonomous vehicle travels, it becomes possible to perform processing such as restoring the autonomous driving of the autonomous vehicle, thereby improving the continuity of autonomous driving. Note that ensuring control of the autonomous vehicle through remote monitoring means, for example, continuing autonomous driving of the autonomous vehicle while remotely monitoring the driving of the autonomous vehicle and enabling the autonomous vehicle to be stopped using an emergency stop remote control means if the autonomous vehicle is detected to deviate from the route.

[0008] The vehicle control method according to the present invention may be [2] "the vehicle control method according to the above [1], further comprising an area setting step of setting a non-use area on the route of the autonomously driven vehicle in which none of the plurality of route deviation determination functions can be used, and performing the control step when the autonomously driven vehicle travels through the non-use area." In this case, by setting in advance a non-use area on the route of the autonomously driven vehicle in which none of the plurality of route deviation determination functions can be used, it becomes possible to easily and reliably perform a control step of decelerating the autonomously driven vehicle and ensuring control of the autonomously driven vehicle through remote monitoring.

[0009] The vehicle control method according to the present invention may be [3] "the vehicle control method described in [2] above, wherein in the area setting step, a vehicle speed of the autonomous vehicle is set for the unused area, and in the control step, when the autonomous vehicle travels through the unused area, the autonomous vehicle is decelerated in accordance with the vehicle speed set in the area setting step." In this case, by setting an appropriate vehicle speed for the unused area in advance, the control step can be carried out more easily and reliably.

[0010] The vehicle control method according to the present invention may be [4] "the vehicle control method according to the above [2] or [3], wherein in the area setting step, a candidate area in which each of the plurality of route deviation determination functions cannot be used is set for the route of the autonomously driven vehicle, and an area in which the candidate areas of all the route deviation determination functions overlap is set as the unused area." In this case, it becomes possible to easily set an appropriate unused area. [Effects of the Invention]

[0011] According to the present invention, it is possible to provide a vehicle control method that can improve the continuity of autonomous driving. [Brief explanation of the drawings]

[0012] [Figure 1] FIG. 1 is a block diagram showing an example of a vehicle control device for implementing a vehicle control method according to this embodiment. [Figure 2] FIG. 2 is a flowchart showing an example of a vehicle control method according to this embodiment. [Figure 3] FIG. 3 is a schematic diagram showing how an unused area is set. DETAILED DESCRIPTION OF THE INVENTION

[0013] A vehicle control method according to an embodiment will be described below 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.

[0014] Fig. 1 is a block diagram showing an example of a vehicle control device for implementing a vehicle control method according to this embodiment. As shown in Fig. 1, the vehicle control device 1 includes a determination device 10 mounted on a host vehicle 100, which is an autonomous driving vehicle, and a remote monitoring system 20 separate from the host vehicle 100. The determination device 10 includes multiple (three in the illustrated example) route deviation determination units 11, 12, and 13, a host position acquisition unit 14, and an area determination unit 15.

[0015] The route deviation determination units 11, 12, and 13 each have a function of acquiring information for determining whether the host vehicle 100 has deviated from a route along which the host vehicle 100 should be driven by automated driving. The route deviation determination units 11, 12, and 13 are, for example, any of a GNSS acquisition unit that acquires the host vehicle's own position, which is the position of the host vehicle 100, using a Global Navigation Satellite System (GNSS), a lane marking recognition unit that recognizes lane markings (e.g., white lines) using a camera mounted on the host vehicle 100, a LiDAR matching unit (LiDAR SLAM) that acquires the host vehicle's own position by matching a point cloud acquired by a LiDAR mounted on the host vehicle 100 with a high-performance map, and a marker reading unit that acquires the host vehicle's own position by reading landmarks such as magnetic markers or paint installed on the road.

[0016] As an example, in this embodiment, route deviation determination unit 11 is a GNSS acquisition unit, route deviation determination unit 12 is a lane marking recognition unit, and route deviation determination unit 13 is a lidar matching unit. In determination device 10, of route deviation determination units 11, 12, and 13, route deviation determination unit 11, which is a GNSS acquisition unit, and route deviation determination unit 12, which is a lane marking recognition unit, form a redundant determination system E10.

[0017] The determination system E10 determines whether or not the vehicle 100 has deviated from the route based on the own position of the vehicle 100 acquired by the GNSS signal in the route deviation determination unit 11 and an image acquired by a camera in the route deviation determination unit 12. The determination system E10 may be configured to transmit information for route deviation determination (the own position and the camera image) acquired by the route deviation determination unit 11 and the route deviation determination unit 12 to the remote monitoring system 20, so that the determination of whether or not the vehicle 100 has deviated from the route is performed on the remote monitoring system 20 side.

[0018] The self-position acquisition unit 14 acquires the self-position of the vehicle 100. The self-position acquisition unit 14 may be any means capable of acquiring the self-position. As an example, in this embodiment, the self-position acquisition unit 14 may be shared with the route deviation determination unit 13, which is a lidar matching unit that does not constitute the determination system E10 among the route deviation determination units 11, 12, and 13. That is, in this embodiment, the self-position acquisition unit 14 is the same as the route deviation determination unit 13, and can acquire the self-position of the vehicle 100 by matching a point cloud obtained by the lidar with a high-performance map.

[0019] The area determination unit 15 determines whether the area in which the vehicle 100 is traveling is an unused area AA in which all of the multiple (two in the illustrated example) route deviation determination units 11, 12 constituting the determination system E10 cannot be used, as will be described later, based on the vehicle's own position acquired by the vehicle's own position acquisition unit 14. The area determination unit 15 may be provided in the remote monitoring system 20.

[0020] When all of the multiple route deviation determination units 11, 12 constituting the determination system E10 are unavailable, the remote monitoring system 20 decelerates the host vehicle 100 to an extremely low speed and ensures control of the host vehicle 100 by remote monitoring.

[0021] The remote monitoring system 20 includes an emergency stop unit 21 and a monitor unit 22. The emergency stop unit 21 includes, for example, an emergency stop remote control. The monitor unit 22 monitors the traveling of the host vehicle 100, for example, based on images from any camera mounted on the host vehicle 100 and the host vehicle's own position. The emergency stop unit 21 stops the host vehicle 100 when all of the multiple route deviation determination units 11, 12 constituting the determination system E10 are unavailable and the monitoring by the monitor unit 22 indicates that the host vehicle 100 has deviated from the route.

[0022] Next, an example of a vehicle control method according to this embodiment will be described. Fig. 2 is a flowchart showing an example of a vehicle control method according to this embodiment. As shown in Fig. 2, in this vehicle control method, first, a non-use area is set on the route of the vehicle 100 (step S101: area setting step). This point will be described in more detail.

[0023] 3 is a schematic diagram showing how to set unused areas. As shown in FIG. 3, in step S101, first, candidate areas A1 and A2 are set for route R of the vehicle 100, in which each of the multiple route deviation determination functions (route deviation determination units 11 and 12) constituting the redundant determination system E10 cannot be used.

[0024] As an example, candidate area A1 is an area in which the route deviation determination function of route deviation determination unit 11, which is a GNSS acquisition unit, cannot be used due to the presence of a structure (e.g., a building) within the GNSS elevation angle conditions for the installation position of the GNSS antenna of vehicle 100. Also, candidate area A2 is an area in which the route deviation determination function of route deviation determination unit 12, which is a lane line recognition unit, cannot be used due to, for example, a small curvature of the road (a sharp curve), making it difficult to recognize lane lines in a camera image.

[0025] Then, in step S101, an area where all candidate areas for the route deviation determination function overlap is set as an unused area AA. Here, an area where candidate areas A1 and A2 where two types of route deviation determination functions cannot be used overlap is set as an unused area AA.

[0026] At the same time, in step S101, the vehicle speed of the vehicle 100 is set for the unused area AA set as described above. Here, the vehicle speed is set to an extremely low speed (for example, approximately 3 km / h to 5 km / h). The setting of the unused area AA and the setting of the vehicle speed for the unused area AA are performed, for example, by the remote monitoring system 20.

[0027] Referring again to Figure 2, in the next step, the own position of the vehicle 100 is acquired (step S102). In step S102, for example, the remote monitoring system 20 can acquire information about the own position of the vehicle 100 acquired by the own position acquisition unit 14 of the vehicle 100 by receiving it from the determination device 10 of the vehicle 100.

[0028] Next, based on the own position of the vehicle 100 acquired in step S102, it is determined whether or not the vehicle 100 is traveling in the unused area AA (whether or not the own position is within the unused area AA) (step S103). The determination in step S103 may be performed, for example, in the remote monitoring system 20.

[0029] If the result of the determination in step S103 is that the vehicle 100 is not traveling in the unused area AA (step S103: NO), the process proceeds to step S102, and steps S102 and S103 are repeatedly performed.

[0030] On the other hand, if the result of step S103 shows that the vehicle 100 is traveling in the unused area AA (step S103: YES), the vehicle 100 is decelerated according to the vehicle speed set in step S101, and the monitor unit 22 of the remote monitoring system 20 monitors the vehicle 100 (step S104: control step). As a result, the vehicle 100 is made to travel at an extremely low speed within the unused area AA, and route deviation of the vehicle 100 is monitored, and control of the vehicle 100 is ensured by remote monitoring (remote monitoring system 20).

[0031] That is, in step S104, when all of the multiple (here, two) route deviation determination functions cannot be used (when traveling through unused area AA), the vehicle 100 is decelerated and control of the vehicle 100 is ensured by remote monitoring.

[0032] As described above, in the vehicle control method according to this embodiment, the subject vehicle 100 (an autonomously driven vehicle) to be controlled has a plurality of route deviation determination functions (here, route deviation determination functions by each of the two route deviation determination units 11 and 12 that constitute the determination system E10). Therefore, even if at least some of the route deviation determination functions cannot be used, it is possible to continue autonomous driving.

[0033] Furthermore, in the vehicle control method according to this embodiment, when all of the multiple route deviation determination functions are unavailable, step S104 is performed in which the host vehicle 100 is decelerated and control of the host vehicle 100 is ensured by remote monitoring (here, remote monitoring system 20). Therefore, for example, when at least some of the multiple route deviation determination functions become available again as the host vehicle 100 advances, it becomes possible to perform processing such as restoring the autonomous automatic driving of the host vehicle 100, thereby improving the continuity of the automatic driving.

[0034] In addition, ensuring control of the vehicle 100, which is an autonomous vehicle, through remote monitoring means, for example, continuing the autonomous driving of the vehicle 100 while remotely monitoring the driving of the vehicle 100 and, if the vehicle 100 is observed to deviate from the route R, being able to stop the vehicle 100 using a remote control means for emergency stop (e.g., emergency stop unit 21).

[0035] The vehicle control method according to this embodiment also includes step S101 of setting a non-use area AA, in which none of the multiple route deviation determination functions are available, on the route R of the host vehicle 100. Then, step S104 is performed when the host vehicle 100 travels through the non-use area AA. By setting in advance the non-use area AA, in which none of the multiple route deviation determination functions are available, on the route R of the host vehicle 100, it is possible to easily and reliably perform step S104, in which the host vehicle 100 is decelerated and control of the host vehicle 100 is ensured by remote monitoring.

[0036] Furthermore, in the vehicle control method according to this embodiment, in step S101, the vehicle speed of the host vehicle 100 is set for the unused area AA. Then, in step S104, when the host vehicle 100 travels through the unused area AA, the host vehicle 100 is decelerated according to the vehicle speed set in step S101. In this way, by setting an appropriate vehicle speed for the unused area AA in advance, step S104 can be carried out more easily and reliably.

[0037] Furthermore, in step S101 of the vehicle control method according to this embodiment, candidate areas A1 and A2 in which each of the multiple route deviation determination functions cannot be used are set for the route R of the vehicle 100, and an area in which the candidate areas A1 and A2 of all the route deviation determination functions overlap is set as a non-use area AA. This makes it possible to easily set an appropriate non-use area AA.

[0038] The above embodiment has described one aspect of the vehicle control method according to the present invention. Therefore, the vehicle control method according to the present invention is not limited to the above embodiment and can be modified as desired.

[0039] For example, the method of performing a control step such as step S104 when multiple route deviation determination functions are unavailable is not limited to the method of pre-setting an unused area AA on the route R of the vehicle 100, as in step S101, and step S104 may also be performed, for example, when it is detected that multiple route deviation determination functions have actually become unavailable.

[0040] Furthermore, even when a non-use area AA is set for route R of vehicle 100 in step S101, it is not necessary to set a vehicle speed for the non-use area. In this case, vehicle 100 may be decelerated to an appropriate speed each time vehicle 100 travels through non-use area AA. [Explanation of symbols]

[0041] 100...own vehicle (autonomous driving vehicle), 11, 12...route deviation determination unit (route deviation determination function), A1, A2...candidate area, AA...unused area.

Claims

1. A vehicle control method for controlling an autonomous vehicle having a plurality of route deviation determination functions, and a control step of decelerating the autonomous vehicle and ensuring control of the autonomous vehicle by remote monitoring when all of the plurality of route deviation determination functions are unavailable. Vehicle control method.

2. an area setting step of setting a non-use area in which all of the plurality of route deviation determination functions cannot be used on a route of the autonomously driven vehicle; The control step is performed when the autonomous vehicle travels through the unused area. The vehicle control method according to claim 1 .

3. In the area setting step, a vehicle speed of the autonomously driven vehicle is set for the unused area, In the control step, when the autonomously driven vehicle travels through the unused area, the autonomously driven vehicle is decelerated in accordance with the vehicle speed set in the area setting step. The vehicle control method according to claim 2 .

4. In the area setting step, a candidate area in which each of the plurality of route deviation determination functions cannot be used is set for the route of the autonomously driven vehicle, and an area in which the candidate areas of all the route deviation determination functions overlap is set as the non-use area. The vehicle control method according to claim 2 or 3.

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