Vehicle control system

Abstract

To provide a vehicle control system that can enhance user convenience even in situations where the only area where a vehicle can turn is located far from the vehicle itself. [Solution] The automatic driving ECU 100, which is a vehicle control device, includes an environment recognition unit 61, a map generation unit 62, and an action decision unit 63. The environment recognition unit 61 detects a turnable area in which the vehicle Am can turn, based on detection information of objects around the vehicle acquired by the vehicle Am while it is in motion. The map generation unit 62 stores the location information of the turnable area detected by the environment recognition unit 61. The action decision unit 63 executes automatic turning control to turn the vehicle Am in the turnable area whose location information is stored in the map generation unit 62.

Description

Technical Field

[0001] The disclosure according to this specification relates to a vehicle control device.

Background Art

[0002] Patent Document 1 discloses a turnable area detection device that detects a turning circuit extending from a traveling road based on information on obstacles existing around a host vehicle traveling along the traveling road. This turnable area detection device determines that the host vehicle can turn in the turning circuit based on the absence of obstacles on the turning circuit side in the traveling road.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The turnable area detection device of Patent Document 1 can only determine whether a turnable area exists around the current host vehicle. Therefore, in a scene where there is no turnable area around the current host vehicle and a turnable area exists only at a position away from the host vehicle, it has been impossible to assist the user in turning the host vehicle.

[0005] An object of the present disclosure is to provide a vehicle control device capable of enhancing user convenience even in a scene where a turnable area exists only at a position away from the host vehicle.

Means for Solving the Problems

[0006] To achieve the above objective, one disclosed embodiment is a vehicle control device comprising: an area detection unit (61) that detects a turnable area (TS) in which the vehicle can turn, based on detection information of objects around the vehicle acquired by the vehicle (Am) while it is in motion; an area storage unit (62) that stores location information of the turnable area detected by the area detection unit; and a driving control unit (63) that performs automatic turning control to turn the vehicle in the turnable area whose location information is stored in the area storage unit.

[0007] In this configuration, location information of a turntable area in which the vehicle can turn is stored. Therefore, even if there is no turntable area in the immediate vicinity of the vehicle, automatic turning control can be performed to turn the vehicle in a turntable area whose location information has been stored. Thus, it is possible to improve user convenience even in situations where a turntable area exists far from the vehicle.

[0008] Furthermore, the reference numbers in parentheses above and in the claims are merely examples of correspondences with specific configurations in the embodiments described later, and do not in any way limit the technical scope. In addition, combinations of claims not explicitly stated in the claims are also possible, provided that they do not cause any particular problems with the combination. [Brief explanation of the drawing]

[0009] [Figure 1] This block diagram shows an overall view of an in-vehicle system including an autonomous driving ECU according to one embodiment of the present disclosure. [Figure 2] This figure shows an example of the shape of a turning area in which the vehicle can perform a turn. [Figure 3] Figures 4 and 5 illustrate an example of a scenario in which extended turning control is used. [Figure 4] Figures 3 and 5 illustrate an example of a scenario in which extended turning control is used. [Figure 5] Figures 3 and 4 illustrate an example of a scenario in which extended turning control is used. [Figure 6]This flowchart shows the details of the memory storage process performed by the autonomous driving ECU. [Figure 7] This flowchart shows the details of the turn-execution process performed by the autonomous driving ECU. [Figure 8] This flowchart shows the details of the reversal execution process for Modification Example 1. [Modes for carrying out the invention]

[0010] The functions of the vehicle control device according to one embodiment of this disclosure are realized by the Autonomous Driving ECU (Electronic Control Unit) 100 shown in Figure 1. The Autonomous Driving ECU 100 is mounted on the vehicle (hereinafter referred to as "vehicle Am"). With the installation of the Autonomous Driving ECU 100, vehicle Am becomes an autonomous vehicle or self-driving vehicle equipped with an autonomous driving function, and is capable of driving using the autonomous driving function.

[0011] The autonomous driving ECU 100 is an in-vehicle ECU that realizes autonomous driving functions capable of taking over the driver's driving operations. The autonomous driving ECU 100 is capable of performing advanced driver assistance or partial autonomous driving control at approximately Level 2. Level 2 autonomous driving (driving control) is autonomous driving with an obligation to monitor the surroundings, requiring the driver to visually monitor the area around the vehicle. The autonomous driving ECU 100 may also be capable of performing autonomous driving at Level 3 or higher, where the system is the primary control entity. Level 3 or higher autonomous driving (driving control) is eyes-off autonomous driving, which does not require monitoring the area around the vehicle and therefore does not have an obligation to monitor the surroundings. The autonomous driving levels (automation levels) in this disclosure are based on standards defined by the Society of Automotive Engineers.

[0012] The autonomous driving ECU 100 is included in the in-vehicle system installed in the vehicle Am. The autonomous driving ECU 100 is communicatively connected to the communication bus of the in-vehicle network that constitutes the in-vehicle system. The communication bus is connected to the surrounding monitoring sensor 30, locator 35, driving control ECU 40, and HMI (Human Machine Interface) control device 20, etc. These nodes connected to the communication bus can communicate with each other. Certain nodes among these ECUs, etc., may be directly electrically connected to each other and can communicate without going through the communication bus.

[0013] The surrounding monitoring sensor 30 is an autonomous sensor mounted on the vehicle Am that monitors the surrounding environment of the vehicle Am. The surrounding monitoring sensor 30 can detect moving and stationary objects within its detection range around the vehicle. The surrounding monitoring sensor 30 provides detection information of objects around the vehicle to the autonomous driving ECU 100, etc. The surrounding monitoring sensor 30 includes at least a camera unit 31. The surrounding monitoring sensor 30 may further include one or more of a millimeter-wave radar 32, a lidar 33, and a sonar 34.

[0014] The camera unit 31 has a front camera. The camera unit 31 may further have a rear camera, a left-side camera, a right-side camera, etc. By having multiple cameras, the camera unit 31 may be able to capture images of the entire surroundings of the vehicle Am. The camera unit 31 provides the image data or analysis information of the image data captured by each camera to the autonomous driving ECU 100 as detection information.

[0015] The millimeter-wave radar 32 emits millimeter waves or sub-millimeter waves towards the vehicle. The millimeter-wave radar 32 outputs detection information generated by receiving reflected waves reflected by moving and stationary objects. The lidar 33 emits laser light towards the vehicle. The lidar 33 outputs detection information (point cloud data) generated by receiving laser light reflected by moving and stationary objects within its irradiation range. The sonar 34 emits ultrasonic waves towards the vehicle. The sonar 34 outputs detection information generated by receiving ultrasonic waves reflected by moving and stationary objects near the vehicle.

[0016] Locator 35 consists of a GNSS (Global Navigation Satellite System) receiver and an inertial sensor, etc. Locator 35 sequentially determines the vehicle's position and direction of travel by combining positioning signals received from multiple positioning satellites by the GNSS receiver, measurement results from the inertial sensor, and vehicle speed information output to the communication bus. Locator 35 sequentially outputs the vehicle's position information and direction information based on the positioning results to the communication bus as locator information.

[0017] The driving control ECU 40 is an electronic control unit mainly consisting of a microcontroller. Based on detection signals from wheel speed sensors located at the hubs of each wheel, the driving control ECU 40 generates vehicle speed information indicating the current driving speed of the vehicle Am, and sequentially outputs the generated vehicle speed information to the communication bus. The driving control ECU 40 has at least the functions of a brake control ECU, a drive control ECU, and a steering control ECU. Based on operation commands from the driver's driving operations or control commands from the automatic driving ECU 100, the driving control ECU 40 continuously performs brake force control for each wheel, output control of the onboard power source, and steering angle control.

[0018] The HMI control device 20 is a computer mainly including a control circuit having a processing unit, a RAM, a storage, an input / output interface, and a bus connecting these components. The HMI control device 20 has an input interface function for receiving operations by occupants such as the driver of the host vehicle Am, and an output interface function for presenting information to the driver. The HMI control device 20 constitutes an HMI system together with a display device 21 and an operation device 26 mounted on the host vehicle Am.

[0019] The display device 21 presents information through the driver's vision by means of image display or the like. The display device 21 includes a meter display, a center information display (hereinafter referred to as CID), a head-up display (hereinafter referred to as HUD), and the like. The CID has a touch panel function and detects touch operations on the display screen by the driver or the like.

[0020] The operation device 26 is an input unit that receives user operations by the driver or the like. User operations related to the activation and stop of the automatic driving function, for example, are input to the operation device 26. The operation device 26 includes a steering switch provided on the spoke portion of the steering wheel, an operation lever provided on the steering column portion, the CID having a touch panel function, and a voice input device that recognizes the driver's speech content.

[0021] The automatic driving ECU 100 can perform automatic reverse control and automatic turning control as running control by the automatic driving function. The automatic reverse control and the automatic turning control may be performed as driving support control in which the driver has a peripheral monitoring obligation by the level 2 automatic driving function, or may be performed as autonomous driving control in which the driver has no peripheral monitoring obligation by the level 3 or higher automatic driving function. The automatic reverse control performed as driving support control is called reverse assist.

[0022] Automatic reverse control is a driving control system that automatically records the driving path of the vehicle Am when it has traveled forward, and when it becomes necessary to reverse, it reverses the vehicle Am along the recorded driving path. The automatic driving ECU 100 records the driving path necessary to enable automatic reverse control when the vehicle Am's driving speed is below a predetermined speed (for example, around 30-40 km / h). In automatic reverse control, steering, acceleration, and braking are performed automatically, and the movement of the vehicle Am after traveling a predetermined distance is played back in reverse. If steering or braking is performed by the driver, these driving operations take priority, and automatic reverse control is stopped. In automatic reverse control, the movement of the vehicle Am is controlled to avoid obstacles in the driving path based on detection information of targets around the vehicle. In addition, the driving speed of the vehicle Am in automatic reverse control is suppressed to a very low speed (for example, 10 km / h or less). Automatic reverse control makes it easier to escape from dead ends in narrow alleys and parking lots.

[0023] Automatic turning control is a driving control system that uses the space adjacent to the vehicle Am's travel path (hereinafter referred to as the turning space SP, see Figure 2) to reverse the direction of travel of the vehicle Am. The automatic driving ECU 100 may change the direction of the vehicle Am by entering the turning space SP from the front (switch turn), or by entering the turning space SP from the rear (reverse turn), or by changing the direction of the vehicle Am by making a U-turn. In automatic turning control, steering, acceleration, and braking operations are performed automatically based on detection information of objects around the vehicle. If the turning space SP is narrow, multiple reversals may occur in the automatic turning control. Automatic turning control facilitates turning in narrow alleys and crowded parking lots.

[0024] The autonomous driving ECU 100 is a computer that mainly includes a control circuit equipped with a processing unit 11, RAM 12, storage 13, input / output interface, and a bus connecting these. The processing unit 11 accesses the RAM 12 to execute various processes (instructions) for realizing the vehicle control method according to this disclosure. The storage 13 stores various programs (vehicle control programs, etc.) executed by the processing unit 11. Through the execution of programs by the processing unit 11, the autonomous driving ECU 100 is configured with an environment recognition unit 61, a map generation unit 62, an action decision unit 63, a control execution unit 64, and an HMI linkage unit 65, etc., as functional units related to autonomous driving functions.

[0025] The environmental recognition unit 61 combines locator information acquired from the locator 35 and detection information acquired from the surrounding monitoring sensor 30 to recognize the driving environment of the vehicle Am. The environmental recognition unit 61 acquires vehicle speed information, which indicates the current driving speed, from the communication bus as information indicating the state of the vehicle Am. Based on the detection information, the environmental recognition unit 61 grasps the size, type, relative position, and relative speed of objects around the vehicle. The environmental recognition unit 61 provides the recognition results related to objects around the vehicle to the map generation unit 62 and the action decision unit 63.

[0026] The environmental recognition unit 61, in relation to automatic turning control, detects a turning area TS (see Figure 2) where the vehicle Am can turn, based on detection information acquired during driving, when the vehicle Am is traveling at a predetermined speed or below. The turning area TS includes at least a turning space SP (see Figure 2) facing the driving path. The turning area TS may also include a portion of the driving path that is adjacent to the turning space SP. The environmental recognition unit 61 continues to detect the turning area TS even during the reversing period when the vehicle Am is reversing due to automatic reverse control.

[0027] The environmental recognition unit 61 detects the turntable area TS around the vehicle using predefined pattern information. The pattern information indicates the shape of the turntable area TS and is defined based on the vehicle characteristics of the vehicle Am. These vehicle characteristics include, for example, the overall length and width of the vehicle Am, as well as the minimum turning radius of the vehicle Am. The environmental recognition unit 61 has multiple patterns of information prepared that correspond to turning methods such as switch turns and U-turns.

[0028] Based on the detection information, the environmental recognition unit 61 extracts drivable areas TS that conform to the conditions such as shape, size, and direction indicated by the pattern information from within the range recognizable by the surrounding monitoring sensor 30, as turntable areas TS. Based on the pattern information, the environmental recognition unit 61 extracts convex (see Figure 2) and concave areas, etc., as turntable areas TS. The environmental recognition unit 61 detects, for example, intersections such as T-junctions and crossroads in narrow alleys, entrances and exits to alleys, widened sections where bus stops and taxi stands are provided, branching points of traffic routes in large parking lots (see Figure 3, etc.), unused parking spaces, etc., as turntable areas TS. The environmental recognition unit 61 provides the detected turntable area TS location information and shape information to the map generation unit 62 and the action decision unit 63.

[0029] The map generation unit 62 generates maps for use in automatic reverse control and automatic U-turn control in narrow alleys and parking lots. When the vehicle Am is traveling at a predetermined speed or below, the map generation unit 62 combines recognition results obtained from the environment recognition unit 61 and steering operation information obtained from the communication bus, etc., and stores route information indicating the travel path taken by the vehicle Am. The map generation unit 62 continues to store route information indicating the travel path (reverse path) even during the reverse period when the vehicle Am is reversing due to automatic reverse control.

[0030] The map generation unit 62 stores the location information and shape information of the turntable area TS detected by the environment recognition unit 61, linking it to the route information. When multiple turntable areas TS located in different places are sequentially detected by the environment recognition unit 61, the map generation unit 62 stores the location information of these multiple turntable areas TS in order. When the vehicle Am moves more than a predetermined distance (for example, about 50 to 100 m) from the turntable area TS whose location information has been stored, the map generation unit 62 deletes the recorded location information of the turntable area TS. The map generation unit 62 may also delete the recorded location information of the turntable area TS if a predetermined time (for example, several tens of seconds to about 1 minute) has elapsed since the time the turntable area TS was detected.

[0031] The Action Decision Unit 63 works in conjunction with the Driving Control ECU 40 to switch the control state of the vehicle Am between automatic driving and manual driving. In addition, the Action Decision Unit 63 switches the automation level of the driving control (automatic driving control) performed by the automatic driving function. When the automatic driving ECU 100 has control over the driving operation, the Action Decision Unit 63 determines the actions of the vehicle Am based on the recognition results of the driving environment obtained from the environment recognition unit 61. The Action Decision Unit 63 generates a planned driving line for the vehicle Am to travel as a driving plan that defines the actions of the vehicle Am, and outputs the generated planned driving line to the control execution unit 64.

[0032] The Action Decision Unit 63 activates the automatic driving function based on user operation information acquired by the HMI Linkage Unit 65 and executes the aforementioned driving control such as automatic reverse control and automatic U-turn control. In addition, in scenes where the area where turning is possible is limited, the Action Decision Unit 63 implements a complex driving control (hereinafter referred to as extended U-turn control) that combines automatic reverse control and automatic U-turn control. With extended U-turn control, the Action Decision Unit 63 can return to the location of the U-turnable area TS on the driving path and perform an automatic U-turn in this U-turnable area TS (see Figures 3 to 5).

[0033] More specifically, the action decision unit 63 starts extended turning control based on user operation information when the map generation unit 62 has stored location information of the turning area TS. In extended turning control, the action decision unit 63 sets the turning area TS whose location information is stored in the map generation unit 62 as the target turning area TSt. The action decision unit 63 acquires the location information of the target turning area TSt and the route information from the current position (hereinafter referred to as the reverse start position P1, see Figure 3) to the target turning area TSt. If multiple turning areas TS are stored in the map generation unit 62, the action decision unit 63 sets the turning area TS closest to the reverse start position P1 as the target turning area TSt, and acquires the location information of this target turning area TSt and the route information to the target turning area TSt.

[0034] The Action Decision Unit 63 reverses the vehicle Am along the travel path toward the turning area TS based on the route information stored in the map generation unit 62. The Action Decision Unit 63 identifies the starting position of the automatic turning control to be initiated in the target turning area TSt (hereinafter referred to as the turning start position P2, see Figure 3) and moves the vehicle Am to this turning start position P2. Based on the latest recognition results acquired in real time by the environment recognition unit 61, if the Action Decision Unit 63 detects an object to be avoided, such as a vehicle behind, it performs evasive control to pass this vehicle behind. If the Action Decision Unit 63 cannot execute automatic turning control in the reached target turning area TSt, it changes the target turning area TSt to another turning area TS recorded in the map generation unit 62 and resumes reverse control toward this target turning area TSt. The Action Decision Unit 63 executes automatic turning control to turn the vehicle Am in the target turning area TSt that the vehicle Am has reached.

[0035] If the Action Decision Unit 63 detects a new turnable area TS by the Environment Recognition Unit 61 during the reversing period when the vehicle Am is reversing toward a turnable area TS, it sets the newly detected turnable area TS as the target turnable area TSt. The Action Decision Unit 63 then executes automatic turning control to turn the vehicle Am toward the new target turnable area TSt. On the other hand, if automatic turning control cannot be executed in the reached target turnable area TSt, the Action Decision Unit 63 changes the target turnable area TSt to another turnable area TS recorded in the Map Generation Unit 62 and resumes reversing control toward this target turnable area TSt. If there are multiple other turnable areas TS, the Action Decision Unit 63 sets the other turnable area TS closest to the first target turnable area TSt as the new target turnable area TSt.

[0036] The action decision unit 63 turns the vehicle Am in the target turning area TSt, and then obtains route information for the reverse path from the reverse start position P1 to the target turning area TSt from the map generation unit 62. Based on the obtained route information, the action decision unit 63 reverses the vehicle Am along the reverse path towards the reverse start position P1. Automatic reverse control to return from the target turning area TSt to the reverse start position P1 may be started only when a user input instructing the execution of said control is received.

[0037] When the automatic driving ECU 100 has control over the driving operation, the control execution unit 64, in cooperation with the driving control ECU 40, executes acceleration / deceleration control and steering control of the vehicle Am according to the planned driving line generated by the action decision unit 63. Specifically, the control execution unit 64 generates control commands based on the planned driving line and sequentially outputs the generated control commands to the driving control ECU 40.

[0038] The HMI linkage unit 65 acquires information from the HMI control device 20 and provides information to the HMI control device 20. The HMI linkage unit 65 enables the sharing of acquired information between the automated driving ECU 100 and the HMI control device 20. The HMI linkage unit 65 acquires operation information from the HMI control device 20 and understands the content of user operations entered by the driver into the CID 22 and the operation device 26, etc. The HMI linkage unit 65 acquires operation information from the HMI control device 20 for user operations that instruct the execution of, for example, automatic reverse control, automatic turning control, and extended turning control. The HMI linkage unit 65 provides the acquired operation information to the action decision unit 63, etc.

[0039] The HMI linkage unit 65 provides the HMI control device 20 with control status information indicating the operating status of the autonomous driving function, and the results of the recognition of the vehicle's surroundings by the environment recognition unit 61. In addition, the HMI linkage unit 65 enables the HMI control device 20 to provide notifications synchronized with the operating status of the autonomous driving function by outputting a notification request to the HMI control device 20. For example, the HMI linkage unit 65 outputs a notification request to the HMI control device 20 related to automatic reverse control, automatic U-turn control, and extended U-turn control.

[0040] For example, the HMI linkage unit 65 notifies the driver via the display device 21 that the location information of the turnable area TS is stored in the map generation unit 62 and that extended turn control is available. Specifically, the HMI linkage unit 65 works in conjunction with the HMI control device 20 to display an activation icon on the CID for activating extended turn control. When extended turn control is available, the activation icon is displayed in normal color and is tappable. Conversely, when extended turn control is unavailable, the activation icon is displayed in a grayed-out state and is not tappable.

[0041] When the automatic turning control is activated and the extended turning control is started, the HMI linkage unit 65 notifies the driver of the location information of the turning area TS stored in the map generation unit 62 using the display device 21. Specifically, the HMI linkage unit 65 works in conjunction with the HMI control device 20 to display an overhead map image on the CID that shows the positional relationship between the vehicle Am and the target turning area TSt, as well as the planned driving line from the vehicle Am to the target turning area TSt. The display device 21 may also display a message such as, "Automatic turning will be performed. We will begin moving to the automatic turning space. Please be careful of vehicles behind you."

[0042] The HMI linkage unit 65 notifies the driver of the remaining distance to the target turning area TSt by displaying a numerical value or bar during the reversing period to the target turning area TSt. During the reversing period, real-time camera footage of the area around the vehicle or behind the vehicle may be displayed on the CID. At the timing when the driving control transitions from automatic reversing control to automatic turning control, the HMI linkage unit 65 notifies the driver that they have arrived at the target turning area TSt and that they have started turning, by display and / or audio. During the turning period in which automatic turning control is performed, the HMI linkage unit 65 displays camera footage of the area around the vehicle on the CID.

[0043] When the automatic turning control is complete, the HMI linkage unit 65 notifies the user of an inquiry message, such as "Turning complete. Do you want to start automatic reversing to the starting point?", via at least one of display and voice. When the instruction operation for automatic reversing control toward the starting point (reversing start position P1) is performed, the HMI linkage unit 65 notifies the user of a message, such as "Moving to the starting point. Please be careful of vehicles behind you," via at least one of display and voice. During this reversing period, the overhead map image and camera footage may also be displayed on the CID. When the vehicle Am reaches the reversing start position P1, the HMI linkage unit 65 notifies the user of a message, such as "Reached the starting point. Ending automatic turning," via at least one of display and voice.

[0044] [Description of scenarios where extended turning control is used] Figures 3 to 5 show examples of scenarios where the use of extended turn control is useful. In the scenarios shown in Figures 3 to 5, the driver is attempting to park their vehicle Am in an empty parking space at the back of the parking lot. The driver activates the extended turn control when they reach the back of the parking lot, reversing the front-to-back orientation of their vehicle Am.

[0045] More specifically, as shown in Figure 3, the driver searches for an available parking space while moving their vehicle Am forward along the parking lot's pathway. Since the vehicle Am travels at a low speed in the parking lot, the environment recognition unit 61 detects the turning space SP adjacent to the vehicle Am's travel path, and the turning area TS that includes this turning space SP. The map generation unit 62 stores the location information of the turning area TS detected by the environment recognition unit 61, linking it to the route information indicating the vehicle Am's travel path. The detection of the turning area TS enables the use of extended turning control.

[0046] The driver moves their vehicle, Am, to the far end of the parking space where there is an empty spot. At this point, the driver decides to turn Am around to make it easier to exit the parking space. The driver taps the activated activation icon to begin using the extended turning control.

[0047] As shown in Figure 4, after the start of extended turning control, the action decision unit 63 sets the turning area TS closest to the vehicle Am as the target turning area TSt. The action decision unit 63 starts automatic reverse control and moves the vehicle Am backward towards the target turning area TSt by retracing the previous travel path. The action decision unit 63 stops the vehicle Am at a position slightly past the turning space SP in the target turning area TSt, that is, at the turning start position P2 in the automatic turning control.

[0048] As shown in Figure 5, the action decision unit 63 completes automatic turning control using the turning space SP in the target turning area TSt. After the vehicle Am has completed turning, the action decision unit 63 starts automatic reverse control toward the reverse start position P1 based on the driver's instructions. The action decision unit 63 moves the vehicle Am toward the reverse start position P1 according to the reverse path information stored in the map generation unit 62.

[0049] When the vehicle Am reaches the reverse start position P1, the action decision unit 63 stops the vehicle Am at the reverse start position P1 and then terminates the series of extended turning control. After the extended turning control is completed, the action decision unit 63 hands over control of the vehicle Am to the driver. The driver may park the vehicle Am in the parking space by manual driving, or may park the vehicle Am in the parking space by using the auto parking function.

[0050] [Explanation of area storage processing and transfer execution processing] To realize the extended turning control described above, the details of the area storage processing and turning execution processing performed by the autonomous driving ECU 100 will be explained based on Figures 6 and 7, with reference to Figures 1 to 5.

[0051] <Area storage processing> The region storage process shown in Figure 6 is initiated by the environment recognition unit 61 and the map generation unit 62 based on the fact that the vehicle Am's driving speed falls below a predetermined speed. The region storage process is repeated until the vehicle Am's driving speed exceeds the predetermined speed.

[0052] In S11 of the region memory processing, the environment recognition unit 61 acquires images from the camera unit 31 (mainly the front camera). In S12, the environment recognition unit 61 acquires 3D point cloud data generated by the lidar 33. The environment recognition unit 61 may further acquire detection information from the millimeter-wave radar 32 and sonar 34. Based on the detection information acquired by the vehicle Am while it is moving, the environment recognition unit 61 detects the turning area TS in S13. The environment recognition unit 61 detects the turning area TS around the vehicle Am using a plurality of predetermined pattern information based on the vehicle characteristics of the vehicle Am.

[0053] In S14, the map generation unit 62 determines whether or not the environment recognition unit 61 has detected a turntable area TS. If no turntable area TS is detected (S14: NO), the area storage process is terminated. Conversely, if a turntable area TS is detected (S14: YES), the map generation unit 62 determines in S15 whether or not there is saved location information for the turntable area TS. If there is no saved location information (S15: NO), the map generation unit 62 stores the location information for the turntable area TS newly detected by the environment recognition unit 61, linked to the route information, in S16.

[0054] On the other hand, if there is already saved location information (S15: YES), the map generation unit 62 updates the location information of the turntable area TS in S17. The map generation unit 62 saves the turntable area TS newly detected by the environment recognition unit 61 as the turntable area TS closest to the current location and with the highest priority. Furthermore, the map generation unit 62 lowers the priority of other turntable area TS that are far from the current location and whose location information has already been saved. As described above, when multiple turntable areas TS located in different places are sequentially detected by the environment recognition unit 61, the map generation unit 62 stores the location information of the multiple turntable area TS, assigning a priority order according to the distance from the current location.

[0055] <Return execution process> The turning process shown in Figure 7, like the area storage process, is initiated by each functional unit of the autonomous driving ECU 100 based on the fact that the vehicle Am's driving speed falls below a predetermined speed.

[0056] In S31 of the turn execution process, the action decision unit 63 determines whether the location information of the turnable area TS is stored in the map generation unit 62. If the location information is not stored (S31: NO), the action decision unit 63 puts the extended turn control into a standby state in S32, rendering it unusable. If the extended turn control is unavailable, the HMI linkage unit 65 grays out the CID activation icon. The standby state of the extended turn control continues until the environment recognition unit 61 detects a turnable area TS.

[0057] On the other hand, if location information is stored (S31: YES), the action decision unit 63 activates the extended turning control in S33. If the extended turning control is available, the HMI linkage unit 65 ungrays out the CID activation icon and makes it tappable. The HMI linkage unit 65 notifies the driver of the vehicle Am using the display device 21 that the location information of the turning area TS is stored. In S34, the HMI linkage unit 65 determines whether an activation operation for the extended turning control, which involves tapping the activation icon, has been input, based on the operation information obtained from the HMI control device 20. If no activation operation is input (S34: NO), the active state of the extended turning control is maintained.

[0058] When the HMI linkage unit 65 acquires user operation information to activate extended turning control (S34:YES), the action decision unit 63 determines in S35 whether or not a turning area TS exists around the current position of the vehicle Am. If the environment recognition unit 61 detects a turning area TS from around the vehicle (S35:YES), the action decision unit 63 performs automatic turning control in the turning area TS around the vehicle in S36. This completes the turning execution process.

[0059] On the other hand, if no turning area TS is detected around the vehicle (S35: NO), the action decision unit 63 acquires location information and route information stored in the map generation unit 62 in S37. The action decision unit 63 sets the turning area TS from which the location information was read from the map generation unit 62 as the target turning area TSt. In S38, the action decision unit 63 starts automatic reverse control and reverses the vehicle Am towards the target turning area TSt along the travel route based on the stored route information. In addition, the HMI linkage unit 65 notifies the driver of the location information of the target turning area TSt stored in the map generation unit 62 using the display device 21.

[0060] The action decision unit 63, in cooperation with the environment recognition unit 61, determines in S39 whether the vehicle Am has arrived at the turning start position P2 in the target turning area TSt. The action decision unit 63 continues to move using automatic reverse control until the vehicle Am arrives at the turning start position P2 (S39: NO). When the vehicle Am arrives at the turning start position P2 (S39: YES), the action decision unit 63, in cooperation with the environment recognition unit 61, determines in S40 whether turning in the target turning area TSt is possible.

[0061] If it is difficult to turn in the target turning area TSt for reasons such as the turning space SP being occupied by another vehicle (S40: NO), the action decision unit 63 determines in S41 whether or not location information for another turning area TS is stored in the action decision unit 63. If location information for another turning area TS is not stored (S41: NO), the turning execution process is terminated. As a result, control of the vehicle Am is handed over to the driver at the turning start position P2.

[0062] Conversely, if location information for another turnable area TS is stored (S41: YES), the action decision unit 63 changes the target turnable area TSt. If multiple other turnable areas TS exist, the action decision unit 63 sets the turnable area TS closest to the turn start position P2 as the target turnable area TSt. In this case, in S37, the action decision unit 63 acquires location information for the new target turnable area TSt and path information to this target turnable area TSt, and in S38, starts automatic reverse control toward the new target turnable area TSt.

[0063] On the other hand, if turning is possible in the target turning area TSt (S40:YES), the action decision unit 63 performs automatic turning control to turn the vehicle Am in S42. Once the automatic turning control is complete, the HMI linkage unit 65 determines in S43 whether there is a user operation to instruct the execution of automatic reverse control to return to the reverse start position P1. If there is no instruction to perform automatic reverse control (S43:NO), the turning execution process is terminated. As a result, control of the vehicle Am is handed over to the driver at the position where the automatic turning control was completed. Conversely, if there is an instruction to perform automatic reverse control (S43:YES), the action decision unit 63 starts automatic reverse control in S44 and reverses the vehicle Am towards the reverse start position P1 along the reverse path.

[0064] The action decision unit 63, in cooperation with the environment recognition unit 61, determines in S45 whether or not the vehicle Am has arrived at the reverse start position P1. The action decision unit 63 continues movement using automatic reverse control until the vehicle Am arrives at the turn start position P2 (S45: NO). When the vehicle Am arrives at the reverse start position P1 (S45: YES), the action decision unit 63 terminates the turn execution process. As a result, control of the vehicle Am is handed over to the driver at the reverse start position P1.

[0065] (Summary of implementations) In the embodiment described above, the location information of the turntable area TS in which the vehicle Am can turn is stored. Therefore, even if there is no turntable area in the vicinity of the vehicle Am at present, automatic turning control can be performed to turn the vehicle Am in the turntable area TS whose location information has been stored. Thus, even in scenes where the turntable area TS is located far away from the vehicle Am, it is possible to improve user convenience.

[0066] In addition, in this embodiment, the turning area TS present in the vehicle Am's travel path is detected using predetermined pattern information based on the vehicle characteristics of the vehicle Am. By utilizing pattern information in this way, the processing load for detecting the turning area TS can be reduced.

[0067] In this embodiment, route information indicating the travel path taken by the vehicle Am is also stored. Based on the stored route information, the action decision unit 63 reverses the vehicle Am along the travel path towards the turning area TS. By using this automatic reverse control, movement in reverse to the turning area TS, which is located at a distance from the reverse starting position P1, becomes easier. As a result, user convenience can be further improved.

[0068] Furthermore, in this embodiment, route information indicating the reverse path of the vehicle Am moving from the reverse start position P1 towards the turning area TS is also stored in the map generation unit 62. Then, the action decision unit 63 turns the vehicle Am in the turning area TS and, based on the route information stored in the map generation unit 62, reverses the vehicle Am towards the reverse start position P1 along the reverse path. In this way, if automatic reverse control can be used again after the completion of automatic turning control, movement in reverse from the turning area TS to the reverse start position P1 becomes easier. As a result, user convenience can be further improved.

[0069] In addition, in this embodiment, the location information of the turnable area TS stored in the map generation unit 62 is notified to the driver of the vehicle Am using the display device 21 mounted on the vehicle Am. In this way, it becomes easier to understand the destination of movement by automatic reverse control, which can reduce the driver's anxiety regarding extended turn control.

[0070] Furthermore, the HMI linkage unit 65 of this embodiment notifies the driver of the vehicle Am using the display device 21 that the location information of the turnable area TS is stored in the map generation unit 62. With such a display, the driver can appropriately understand whether or not the extended turn control can be used. As a result, user convenience can be further improved.

[0071] Furthermore, in this embodiment, when multiple turnable areas TS located in different places are sequentially detected by the environment recognition unit 61, the location information of the multiple turnable areas TS is stored in the map generation unit 62. Having the location information of multiple turnable areas TS stored in this way increases the certainty that the vehicle Am can complete its turn using automatic turning control at any of the turnable areas TS. Therefore, user convenience can be further improved.

[0072] In addition, in this embodiment, if automatic turning control cannot be performed in the turning area TS closest to the reverse start position P1 among the multiple turning areas TS, automatic turning control is performed in another turning area TS whose position information is stored. In this way, even if the turning space SP of the turning area TS closest to the reverse start position P1 is blocked by another vehicle, the action determination unit 63 can attempt to turn using automatic turning control in the next closest turning area TS. As a result, the certainty that the vehicle Am can complete turning using automatic turning control is increased, and user convenience can be further improved.

[0073] In this embodiment, even during the reversing period when the vehicle Am is moving towards the turnable area TS (target turnable area TSt), the environment recognition unit 61 continues to detect the turnable area TS around the vehicle. Then, if the action decision unit 63 detects a new turnable area TS by the environment recognition unit 61 during the reversing period, it executes automatic turn control in the newly detected turnable area TS. In this way, if automatic turn control in a turnable area TS detected while moving towards the target turnable area TSt is permitted, the time required for extended turn control can be shortened. As a result, user convenience can be further improved.

[0074] Furthermore, in this embodiment, if a vehicle is present behind the vehicle during the reversing phase towards the target turning area TSt, the action determination unit 63 performs evasive control to allow the vehicle to pass. Therefore, even if a vehicle is present behind the vehicle, the vehicle Am can reach the turning start position P2 without requiring any driving operation from the driver.

[0075] In addition, in this embodiment, the location information of the turning area TS that is more than a predetermined distance away from the current position of the vehicle Am is erased. Therefore, a situation in which a long distance of reversing is required to reach the target turning area TSt, which could cause anxiety for the driver or other passengers, can be avoided.

[0076] Furthermore, in this embodiment, if the driver intervenes with driving operations, the extended turn control is immediately interrupted. In this way, if the driver can take control at any time at their own discretion, the driver can use the extended turn control function with confidence.

[0077] In the above embodiment, the environment recognition unit 61 corresponds to the "area detection unit," the map generation unit 62 corresponds to the "area storage unit," the action judgment unit 63 corresponds to the "driving control unit," the HMI linkage unit 65 corresponds to the "display control unit," and the automatic driving ECU 100 corresponds to the "vehicle control device."

[0078] (Other embodiments) Although one embodiment of the present disclosure has been described above, the present disclosure is not to be construed as being limited to the above embodiment, and can be applied to various embodiments and combinations without departing from the gist of the present disclosure.

[0079] In the modified example 1 of the above embodiment, automatic reverse control is not performed in the extended turning control. In the turning execution process of modified example 1 shown in Figure 8, instead of the automatic reverse control in S38 and S44 of the above embodiment, information notification is performed in S238 and S244 through the cooperation of the HMI linkage unit 65 and the HMI control device 20.

[0080] Specifically, in S238, the HMI linkage unit 65 notifies the driver of the location information of the target turning area TSt and the route information from the reversing start position P1 to the target turning area TSt via an overhead map image displayed on the display device 21. The driver manually reverses the vehicle Am to the target turning area TSt. Similarly, in S244, the HMI linkage unit 65 notifies the driver of the location information of the reversing start position P1 and the route information from the turning end position to the reversing start position P1 via an overhead map image displayed on the display device 21. The driver manually reverses the vehicle Am to the reversing start position P1.

[0081] Furthermore, in Modification 2 of the above embodiment, automatic reversing control is performed from the reversing start position P1 to the turning start position P2, while automatic reversing control is not performed from the turning end position to the reversing start position P1. Also, in Modification 3 of the above embodiment, automatic reversing control is not performed from the reversing start position P1 to the turning start position P2, while automatic reversing control is performed from the turning end position to the reversing start position P1. As shown in Modifications 1 to 3 above, even if some or all of the automatic reversing control is omitted, if the system is configured to perform automatic turning control in the turning area TS where the position information is stored, improvements in user convenience can be achieved.

[0082] In the above embodiment, after the completion of automatic turning control, an inquiry was made regarding whether or not to perform automatic reverse control to the reverse start position P1. However, such an inquiry can be omitted. That is, the action determination unit 63 may immediately start automatic reverse control to return to the reverse start position P1 after the completion of automatic turning control.

[0083] In the above embodiment, the detection of the turntable area TS was performed by the environment recognition unit 61 through matching processing using pattern information. However, the method for extracting the turntable area TS from the detection information of the surrounding monitoring sensor 30 may be changed as appropriate. Also, in automatic turning control, only switch turns from the front are performed, and switch turns from the rear and U-turns, etc., do not need to be performed. In such a configuration, there may be only one type of shape for the turntable area TS extracted using pattern information.

[0084] In the modified example 4 of the above embodiment, only one location information for the reversible area TS is stored in the action determination unit 63. In S17 of the area storage processing (see Figure 6) in modified example 4, the new location information for the reversible area TS is overwritten and saved over the old location information for the reversible area TS. Thus, the number of location information stored in the control execution unit 64 may be changed as appropriate.

[0085] In Modification 5 of the above embodiment, during the reversing period from the reversing start position P1 to the turning start position P2, the environment recognition unit 61 does not perform the process of detecting a new turning area TS. Also, in Modification 6 of the above embodiment, if a new turning area TS is detected during the reversing period, the driver is asked whether it is permissible to perform automatic turning control in this turning area TS. The action decision unit 63 performs automatic turning control in the new turning area TS only if the driver grants permission.

[0086] In the above embodiment, the extended turning control was initiated based on user operation. However, in Modification 7 of the above embodiment, if the automatic driving control already has control of the vehicle Am in a parking lot or narrow alley, the extended turning control is automatically activated (started) based on the scene determination by the action determination unit 63. According to this Modification 7, user convenience can be further improved.

[0087] In the above embodiment, the functions for performing area storage processing and turn execution processing were implemented in the autonomous driving ECU 100. However, the in-vehicle ECU that performs area storage processing and turn execution processing is not limited to the autonomous driving ECU 100, but may be a driver assistance ECU (ADAS-ECU), an HMI control device, or a driving control ECU, etc. Furthermore, area storage processing and turn execution processing may be performed by an integrated ECU that integrates the functions of the autonomous driving ECU 100 and the HMI control device 20. In addition, a dedicated ECU for performing area storage processing and turn execution processing may be provided in the in-vehicle system. In these configurations, the driver assistance ECU, HMI control device, driving control ECU, integrated ECU, and dedicated ECU each correspond to a "vehicle control device". Furthermore, area storage processing and turn execution processing may be distributed processing by multiple in-vehicle ECUs. In such configurations, a system including multiple in-vehicle ECUs corresponds to a "vehicle control device".

[0088] In the above embodiment, each function provided by the autonomous driving ECU 100 can also be provided by software and hardware that executes it, software only, hardware only, or a combination thereof. Furthermore, when such functions are provided by electronic circuits as hardware, each function can also be provided by digital circuits including a large number of logic circuits, or by analog circuits. In addition, the software for realizing such functions may include at least a portion of code automatically generated by a neural network or language model.

[0089] Each processing unit in the above embodiment is hardware for arithmetic processing coupled with RAM. The processing unit has a configuration that includes at least one arithmetic core, such as a CPU (Central Processing Unit) and a GPU (Graphics Processing Unit). The processing unit may further include an FPGA (Field-Programmable Gate Array), an NPU (Neural Network Processing Unit), and other IP cores with dedicated functions. Furthermore, the processing unit is not limited to a configuration in which it is individually mounted on a printed circuit board. The processing unit may be mounted on an ASIC (Application Specific Integrated Circuit), SoC (System on Chip), chiplet integrated circuit, FPGA, etc.

[0090] In the above embodiment, the form of the storage (non-transitory tangible storage medium) that stores various programs, etc., may be changed as appropriate. Furthermore, the storage (storage medium) is not limited to a configuration provided on a circuit board, but may be provided in the form of a memory card or the like, inserted into a slot, and electrically connected to a control circuit such as an autonomous driving ECU. In addition, the storage may be an optical disk, hard disk drive, or solid-state drive, etc., which serves as the source for copying or distributing programs to the autonomous driving ECU, etc.

[0091] The vehicles equipped with the above-mentioned autonomous driving ECU are not limited to typical privately owned passenger cars (Personally Owned Vehicles, POVs). Vehicles equipped with the autonomous driving ECU may include rental cars, manned taxis, ride-sharing vehicles, cargo vehicles, and buses. Furthermore, vehicles equipped with the autonomous driving ECU may be right-hand drive or left-hand drive vehicles.

[0092] The control unit and method described herein may be implemented by a dedicated computer comprising a processor programmed to perform one or more functions embodied by a computer program. Alternatively, the apparatus and method described herein may be implemented by a dedicated hardware logic circuit. Alternatively, the apparatus and method described herein may be implemented by one or more dedicated computers comprising a combination of a processor that executes a computer program and one or more hardware logic circuits. Furthermore, the computer program may be stored as instructions executed by the computer on a computer-readable non-transitional tangible recording medium.

[0093] (Disclosure of technical ideas) This specification discloses several technical concepts, as listed in the following paragraphs. Some paragraphs are written in a multiple dependent form, where subsequent paragraphs optionally refer to preceding paragraphs. Furthermore, some paragraphs are written in a multiple dependent form, referring to other multiple dependent forms. These paragraphs written in multiple dependent forms define several technical concepts.

[0094] (Technical thought 1) A region detection unit (61) detects a turning area (TS) in which the vehicle can turn, based on detection information of objects around the vehicle acquired by the vehicle (Am) while it is in motion, A region storage unit (62) stores the position information of the rotatable region detected by the region detection unit, A driving control unit (63) executes automatic turning control to turn the vehicle in the turning area in which the position information is stored in the area storage unit, A vehicle control device equipped with the following features. (Technical thought 2) The vehicle control device according to Technical Concept 1, wherein the area detection unit detects the turntable area present in the driving path of the vehicle using predetermined pattern information based on the vehicle characteristics of the vehicle. (Technical Thought 3) The aforementioned area storage unit further stores route information indicating the route traveled by the vehicle, The vehicle control device according to technical concept 1 or 2, wherein the driving control unit reverses the vehicle along the driving path toward the turning area based on the path information stored in the area storage unit. (Technical Thought 4) The area storage unit further stores route information indicating the reverse path of the vehicle moving from the reverse starting position (P1) toward the turning area. The vehicle control device according to any one of the technical concepts 1 to 3, wherein the driving control unit turns the vehicle in the turning area, and then reverses the vehicle along the reverse path toward the reverse start position based on the path information stored in the area storage unit. (Technical Thought 5) A vehicle control device according to any one of technical concepts 1 to 4, further comprising a display control unit (65) that notifies the driver of the vehicle of the position information of the turnable area stored in the area storage unit using a display device (21) mounted on the vehicle. (Technical Thought 6) A vehicle control device according to any one of technical concepts 1 to 5, further comprising a display control unit (65) that notifies the driver of the vehicle that the position information of the turnable area is stored in the area storage unit using a display device (21) mounted on the vehicle. (Technical Thought 7) The area storage unit stores the positional information of the multiple turnable areas when the area detection unit sequentially detects multiple turnable areas located in different places, according to any one of the technical concepts 1 to 6 of the vehicle control device. (Technical Thought 8) The vehicle control device according to technical concept 7, wherein if the driving control unit cannot perform the automatic turning control in the turning area closest to the reverse starting position (P1) among the plurality of turning areas in which the position information is stored in the area storage unit, the driving control unit performs the automatic turning control in another turning area in which the position information is stored in the area storage unit. (Technical Thought 9) The area detection unit continues to detect the turnable area even during the reversing period when the vehicle moves toward the turnable area whose position information is stored in the area storage unit. The vehicle control device according to any one of technical concepts 1 to 8, wherein the driving control unit, when a new turning area is detected by the area detection unit during the reversing period, executes the automatic turning control in the newly detected turning area. (Technical Thought 10) Based on the detection information of objects around the vehicle (Am) acquired by the vehicle while it is in motion, the turning area (TS) in which the vehicle can turn is detected (S13). The position information of the detected turnable area is stored (S16, S17), Automatic turning control is performed to turn the vehicle in the turning area in which the position information is stored (S42). A vehicle control program that causes at least one processing unit (11) to perform a process including the above. (Technical Thought 11) Based on the detection information of objects around the vehicle (Am) acquired by the vehicle while it is in motion, the turning area (TS) in which the vehicle can turn is detected (S13). The position information of the detected turnable area is stored (S16, S17), Automatic turning control is performed to turn the vehicle in the turning area in which the position information is stored (S42). A vehicle control method that includes the following step in a process performed in at least one processing unit (11). [Explanation of symbols]

[0095] Am: Own vehicle, P1: Reverse start position, TS: Turnable area, 21: Display device, 61: Environment recognition unit (area detection unit), 62: Map generation unit (area storage unit), 63: Action decision unit (driving control unit), 65: HMI linkage unit (display control unit), 100: Automated driving ECU (vehicle control unit)

Claims

1. A region detection unit (61) detects a turning area (TS) in which the vehicle can turn, based on detection information of objects around the vehicle acquired by the vehicle (Am) while it is in motion, A region storage unit (62) stores the position information of the rotatable region detected by the region detection unit, A driving control unit (63) executes automatic turning control to turn the vehicle in the turning area in which the position information is stored in the area storage unit, A vehicle control device equipped with the following features.

2. The vehicle control device according to claim 1, wherein the area detection unit detects the turntable area present in the driving path of the vehicle using predetermined pattern information based on the vehicle characteristics of the vehicle.

3. The aforementioned storage area further stores route information indicating the route traveled by the vehicle, The vehicle control device according to claim 1, wherein the driving control unit reverses the vehicle along the driving path toward the turning area based on the path information stored in the area storage unit.

4. The area storage unit further stores route information indicating the reverse path of the vehicle as it moves from the reverse starting position (P1) towards the turning area. The vehicle control device according to claim 1, wherein the driving control unit turns the vehicle in the turning area, and then reverses the vehicle along the reverse path toward the reverse start position based on the path information stored in the area storage unit.

5. The vehicle control device according to claim 1, further comprising a display control unit (65) that notifies the driver of the vehicle of the position information of the turnable area stored in the area storage unit using a display device (21) mounted on the vehicle.

6. The vehicle control device according to claim 1, further comprising a display control unit (65) that notifies the driver of the vehicle, using a display device (21) mounted on the vehicle, that the position information of the turnable area is stored in the area storage unit.

7. The vehicle control device according to claim 1, wherein the area storage unit stores the position information of a plurality of turnable areas when a plurality of turnable areas located in different locations are sequentially detected by the area detection unit.

8. The vehicle control device according to claim 7, wherein if the driving control unit cannot perform the automatic turning control in the turning area closest to the reverse starting position (P1) among the plurality of turning areas in which the position information is stored in the area storage unit, the driving control unit performs the automatic turning control in another turning area in which the position information is stored in the area storage unit.

9. The area detection unit continues to detect the turnable area even during the reversing period when the vehicle moves toward the turnable area whose position information is stored in the area storage unit. The vehicle control device according to claim 1, wherein if a new turning area is detected by the area detection unit during the reversing period, the driving control unit executes the automatic turning control in the newly detected turning area.

Images