Vehicle control method and vehicle control device

Abstract

When an occupant's body is protruding outside the vehicle, this system prevents excessive proximity between the occupant's body and objects surrounding the vehicle. [Solution] In the vehicle control method, position information of obstacles or road boundaries present around the vehicle is acquired (S1), the amount of occupant overhang outside the vehicle is detected or estimated (S3), a safety margin of clearance between the vehicle body and the obstacle or road boundary when passing to the side is set based on the amount of overhang (S4), a target driving trajectory that passes to the side of the obstacle or road boundary is generated based on the safety margin (S5), and the steering mechanism is controlled so that the vehicle drives along the target driving trajectory (S6).

Description

Technical Field

[0001] The present invention relates to a vehicle control method and a vehicle control device.

Background Art

[0002] When there is an obstacle on the route, the driving support device described in Patent Document 1 calculates costs for a plurality of avoidance action candidates including actions to move within the lane to avoid or move outside the lane to avoid, and generates a driving trajectory according to the avoidance action with the calculated minimum cost.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the body of the occupant protrudes outside the vehicle, such as when the occupant leans out or extends a hand outside the vehicle, there is a risk that an object existing around the host vehicle and the body of the occupant will approach too closely. An object of the present invention is to suppress excessive approach between an object existing around the host vehicle and the body of the occupant when the body of the occupant protrudes outside the host vehicle.

Means for Solving the Problems

[0005] In a vehicle control method according to an aspect of the present invention, position information of an obstacle or a road boundary existing around the host vehicle is acquired, an amount of protrusion of an occupant outside the host vehicle is detected or estimated, and based on the amount of protrusion, a safety margin of a clearance between the vehicle body of the host vehicle when passing by the side of the obstacle or the road boundary is set, a target driving trajectory for passing by the side of the obstacle or the road boundary is generated based on the safety margin, and a steering mechanism is controlled so that the host vehicle travels along the target driving trajectory. [Effects of the Invention]

[0006] According to the present invention, when an occupant's body is protruding outside the vehicle, it is possible to suppress excessive proximity between the occupant's body and objects surrounding the vehicle. [Brief explanation of the drawing]

[0007] [Figure 1] This figure shows a schematic configuration example of a vehicle control device according to an embodiment. [Figure 2] Figure 1 is a block diagram showing an example of the controller's functional configuration. [Figure 3] (a) is a schematic diagram of the first example of setting a target driving trajectory when the occupants are not outside the vehicle, and (b) is a schematic diagram of the first example of modifying the target driving trajectory when the occupants are outside the vehicle. [Figure 4] (a) is a schematic diagram of a second example of setting a target driving trajectory when the occupants are not outside the vehicle, and (b) is a schematic diagram of a second example of modifying the target driving trajectory when the occupants are outside the vehicle. [Figure 5] This is a characteristic diagram showing an example of setting a safety margin according to the amount of overhang. [Figure 6] This is a characteristic diagram showing an example of setting the vehicle speed gain. [Figure 7] This is a characteristic diagram showing an example of setting the lateral acceleration gain. [Figure 8] This is a flowchart of an example of a vehicle control method according to the embodiment. [Figure 9] Figure 8 is a flowchart showing an example of the process for obtaining the amount of overhang. [Figure 10] Figure 8 is a flowchart illustrating an example of the safety margin setting process. [Modes for carrying out the invention]

[0008] Embodiments of the present invention will be described below with reference to the drawings. Note that the drawings are schematic and may differ from actual ones. Furthermore, the embodiments of the present invention described below are illustrative examples of devices and methods for realizing the technical concept of the present invention, and the technical concept of the present invention is not limited to the structure, arrangement, etc., of the components described below. The technical concept of the present invention can be modified in various ways within the technical scope defined by the claims described in the patent claims.

[0009] (composition) Figure 1 is a diagram showing a schematic configuration example of a vehicle control device according to an embodiment. The vehicle 1 is equipped with a vehicle control device 10 that controls at least the steering angle of the vehicle 1. For example, the vehicle control device 10 may perform autonomous driving control that automatically drives the vehicle 1 without driver intervention by controlling the steering angle, driving force and braking force of the vehicle 1 based on the driving environment around the vehicle 1. Alternatively, for example, the vehicle control device 10 may perform driving assistance control that assists the driver in driving the vehicle 1 by controlling at least the steering angle of the vehicle 1. For example, driving assistance control may include obstacle avoidance control and lane keeping control.

[0010] The vehicle control device 10 includes an ambient environment sensor 11, a vehicle sensor 12, a map database (map DB) 13, a positioning device 14, a power window device 15, an occupant sensor 16, a seatbelt sensor 17, a controller 18, a steering actuator (steering ACTR) 19a, an accelerator actuator (accelerator ACTR) 19b, and a brake actuator (brake ACTR) 19c.

[0011] The surrounding environment sensor 11 detects objects within a predetermined distance range from the vehicle 1. The surrounding environment sensor 11 detects the surrounding environment of the vehicle 1, including the relative position of objects around the vehicle 1 and the vehicle 1, the distance between the vehicle 1 and the objects, and the direction in which the objects are located. The surrounding environment sensor 11 may include, for example, a camera that photographs the surrounding environment of the vehicle 1. The surrounding environment sensor 11 may also include distance measuring devices such as a laser rangefinder, radar, LiDAR (Light Detection and Ranging), or sonar. The surrounding environment sensor 11 outputs the detected surrounding environment information to the controller 18.

[0012] The vehicle sensor 12 detects various information (vehicle status information) of the vehicle 1. For example, the vehicle sensor 12 may include a vehicle speed sensor that detects the vehicle speed V of the vehicle 1, an acceleration sensor that detects the acceleration (including deceleration) of the vehicle 1 in the three axes, a steering angle sensor that detects the steering angle of the vehicle 1, and a yaw rate sensor that detects the yaw rate occurring in the vehicle 1. The vehicle sensor 12 outputs the vehicle status information to the controller 18.

[0013] Map database 13 stores map data. The map data stored in map database 13 may be, for example, high-precision map data suitable for use as navigation map data or maps for autonomous driving. The positioning device 14 measures the current position of the vehicle 1. The positioning device 14 includes, for example, a Global Navigation Satellite System (GNSS) receiver. The GNSS receiver is, for example, a GPS receiver, and measures the current position of the vehicle 1 by receiving radio waves from multiple navigation satellites. The positioning device 14 may also include an inertial navigation device. The positioning device 14 outputs current position information, which is information about the measured current position and attitude, to the controller 18.

[0014] The power window device 15 is a device that opens and closes a window glass provided on the side door of the host vehicle 1 by a power window motor (electric motor) based on a switch operation by an occupant. The power window device 15 detects an opening amount Aw of the window glass based on a rotation amount of a motor rotation shaft of the power window motor and an opening amount sensor (not shown) that detects an opening amount of the window glass. The power window device 15 outputs an opening amount signal indicating the opening amount Aw to the controller 18.

[0015] The occupant sensor 16 is a sensor for detecting positions of respective parts of an occupant's body in the host vehicle 1. For example, the occupant sensor 16 may be a camera that photographs the interior of the host vehicle 1. The occupant sensor 16 may output a photographed image of the interior of the vehicle to the controller 18. The controller 18 may detect positions of respective parts of the occupant's body by performing image recognition processing on the photographed image.

[0016] Also, for example, the occupant sensor 16 may be a LiDAR that generates point cloud information indicating positions of objects in the interior of the host vehicle 1. The controller 18 may detect positions of respective parts of the occupant's body based on the point cloud information generated by the occupant sensor 16. The seat belt wearing sensor 17 determines whether seat belts of the driver's seat and the front passenger seat of the host vehicle are worn. The seat belt wearing sensor 17 generates a seat belt wearing signal indicating whether the seat belt is worn and outputs the signal to the controller 18.

[0017] The controller 18 is an electronic control unit (ECU: Electronic Control Unit) that performs autonomous driving control and driving assistance control of the host vehicle 1. The controller 18 includes a processor 18a and peripheral components such as a storage device 18b. The processor 18a may be, for example, a CPU (Central Processing Unit) or a MPU (Micro-Processing Unit). The storage device 18b may include a semiconductor storage device, a magnetic storage device, an optical storage device, etc. The storage device 18b may include memories such as registers, cache memories, a ROM (Read Only Memory) and a RAM (Random Access Memory) used as a main storage device. The functions of the controller 18 described below are realized, for example, when the processor 18a executes a computer program stored in the storage device 18b.

[0018] Note that the controller 18 may be formed by dedicated hardware for executing each information processing described below. For example, the controller 18 may include a functional logic circuit set in a general-purpose semiconductor integrated circuit. For example, the controller 18 may have a programmable logic device (PLD) such as a field-programmable gate array (FPGA).

[0019] The steering actuator 19a controls the steering direction and the steering amount of the steering mechanism of the host vehicle 1 according to the control signal of the controller 18. For example, when the steering mechanism of the host vehicle 1 includes a steer-by-wire system in which the steering wheel and the steering wheel are mechanically separated, the steering actuator 19a may be a steering motor that generates a steering force for steering the steering wheel. Also, for example, when the steering mechanism is an electric power steering system that applies a steering assist force for assisting the steering of the steering wheel by the driver, the steering actuator 19a may be a steering assist motor that generates the steering assist force. The accelerator actuator 19b controls the accelerator opening of the drive unit, such as the engine or drive motor, in accordance with the control signal from the controller 18. The brake actuator 19c operates the braking unit in accordance with the control signal from the controller 18.

[0020] Figure 2 is a block diagram of an example of the functional configuration of the controller 18. The controller 18 includes a track boundary information acquisition unit 20, a surrounding vehicle information acquisition unit 21, a surrounding obstacle information acquisition unit 22, a target driving trajectory generation unit 23, a steering control unit 24, and a braking / driving control unit 25.

[0021] The road boundary information acquisition unit 20 acquires road boundary information, which is the boundary between the road on which the vehicle 1 is traveling and the area outside of it, based on surrounding environment information detected by the surrounding environment sensor 11, which detects road markings on the road, and high-precision map data stored in the map database 13. For example, the road boundary information acquisition unit 20 acquires information on the position and shape of road boundary lines, such as the outer boundary line of the roadway on which the vehicle 1 is traveling and the outer boundary line, the center line of the lane on which the vehicle 1 is traveling and the opposing lane, and the lane boundary lines of the adjacent lane, as road boundary information.

[0022] The surrounding vehicle information acquisition unit 21 acquires information about the positions of other vehicles present around the vehicle 1 based on the surrounding environment information output by the surrounding environment sensor 11. For example, the surrounding vehicle information acquisition unit 21 may acquire information about the positions of preceding vehicles and following vehicles traveling in the lane in which the vehicle 1 is traveling, and oncoming vehicles traveling in the opposite lane of the lane in which the vehicle 1 is traveling. Alternatively, for example, the surrounding vehicle information acquisition unit 21 may acquire information about the position of parked vehicles that are parked in the lane in which the vehicle 1 is traveling.

[0023] The surrounding obstacle information acquisition unit 22 acquires information on the location of obstacles other than other vehicles that exist around the vehicle 1, based on the surrounding environment information output by the surrounding environment sensor 11 and the high-precision map data stored in the map database 13. For example, the surrounding obstacle information acquisition unit 22 may acquire information on the location of structures (such as guardrails, walls, pillars, and buildings) located along the roadway on which the vehicle 1 is traveling. Other vehicles and obstacles other than other vehicles that are present around Vehicle 1 are examples of "obstacles" as described in the claims. In the following description, other vehicles and obstacles other than other vehicles that are present around Vehicle 1 may be collectively referred to simply as "obstacles".

[0024] The target trajectory generation unit 23 generates a target trajectory Tr for the vehicle 1 to travel on, based on the track boundary information acquired by the track boundary information acquisition unit 20, the position information of other vehicles acquired by the surrounding vehicle information acquisition unit 21, and the position information of obstacles acquired by the surrounding obstacle information acquisition unit 22. For example, the target trajectory generation unit 23 may generate a target trajectory Tr such that, when passing alongside obstacles or road boundaries around the vehicle 1, the distance between the vehicle body and the obstacle or road boundary in the road width direction is greater than or equal to a predetermined minimum required distance Dn. The minimum required distance Dn is an example of the "predetermined distance" described in the claims.

[0025] In the following explanation, the distance between an obstacle or road boundary and the body of vehicle 1 in the road width direction may be referred to as "clearance." The minimum required distance Dn is the minimum allowable clearance that must be maintained between the obstacle or road boundary and the body of vehicle 1 when passing alongside the obstacle or road boundary surrounding vehicle 1.

[0026] For example, if there are no obstacles in the lane ahead of the vehicle 1 that would hinder the vehicle 1's movement, the target trajectory generation unit 23 generates a target trajectory Tr such that the clearance between the vehicle body and the road boundary is at least the minimum required distance Dn. For example, the target trajectory generation unit 23 generates a target trajectory Tr such that the vehicle 1 travels in the center of the lane.

[0027] For example, the minimum required distance Dn may be set to be smaller than the clearance between the vehicle body of vehicle 1 and the road boundary when the vehicle is traveling in the center of a lane with a standard lane width (3.0m to 3.5m). By setting the minimum required distance Dn in this way, when vehicle 1 is traveling in the center of a lane with a standard lane width, a clearance of at least the minimum required distance Dn can be secured between the vehicle body of vehicle 1 and the road boundary, and between the vehicle body of vehicle 1 and structures (guardrails, etc.) installed on the side of the road.

[0028] On the other hand, if there is an obstacle in the lane ahead of the vehicle 1 that would hinder the vehicle 1's movement, the target trajectory generation unit 23 generates a target trajectory Tr such that the clearance between the obstacle and the vehicle body of the vehicle 1 when passing alongside the obstacle is at least the minimum required distance Dn.

[0029] Refer to Figure 3(a). Reference numeral Ln1 indicates the outer edge line of the roadway on which vehicle 1 is traveling and the boundary line between the roadway on which vehicle 1 is traveling and the lane on which vehicle 1 is traveling. Reference numeral Ln2 indicates the outer edge line of the roadway on which vehicle 1 is traveling and the boundary line between the roadway on which vehicle 1 is traveling and the oncoming lane. Reference numeral Ln3 indicates the lane boundary line between the lane on which vehicle 1 is traveling and the oncoming lane. The target driving trajectory generation unit 23 generates a target driving trajectory Tr such that the clearance D between the body of vehicle 1 and the parked vehicle 2, which is encroaching on the lane in which vehicle 1 is traveling, is greater than or equal to the minimum required distance Dn when vehicle 1 passes to the side of the parked vehicle 2.

[0030] Refer to Figure 3(b). When an oncoming vehicle 3 is traveling in the oncoming lane, the target trajectory generation unit 23 generates a target trajectory Tr such that the clearance D between the body of vehicle 1 and the oncoming vehicle 3 when vehicle 1 passes to the side of the oncoming vehicle 3 is at least the minimum required distance Dn. For example, when traveling in a lane with a standard lane width, the target trajectory generation unit 23 may generate a target trajectory Tr in which vehicle 1 travels in the center of the lane.

[0031] Refer to Figure 2. The target trajectory generation unit 23 generates a target vehicle speed profile, which is the profile of the target vehicle speed when the vehicle 1 travels along the generated target trajectory Tr. The steering control unit 24 drives the steering actuator 19a so that the vehicle 1 travels along the target travel trajectory Tr. The braking and driving control unit 25 drives the accelerator actuator 19b and the brake actuator 19c so that the vehicle 1 travels at a speed that conforms to the target vehicle speed profile.

[0032] As described above, the target trajectory generation unit 23 generates a target trajectory Tr such that the clearance between the vehicle body and the obstacle or road boundary when passing alongside the obstacle or road boundary surrounding the vehicle 1 is at least the minimum required distance Dn. However, if the occupants of vehicle 1 are leaning out or reaching out, causing their bodies to protrude outside the vehicle, the distance between the occupants' bodies and other vehicles, obstacles, or structures along the road (guardrails, walls, pillars, buildings, etc.) when passing alongside vehicle 1 may become smaller than the minimum required distance Dn, potentially causing the occupants' bodies to come too close to the surrounding objects.

[0033] Therefore, the controller 18 detects or estimates the amount P of the occupants protruding outside the vehicle 1. The controller 18 modifies the target driving trajectory Tr so that there is a safety margin M in the clearance between the vehicle body of the vehicle 1 and other vehicles, obstacles, or the road boundary, according to the amount P of protrusion. This prevents the occupants' bodies from coming too close to surrounding objects, even if their bodies are protruding outside the vehicle.

[0034] The controller 18 includes an occupant status monitoring unit 26 and a safety margin setting unit 27. The occupant status monitoring unit 26 detects or estimates the amount P of occupant protruding outside the vehicle 1. The occupant status monitoring unit 26 includes a window status acquisition unit 26a, a protrusion amount acquisition unit 26b, and a seatbelt status acquisition unit 26c.

[0035] The window state acquisition unit 26a acquires an opening amount signal from the power window device 15 that indicates the opening amount Aw of the window glass provided in the side door. Based on the opening amount Aw indicated by the opening amount signal, the window state acquisition unit 26a sets an estimated overhang amount Pe, which is an estimated value of the amount of overhang that an occupant will extend outside the vehicle 1. For example, the window state acquisition unit 26a may estimate a larger estimated overhang amount Pe when the opening amount Aw is larger than when it is smaller.

[0036] For example, if the opening amount Aw is 0 or greater and less than or equal to the first threshold Lair, the window state acquisition unit 26a may set the estimated overhang amount Pe to 0.0m. For example, the first threshold Lair may be the opening amount Aw (e.g., a few centimeters) of a window opened for ventilation inside the vehicle.

[0037] Furthermore, if, for example, the opening amount Aw is greater than the first threshold Lair and less than or equal to the second threshold Larm, the window state acquisition unit 26a may set the estimated overhang amount Pe to a first predetermined value (for example, 0.5m). For example, the second threshold Larm may be the opening Aw (e.g., several tens of centimeters) that allows one to extend their arm out of the side door window. If the opening amount Aw is greater than the second threshold Larm, the window state acquisition unit 26a may set the estimated overhang amount Pe to a second predetermined value (for example, 1.0 m).

[0038] The overhang amount acquisition unit 26b detects the position of each part of the occupant's body based on the detection results from the occupant sensor 16, and acquires the actual amount of overhang of the occupant that extends outside the vehicle 1 as the actual overhang amount Pa. The belt status acquisition unit 26c acquires a seat belt wearing signal from the belt wearing sensor 17, indicating whether or not the seat belt is fastened. If the occupant is not wearing a seat belt, the belt status acquisition unit 26c increases the estimated overhang amount Pe set by the window status acquisition unit 26a by multiplying it by a coefficient greater than 1.

[0039] For example, if an occupant is not wearing a seat belt, the belt state acquisition unit 26c increases the estimated overhang amount Pe by doubling the estimated overhang amount Pe set by the window state acquisition unit 26a. On the other hand, when an occupant is wearing a seat belt, the belt state acquisition unit 26c does not correct the estimated overhang amount Pe set by the window state acquisition unit 26a.

[0040] As a result, the belt state acquisition unit 26c estimates the estimated overhang amount Pe based on the window open / closed state and the seat belt fastening state, and estimates a larger estimated overhang amount Pe when the seat belt is not fastened than when the seat belt is fastened. The crew condition monitoring unit 26 compares the estimated overhang amount Pe with the actual overhang amount Pa and determines the larger of the two as the overhang amount P.

[0041] The safety margin setting unit 27 sets the safety margin M according to the amount of overhang P determined by the occupant condition monitoring unit 26. For example, the safety margin setting unit 27 may set a larger safety margin M when the amount of overhang P is larger than when it is small. For example, the larger the amount of overhang P, the larger the safety margin M may be set.

[0042] Alternatively, the safety margin setting unit 27 may correct the safety margin M based on the vehicle speed V detected by the vehicle speed sensor of the vehicle sensor 12. For example, the safety margin M may be adjusted so that it increases more when the vehicle speed V is high compared to when the vehicle speed V is low.

[0043] Alternatively, the safety margin setting unit 27 may correct the safety margin M based on the lateral acceleration ay generated in the vehicle 1 detected by the acceleration sensor of the vehicle sensor 12. For example, the safety margin M may be adjusted so that it increases more when the absolute value of the lateral acceleration |ay| is large compared to when it is small.

[0044] Specifically, the safety margin setting unit 27 may set a standard safety margin Mr, which has a larger value when the overhang amount P is large compared to when it is small, as shown in Figure 5. For example, as the overhang amount P increases from a predetermined value P1 to a predetermined value P2, the standard safety margin Mr increases from 0.0 to a predetermined value M1. The predetermined value P1 is an example of the "predetermined value" described in the claims. For example, the predetermined values ​​P1, P2, and M1 may be "0.0", "1.0", and "1.0", respectively.

[0045] Furthermore, the safety margin setting unit 27 sets a vehicle speed gain Gv according to the vehicle speed V, as shown in Figure 6. For example, a larger vehicle speed gain Gv may be set when the vehicle speed V is high compared to when it is low. For example, as the vehicle speed V increases from 0 to a predetermined value V1, the vehicle speed gain Gv may increase from a predetermined value GV1 to a predetermined value GV2, and as the vehicle speed increases from a predetermined value V1 to a predetermined value V2, the vehicle speed gain Gv may increase from a predetermined value Gv2 to a predetermined value Gv3.

[0046] Furthermore, the vehicle speed gain Gv may be set such that the rate of change of the vehicle speed gain ΔGv (ΔGv / ΔV) with respect to the change in vehicle speed V ΔV is larger when the vehicle speed V is higher than when the vehicle speed V is low. For example, the vehicle speed gain Gv may be set such that the rate of change of the vehicle speed gain Gv in the range from a predetermined value V1 to V2 ((Gv3-Gv2) / (V2-V1)) is larger than the rate of change of the vehicle speed gain Gv in the range from a predetermined value V1 to a predetermined value V1 ((Gv2-Gv1) / V1). For example, the predetermined values ​​V1 and V2 may be 40 km / h and 100 km / h, respectively, and the predetermined values ​​Gv1, Gv2, and Gv3 may be "0.5", "1", and "2", respectively.

[0047] Furthermore, the safety margin setting unit 27 sets a lateral acceleration gain Ga according to the lateral acceleration ay, as shown in Figure 7. For example, a larger lateral acceleration gain Ga may be set when the absolute value of the lateral acceleration |ay| is large compared to when it is small. For example, as the lateral acceleration increases from a predetermined value (-ay1) to 0, the lateral acceleration gain Ga decreases from a predetermined value Ga2 to a predetermined value Ga1, and as the lateral acceleration increases from 0 to a predetermined value ay1, the lateral acceleration gain Ga increases from a predetermined value Ga1 to a predetermined value Ga2. For example, the predetermined value ay1 may be 0.3G, and the predetermined values ​​Ga1 and Ga2 may be "1" and "2", respectively.

[0048] The safety margin setting unit 27 may set the safety margin M = Mr × Gv × Ga as the product of the reference safety margin Mr, the vehicle speed gain Gv, and the lateral acceleration gain Ga. In this example, we have described a case where the safety margin M is corrected using both the vehicle speed gain Gv and the lateral acceleration gain Ga. However, the safety margin setting unit 27 may correct the safety margin M using only one of the vehicle speed gain Gv or the lateral acceleration gain Ga. In other words, the safety margin setting unit 27 may set only one of the vehicle speed gain Gv or the lateral acceleration gain Ga.

[0049] Refer to Figure 2. The safety margin setting unit 27 outputs the safety margin M to the target trajectory generation unit 23. The target trajectory generation unit 23 corrects the above-mentioned target trajectory Tr, which is generated based on the track boundary information, the position information of other vehicles, and the position information of obstacles, based on the safety margin M.

[0050] For example, as described above with reference to Figures 3(a) and 4(a), the target trajectory generation unit 23 generates a target trajectory Tr such that the clearance D between the obstacle or road boundary and the vehicle body of the vehicle 1 when passing alongside the obstacle or road boundary around the vehicle 1 is greater than or equal to a predetermined minimum required distance Dn.

[0051] For example, as shown in Figures 3(b) and 4(b), the target trajectory generation unit 23 may modify the target trajectory Tr so that the clearance between the vehicle body of the vehicle 1 and the obstacle or track boundary when passing alongside the obstacle or track boundary around the vehicle 1 is (D+M) which is larger than the original clearance D by a safety margin M, and then obtain the modified target trajectory Tr*.

[0052] In this case, if the overhang P is greater than a predetermined value P1, the original target trajectory Tr is corrected to target trajectory Tr*, and if the overhang P is less than or equal to the predetermined value P1, the original target trajectory Tr* is not corrected. In the case of the corrected target trajectory Tr* (Figures 3(b) and 4(b)), the clearance between the vehicle body of the vehicle 1 when passing alongside an obstacle or track boundary is increased by a safety margin M compared to the case of the original target trajectory Tr (Figures 3(a) and 4(a)).

[0053] For example, the target trajectory generation unit 23 may modify the target trajectory Tr* so that, when passing alongside obstacles or road boundaries around the vehicle 1 or road boundary, the clearance between the vehicle body and the obstacle or road boundary is the sum of the minimum required distance Dn and the safety margin M (Dn + M).

[0054] In this case, if the overhang amount P is less than or equal to a predetermined value P1, the target trajectory Tr is generated such that the clearance between the obstacle or the road boundary and the body of the vehicle 1 when passing alongside the obstacle or the boundary is greater than or equal to the minimum required distance Dn. On the other hand, if the overhang amount P is greater than a predetermined value P1, the target driving trajectory Tr is modified so that the clearance between the obstacle or the road boundary and the body of the vehicle 1 when passing alongside the obstacle or the boundary is the sum of the minimum required distance Dn and the safety margin M (Dn + M), and the modified target driving trajectory Tr* is obtained.

[0055] The target trajectory generation unit 23 generates a target vehicle speed profile for when the vehicle 1 travels on the modified target trajectory Tr*. The steering control unit 24 drives the steering actuator 19a so that the vehicle 1 travels along the corrected target trajectory Tr*. The braking and driving control unit 25 drives the accelerator actuator 19b and the brake actuator 19c so that the vehicle 1 travels at a speed that conforms to the target vehicle speed profile.

[0056] (operation) Figure 8 is a flowchart of an example of a vehicle control method according to the embodiment. In step S1, the surrounding vehicle information acquisition unit 21 and the surrounding obstacle information acquisition unit 22 acquire positional information of other vehicles and obstacles present around the vehicle 1. The road boundary information acquisition unit 20 acquires road boundary information, which is the boundary between the road on which the vehicle 1 is traveling and the area outside of it.

[0057] In step S2, the target trajectory generation unit 23 generates a target trajectory Tr on which the vehicle 1 will travel, based on the positional information of other vehicles and obstacles, as well as information on the track boundary. In step S3, the occupant status monitoring unit 26 performs an overhang amount acquisition process to detect or estimate the amount P of the occupant overhanging the vehicle 1. Figure 9 is a flowchart of an example of the process for obtaining the overhang amount shown in Figure 8.

[0058] In step S10, the belt state acquisition unit 26c and the window state acquisition unit 26a acquire information on the seat belt fastening status and information on the opening amount Aw of the window glass provided in the side door. In step S11, the window state acquisition unit 26a determines whether the opening amount Aw is 0 or greater and less than or equal to the first threshold Lair. If the opening amount Aw is not 0 or greater and less than or equal to the first threshold Lair (step S11:N), the process proceeds to step S13. If the opening amount Aw is 0 or greater and less than or equal to the first threshold Lair (step S11:Y), the process proceeds to step S12. In step S12, the window state acquisition unit 26a sets the estimated overhang amount Pe to 0.0m. The process then proceeds to step S13.

[0059] In step S13, the window state acquisition unit 26a determines whether the opening amount Aw is greater than the first threshold Lair and less than or equal to the second threshold Larm. If the opening amount Aw is not greater than the first threshold Lair and less than or equal to the second threshold Larm (step S13:N), the process proceeds to step S15. If the opening amount Aw is greater than the first threshold Lair and less than or equal to the second threshold Larm (step S13:Y), the process proceeds to step S14. In step S14, the window state acquisition unit 26a sets the estimated overhang amount Pe to 0.5m. The process then proceeds to step S15.

[0060] In step S15, the window state acquisition unit 26a determines whether the opening amount Aw is greater than the second threshold Larm. If the opening amount Aw is not greater than the second threshold Larm (step S15:N), the process proceeds to step S17. If the opening amount Aw is greater than the second threshold Larm (step S15:Y), the process proceeds to step S16. In step S16, the window state acquisition unit 26a sets the estimated overhang amount Pe to 1.0m. The process then proceeds to step S17.

[0061] In step S17, the belt status acquisition unit 26c determines whether or not the seat belt is fastened. If the seat belt is fastened (step S17:Y), the process proceeds to step S19. If the seat belt is not fastened (step S17:N), the process proceeds to step S18. In step S18, the belt state acquisition unit 26c doubles the estimated overhang amount Pe set by the window state acquisition unit 26a. The process then proceeds to step S19.

[0062] In step S19, the overhang amount acquisition unit 26b acquires the actual overhang amount Pa, which is the actual amount of overhang by the occupants of the vehicle 1 that extends outside the vehicle. In step S20, the occupant condition monitoring unit 26 determines whether the actual overhang amount Pa is greater than the estimated overhang amount Pe. If the actual overhang amount Pa is less than or equal to the estimated overhang amount Pe (step S20:N), the process proceeds to step S22. If the actual overhang amount Pa is greater than the estimated overhang amount Pe (step S20:Y), the process proceeds to step S21. In step S21, the crew condition monitoring unit 26 sets the overhang amount Pa as the overhang amount. After that, the process ends. In step S22, the occupant status monitoring unit 26 sets the estimated overhang amount Pe as the overhang amount. The process then ends.

[0063] Refer to Figure 8. In step S4, the safety margin setting unit 27 executes the safety margin setting process. Figure 10 is a flowchart of an example of the safety margin setting process shown in Figure 8. In step S30, the safety margin setting unit 27 sets the standard safety margin Mr based on the overhang amount P.

[0064] In step S31, the safety margin setting unit 27 sets a vehicle speed gain Gv corresponding to the vehicle speed V and a lateral acceleration gain Ga corresponding to the lateral acceleration ay generated in the vehicle 1. In step S32, the safety margin setting unit 27 sets the safety margin M = Mr × Gv × Ga as the product of the reference safety margin Mr, the vehicle speed gain Gv, and the lateral acceleration gain Ga.

[0065] Refer to Figure 8. In step S5, the target trajectory generation unit 23 modifies the target trajectory Tr generated in step S2 based on the safety margin M set by the safety margin setting unit 27, and obtains the modified target trajectory Tr*. It also generates a target speed profile for the target speed when the vehicle 1 travels on the modified target trajectory Tr*. In step S6, the steering control unit 24 drives the steering actuator 19a so that the vehicle 1 travels along the corrected target travel trajectory Tr*. The braking and driving control unit 25 drives the accelerator actuator 19b and brake actuator 19c so that the vehicle 1 travels at a speed that conforms to the target vehicle speed profile. The process then ends.

[0066] (Effects of the embodiment) (1) In the vehicle control method, positional information of obstacles or road boundaries present around the vehicle is acquired, the amount of occupant overhang outside the vehicle is detected or estimated, a safety margin of clearance between the vehicle body and the obstacle or road boundary when passing alongside it is set based on the amount of overhang, a target driving trajectory that passes alongside the obstacle or road boundary is generated based on the safety margin, and the steering mechanism is controlled so that the vehicle travels along the target driving trajectory. This prevents the occupant's body from coming too close to objects around the vehicle when the occupant's body is overhanging the vehicle.

[0067] (2) For example, if the amount of overhang is greater than or equal to a threshold, the target driving trajectory may be generated such that the clearance between the vehicle body and the obstacle or road boundary when passing alongside it is increased by a safety margin compared to when the amount of overhang is less than the threshold. This makes it possible to generate a target driving trajectory that prevents the body of an occupant overhanging the vehicle from getting too close to objects around the vehicle.

[0068] (3) Alternatively, for example, if the amount of overhang is less than or equal to a threshold, the target trajectory may be generated such that the clearance between the vehicle body and the obstacle or road boundary when passing alongside it is greater than or equal to a predetermined distance, and if the amount of overhang is greater than the threshold, the target trajectory may be generated such that the clearance between the vehicle body and the obstacle or road boundary when passing alongside it is equal to the sum of a predetermined distance and a safety margin. This makes it possible to generate a target trajectory that prevents the body of an occupant overhanging the vehicle from getting too close to objects around the vehicle.

[0069] (4) The amount of overhang may be estimated based on the open / closed state of the vehicle's windows. This allows the amount of overhang to be estimated before the occupant's body actually protrudes outside the vehicle. (5) A larger overhang may be estimated when the window opening is larger than when it is smaller. This allows for the estimation of the overhang amount according to the part of the body that protrudes from outside the vehicle, depending on the size of the opening. For example, the overhang amount can be estimated separately for cases where the arms protrude and cases where the upper body protrudes.

[0070] (6) The amount of overhang may be estimated based on the open / closed state of the windows and the seat belt fastening state. For example, a larger amount of overhang may be estimated when the seat belt is not fastened than when the seat belt is fastened. This allows for an increased safety margin when the risk increases due to the absence of a seat belt.

[0071] (7) The amount of occupant overhang outside the vehicle may be actually detected by sensors. For example, the safety margin may be set based on the larger of the actually detected overhang and the estimated overhang. This allows the safety margin to be increased when the actual overhang is greater than the estimated overhang. (8) A larger safety margin may be set when the amount of overhang is larger than when it is small. This reduces the risk of the occupant's body overhanging the vehicle coming too close to objects around the vehicle.

[0072] (9) The safety margin may be adjusted to increase more when the vehicle speed is high than when it is low. The safety margin may also be adjusted to increase more when the absolute value of the lateral acceleration occurring in the vehicle is large than when it is small. This can further reduce the risk of the occupant's body, which is protruding outwards, coming too close to objects around the vehicle. [Explanation of Symbols]

[0073] 1...Own vehicle, 2...Parked vehicle, 3...Oncoming vehicle, 10...Vehicle control device, 11...Surrounding environment sensor, 12...Vehicle sensor, 13...Map database, 14...Positioning device, 15...Power window device, 16...Occupant sensor, 17...Belt sensor, 18...Controller, 18a...Processor, 18b...Storage device, 19a...Steering actuator, 19b...Accelerator actuator, 19c...Brake actuator, 20...Road boundary information acquisition unit, 21...Surrounding vehicle information acquisition unit, 22...Surrounding obstacle information acquisition unit, 23...Target driving trajectory generation unit, 24...Steering control unit, 25...Brake / drive control unit, 26...Occupant status monitoring unit, 26a...Window status acquisition unit, 26b...Quantity acquisition unit, 26c...Belt status acquisition unit, 27...Safety margin setting unit

Claims

1. The system acquires location information of obstacles or road boundaries present around the vehicle. The amount of occupant protruding from the vehicle is detected or estimated. Based on the aforementioned overhang amount, a safety margin of clearance is set between the vehicle body and the obstacle or the side of the road boundary when passing alongside it. Based on the safety margin, a target travel trajectory is generated that passes alongside the obstacle or the track boundary. The steering mechanism is controlled so that the vehicle travels along the aforementioned target trajectory. A vehicle control method characterized by the following:

2. When the amount of overhang is greater than or equal to a predetermined value, the target driving trajectory is generated such that the clearance between the vehicle body and the obstacle or the side of the road boundary is larger by the safety margin compared to when the amount of overhang is less than the predetermined value. The vehicle control method according to feature 1.

3. When the amount of overhang is less than or equal to a predetermined value, the target trajectory is generated such that the clearance between the vehicle body and the obstacle or the side of the road boundary is greater than or equal to a predetermined distance. If the amount of overhang is greater than the predetermined value, the target driving trajectory is generated such that the clearance between the vehicle body and the obstacle or the side of the road boundary is the sum of the predetermined distance and the safety margin. The vehicle control method according to feature 1.

4. The vehicle control method according to claim 1, characterized in that the amount of overhang is estimated based on the open / closed state of the windows of the vehicle.

5. The vehicle control method according to claim 4, characterized in that a larger amount of overhang is estimated when the opening amount of the window is larger than when it is smaller.

6. The vehicle control method according to claim 4, characterized in that the amount of overhang is estimated based on the seat belt fastening status.

7. The vehicle control method according to claim 6, characterized in that a larger amount of overhang is estimated when the seat belt is not worn than when the seat belt is worn.

8. The vehicle control method according to claim 1, characterized in that the amount of occupants protruding outside the vehicle is actually detected by a sensor.

9. The vehicle control method according to claim 8, characterized in that the safety margin is set based on the larger of the actually detected overhang and the estimated overhang.

10. The vehicle control method according to claim 1, characterized in that a larger safety margin is set when the amount of overhang is larger than when it is small.

11. The vehicle control method according to claim 1, characterized in that the safety margin is corrected to increase more when the vehicle speed of the vehicle is high compared to when the vehicle speed of the vehicle is low.

12. The vehicle control method according to claim 1, characterized in that the safety margin is corrected so that it increases more when the absolute value of the lateral acceleration occurring in the vehicle is large compared to when it is small.

13. The process involves acquiring location information of obstacles or road boundaries present around the vehicle, A process for detecting or estimating the amount of occupants protruding outside the vehicle, A process of setting a safety margin of clearance between the vehicle body and the obstacle or the side of the road boundary when passing over it, based on the amount of overhang, A process for generating a target travel trajectory that passes alongside the obstacle or the track boundary based on the safety margin, A process to control the steering mechanism so that the vehicle travels along the target trajectory, A vehicle control device characterized by comprising a controller that performs the following actions.

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