Operation control method and operation control device

Abstract

A driving control device 100 executes driving assistance control for a host vehicle 1 using a processor 10 having a first control unit 11 that executes lane maintenance control and a second control unit 12 that executes departure prevention control. The processor 10 determines whether or not the second control unit 12 is to start the departure prevention control while the lane maintenance control is being executed by the first control unit 11. When it is determined that the second control unit 12 is to start the departure prevention control while the lane maintenance control is being executed, the lane maintenance control is ended mid-execution, deceleration control for the host vehicle 1 is started, the departure prevention control is continued until the host vehicle 1 stops, and the departure prevention control is ended mid-execution when the host vehicle 1 has stopped due to the deceleration control.

Description

[Technical field]

[0001] The present invention relates to an operation control method and an operation control device. [Background technology]

[0002] The driving control device described in Patent Document 1 executes lane keeping control or deviation prevention control according to the lane width of the lane in which the host vehicle is traveling and the vehicle speed of the host vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2015-069341 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the driving control device described in Patent Document 1 does not determine whether or not an abnormality has occurred in the function of executing lane keeping control, and does not perform control according to the determination result.

[0005] The problem that the present invention aims to solve is to provide a driving control method and a driving control device that, when controlling a vehicle using lane keeping control and deviation prevention control, can determine a situation in which an abnormality may have occurred in the execution function of lane keeping control, and control the driving of the vehicle in accordance with the determination result. [Means for solving the problem]

[0006] The present invention solves the above problem by determining whether or not the second control unit will start departure prevention control while lane keeping control is being executed by the first control unit, and if it is determined that the second control unit will start the departure prevention control while lane keeping control is being executed, terminating the lane keeping control currently being executed, starting deceleration control of the host vehicle, continuing the departure prevention control until the host vehicle is stopped by the deceleration control, and terminating the departure prevention control currently being executed when the host vehicle is stopped by the deceleration control. Effect of the Invention

[0007] According to the present invention, the driving control device determines whether or not the second control unit will start departure prevention control while the first control unit is executing lane keeping control, so that when controlling the host vehicle using lane keeping control and departure prevention control, it has the effect of determining a situation in which an abnormality may have occurred in the execution function of the lane keeping control, and controlling the driving of the host vehicle in accordance with the determination result. [Brief description of the drawings]

[0008] [Figure 1] 1 is a block diagram showing a configuration of an operation control device according to an embodiment of the present invention; [Diagram 2] 10 is a diagram showing an example of the positional relationship between the host vehicle and lane boundary lines when it is determined that the host vehicle is deviating from a lane; FIG. [Diagram 3] 2 is a flowchart showing the steps of an operation control method executed by the operation control device shown in FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. 1 is a block diagram showing the configuration of a host vehicle 1 and a driving control device 100 that controls autonomous driving of the host vehicle 1. The host vehicle 1 includes the driving control device 100, a detection device 101, a host vehicle position acquisition unit 102, a map database 103, an in-vehicle device 104, an output device 105, a steering device 106a, a braking device 106b, and a driving device 106c. The driving control device 100 executes a program stored in a ROM by a CPU, thereby controlling the steering device 106a, the braking device 106b, and the driving device 106c of the host vehicle 1 and performing driving assistance control.

[0010] The detection device 101 is, for example, an in-vehicle camera that captures images of the surroundings of the host vehicle 1. The detection device 101 detects lane boundary lines B1, B2 of the driving lane L in which the host vehicle 1 is traveling (see FIG. 2). The detection results of the detection device 101 are output to the driving control device 100 at predetermined time intervals.

[0011] The vehicle position acquisition unit 102 is composed of a GPS unit, a gyro sensor, a vehicle speed sensor, etc. The vehicle position acquisition unit 102 detects radio waves transmitted from multiple satellite communications by the GPS unit, periodically acquires position information of the vehicle 1, and detects the current position of the vehicle 1 based on the acquired position information of the vehicle 1, angle change information acquired from the gyro sensor, and vehicle speed acquired from the vehicle speed sensor. The position information of the vehicle 1 detected by the vehicle position acquisition unit 102 is output to the driving control device 100 at predetermined time intervals.

[0012] The map database 103 is a memory configured to store high-precision digital map information (high-precision map, dynamic map) including identification information of multiple lanes that roads have, and to be accessible from the driving control device 100. The map information in the map database 103 also includes information on roads and / or lane curves and the magnitude of the curves (for example, curvature or curvature radius), etc.

[0013] The in-vehicle devices 104 are various devices mounted on a vehicle, and are operated by the driver. The in-vehicle devices 104 include a steering wheel 104a. Other in-vehicle devices 104 include an accelerator pedal, a brake pedal, a navigation device, a turn signal, wipers, lights, a horn, and other specific switches. When the in-vehicle devices 104 are operated by the driver, the information is output to the driving control device 100.

[0014] The output device 105 is, for example, a display that outputs text information and / or image information, or a speaker that outputs audio information.

[0015] The steering device 106a has a steering actuator. The steering actuator includes a motor attached to a steering column shaft. The steering device 106a executes steering control of the host vehicle 1 based on the steering angle of the steering wheel 104a or a control signal input from the driving control device 100. The braking device 106b includes a braking actuator. The braking device 106b controls the brake operation of the host vehicle 1 based on the stroke amount of a brake pedal (not shown) or the like or a control signal input from the driving control device 100. The drive device 106c controls the operation of the drive mechanism (including the operation of the internal combustion engine in an engine vehicle, the operation of a driving motor in an electric vehicle system, and the torque distribution between the internal combustion engine and the driving motor in a hybrid vehicle) based on the stroke amount of an accelerator pedal (not shown) or the like or a control signal input from the driving control device 100.

[0016] Next, the configuration of the operation control device 100 will be described in detail with reference to FIGS. In the following description, it is assumed that the driving control device 100 controls the driving of the host vehicle 1 in hands-off mode. The hands-off mode is a mode in which the driving control device 100 permits the host vehicle 1 to travel when the driver takes his / her hands off the steering wheel of the host vehicle 1.

[0017] As shown in FIG. 1, the driving control device 100 includes a processor 10. The processor 10 includes a ROM (Read Only Memory) that stores a program for controlling the driving of the vehicle 1, a CPU (Central Processing Unit) that executes the program stored in the ROM, and a RAM (Random Access Memory) that functions as an accessible storage device. As the operating circuit, a MPU (Micro Processing Unit), a DSP (Digital Signal Processor), an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or the like can be used instead of or in addition to the CPU (Central Processing Unit). The processor 10 includes an abnormality determination unit 14 and a vehicle control unit 15. The abnormality determination unit 14 includes a first abnormality determination unit 14a and a second abnormality determination unit 14b. The vehicle control unit 15 includes a first control unit 11, a second control unit 12, and a vehicle speed control unit 13. The first control unit 11, the second control unit 12, the vehicle speed control unit 13, the first abnormality determination unit 14a, and the second abnormality determination unit 14b execute programs for implementing the respective functions of the processor 10. In FIG. 1, the driving control device 100 is mounted on the vehicle 1, but is not limited to this. The driving control device 100 may be a device that remotely operates the vehicle 1.

[0018] The first control unit 11 executes lane keeping control to maintain the lateral position P of the host vehicle 1 at a predetermined position within the driving lane L (see FIG. 2). When the first control unit 11 is executing the lane keeping control, the lateral position P of the host vehicle 1 is maintained near the center of the driving lane L. That is, the first control unit 11 determines whether the host vehicle 1 is in a predetermined position based on the lane boundary lines B1, B2 detected by the detection device 101 or the map database 103Based on the driving lane information, the first control unit 11 maintains the lateral position P of the host vehicle 1 at a predetermined position near the center of the driving lane L. More specifically, the first control unit 11 controls the steering device 106a so as to maintain the lateral position P of the host vehicle 1 at a predetermined position (a position near the center of the driving lane L) without making the driver feel uncomfortable, depending on the influence when switching the means for acquiring information on the driving lane L between the detection device 101 and the map database 103, the influence of the road environment (cant, change in curvature of the driving lane L, change in road width), and / or the influence of a crosswind. The first control unit 11 may control the braking device 106b to adjust the yaw angle of the host vehicle 1 and perform lane keeping control.

[0019] The second control unit 12 executes departure prevention control to prevent the host vehicle 1 from departing from the driving lane L, based on the positions of the lane boundary lines B1, B2 detected by the detection device 101. When at least a part of the body of the host vehicle 1 deviates from the lane boundary lines B1, B2 of the driving lane L, the second control unit 12 starts departure prevention control and controls the steering device 106a to adjust the orientation of the host vehicle 1 so that the host vehicle 1 returns to the inside of the driving lane L. The second control unit 12 may execute departure prevention control by adjusting the yaw angle of the host vehicle 1 by controlling the braking device 106b. It should be noted that the deviation prevention control function of the second control unit 12 is ON even while the first control unit 11 is functioning normally. "The second control unit 12 starts deviation prevention control" means that the second control unit 12 starts outputting a control signal to the vehicle control unit 15 based on the deviation prevention control function. "The second control unit 12 starts deviation prevention control" means that the second control unit 12 continues outputting a control signal to the vehicle control unit 15 based on the deviation prevention control function.

[0020] In addition, when the second control unit 12 predicts that at least a part of the body of the host vehicle 1 will deviate from the lane boundary lines B1, B2 of the travel lane L, the second control unit 12 may control the steering device 106a to adjust the travel direction of the host vehicle 1 so that the host vehicle 1 stays inside the travel lane L. Specifically, when the orientation of the host vehicle 1 is not parallel to the extension direction of the travel lane L as shown in FIG. 2, the second control unit 12 calculates the shortest time T1 required for the orientation of the host vehicle 1 to become parallel to the extension direction of the travel lane L. Then, the second control unit 12 calculates the lateral movement amount X of the host vehicle 1 on the assumption that the orientation of the host vehicle 1 becomes parallel to the extension direction of the travel lane L after the shortest time T1 has elapsed. When the lateral movement amount X is greater than the distance D between the current lateral position P of the vehicle and the lane boundary line B1 (X>D), the second control unit 12 predicts that at least a part of the body of the host vehicle 1 will deviate from the lane boundary line B1 of the travel lane L, and starts deviation prevention control. On the other hand, when the lateral movement amount X is less than or equal to the distance D between the vehicle's current lateral position P and the lane boundary line B1 (X≦D), the second control unit 12 determines that the host vehicle 1 will not deviate from the driving lane L and does not start deviation prevention control.

[0021] The method of calculating the shortest time T1 and the lateral movement amount X will now be described in more detail. First, the second control unit 12 obtains the steering speed limit value δ′ of the host vehicle 1. Next, the second control unit 12 calculates a steering angle change amount obtained by integrating the steering speed limit value δ' over time t to the current initial steering angle δ(0). δ (t) to create the following equation (1), which indicates the steering angle δ after the time t has elapsed. δ = δ(0) + δ(t) … (1)

[0022] Furthermore, the second control unit 12 converts the above formula (1) into a formula indicating the vehicle body angle change rate θ' (yaw rate) according to the vehicle model of the host vehicle 1. Then, the second control unit 12 integrates the vehicle body angle change rate θ' (yaw rate) over time t to calculate the vehicle body angle change amount θ(t). Furthermore, the second control unit 12 adds the vehicle body angle change amount θ(t) to the current initial vehicle body angle θ(0) to create the following formula (2) indicating the vehicle body angle θ after the time t has elapsed. Note that, since integration over time (t) is performed twice to create formula (2), formula (2) is a quadratic function of time t. θ = θ(0) + θ(t) … (2)

[0023] The second control unit 12 calculates the time t when θ = 0 based on the above formula (2). The time t when θ = 0 is "the shortest time T1 required for the orientation of the host vehicle 1 to become parallel to the extension direction of the traveling lane L."

[0024] Furthermore, the second control unit 12 generates the following equation (3) indicating the lateral movement speed Vy(t) of the host vehicle 1 based on the vehicle speed V and the vehicle body angle change amount θ(t) of the host vehicle 1. Vy(t) = V × sinθ(t) … (3) Then, the second control unit 12 integrates Vy(t) expressed by the above formula (3) over the shortest time T1 to calculate the lateral movement amount X. The second control unit 12 compares this lateral movement amount X with the distance D from the current lateral position P of the host vehicle 1 to the lane boundary line B1 to determine whether the host vehicle 1 will depart from the driving lane L.

[0025] In addition, when the second control unit 12 starts deviation prevention control while the driving control device 100 is controlling the driving of the host vehicle 1 in the hands-off mode, the output device 105 may output hands-on request information requesting the driver to hold the steering wheel 104a of the host vehicle 1. After the control right is returned to the driver, the driving control device 100 may stop the driving assistance control including the lane keeping control and deviation prevention control.

[0026] 1 controls the vehicle speed V and acceleration / deceleration of the host vehicle 1 by controlling the braking device 106b and the driving device 106c.

[0027] Furthermore, the first abnormality determination unit 14a determines whether or not an abnormality has occurred in the first control unit 11 (whether or not the first control unit 11 has a malfunction). Specifically, the first abnormality determination unit 14a determines whether or not the second control unit 12 starts deviation prevention control while the first control unit 11 is performing lane keeping control. If the second control unit 12 starts deviation prevention control while the lane keeping control is being performed, it is highly likely that the lane keeping control is not functioning normally, and therefore the first abnormality determination unit 14a determines that an abnormality has occurred in the first control unit 11. In this embodiment, "an abnormality occurs" refers to a failure of a function that executes control.

[0028] When the first abnormality determination unit 14a determines that an abnormality has occurred in the first control unit 11 (the first control unit 11 has failed), that is, when the second control unit 12 starts deviation prevention control while the lane keeping control is being executed, the first control unit 11 ends the lane keeping control. When the first abnormality determination unit 14a determines that an abnormality has occurred in the first control unit 11, the processor 10 outputs an alarm including hands-on request information to the output device 105. Furthermore, the vehicle speed control unit 13 outputs a control signal to the braking device 106b and the driving device 106c to start deceleration control of the host vehicle 1. Furthermore, the second control unit 12 continues the deviation prevention control until the host vehicle 1 decelerated by the deceleration control stops, and ends the deviation prevention control when the host vehicle 1 stops. Note that, when manual driving by the driver is started during deceleration of the host vehicle 1, the vehicle speed control unit 13 ends the deceleration control before the host vehicle 1 stops.

[0029] On the other hand, the second abnormality determination unit 14b constantly determines whether or not an abnormality occurs in the second control unit 12 (whether or not the second control unit is broken) even while the deviation prevention control is not being executed. That is, the second abnormality determination unit 14b determines whether or not an abnormality occurs in the second control unit 12 before the second control unit 12 starts deviation prevention control. When the second abnormality determination unit 14b determines that an abnormality occurs in the second control unit 12, the processor 10 of the driving control device 100 ends the driving support control including the lane keeping control and deviation prevention control. When the second abnormality determination unit 14b detects a system error in the second control unit 12, it determines that an abnormality occurs in the second control unit 12. The second abnormality determination unit 14b determines whether or not the internal calculation result, which is periodically calculated, deviates from the reference value by a predetermined value or more. This predetermined value is appropriately set based on experimental results or the like according to the system used. The second control unit 12 controls the host vehicle 1 so that it does not deviate from the lane L, whereas the first control unit 11 performs calculations so that the host vehicle 1 travels along a route in the center of the lane while the driving assistance control of the host vehicle 1 is being executed, so that the first control unit 11 performs more internal calculations. Therefore, the first control unit 11 performs more internal calculations than the second control unit 12, and these calculation results are integrated to output an output value, so it is difficult for the first abnormality determination unit 14a to determine the deviation of the internal calculation results of the first control unit 11. In addition, even if the output value obtained by integrating many calculation results is constant, each internal calculation may differ, and it is difficult for the first abnormality determination unit 14a to accurately determine the deviation of the internal calculation results of the first control unit 11.

[0030] In addition, when the driving control device 100 is performing driving assistance control of the vehicle 1 in hands-on mode, if the abnormality determination unit 14 determines that an abnormality has occurred in the first control unit 11 or the second control unit 12, the driving control device 100 may control the vehicle 1 so as not to allow the driving assistance mode to transition to hands-off mode.

[0031] Next, the procedure of the operation control method executed by the operation control device 100 will be described with reference to FIG. First, in step S1, the second abnormality determination unit 14b determines whether or not an abnormality has occurred in the second control unit 12. If an abnormality has occurred in the second control unit 12, in step S8, the driving control device 100 ends the driving assistance control.

[0032] Next, in step S2, the first abnormality determination unit 14a determines whether or not the second control unit 12 starts deviation prevention control while the first control unit 11 is performing lane keeping control. If the second control unit 12 does not start deviation prevention control while the first control unit 11 is performing lane keeping control, the process ends.

[0033] If the first abnormality determination unit 14a determines in step S2 that the second control unit 12 will start deviation prevention control while the first control unit 11 is performing lane keeping control, then in step S3 the first abnormality determination unit 14a determines that an abnormality has occurred in the first control unit 11. Note that in this determination, if it is determined from external information or the like that a strong crosswind of a predetermined magnitude or more is blowing, or from map information that the road surface has a large cant of a predetermined magnitude or more, and the driving control device 100 has obtained information in advance about a location where it is determined that it is difficult for the host vehicle 1 to travel within the lane using lane keeping control, then the determination of whether or not an abnormality has occurred in the first control unit 11 at that location may be reserved.

[0034] Next, in step S4, the first control unit 11 ends the lane keeping control. Next, in step S5, the vehicle speed control section 13 starts deceleration control. The process of step S4 and the process of step S5 may be performed simultaneously, or the process of step S4 may be performed after the process of step S5.

[0035] Next, in step S6, the driving control device 100 determines whether the host vehicle 1 has stopped after deceleration. If the driving control device 100 determines that the host vehicle 1 has not stopped, the driving control device 100 continues the determination in step S6 while continuing departure prevention control. On the other hand, if the driving control device 100 determines that the host vehicle 1 has stopped, in step S7, the second control unit 12 ends departure prevention control.

[0036] From the above, when the processor 10 of the driving control device 100 according to this embodiment determines that the second control unit 12 starts deviation prevention control while the first control unit 11 is executing lane keeping control, the processor 10 ends the currently executed lane keeping control, starts deceleration control of the host vehicle 1, continues the deviation prevention control until the host vehicle 1 is stopped by the deceleration control, and ends the currently executed deviation prevention control when the host vehicle is stopped by the deceleration control. Here, the fact that the second control unit 12 starts deviation prevention control while the first control unit 11 is executing lane keeping control indicates that the host vehicle 1 deviates or may deviate from the travel lane L because the function of the lane keeping control of the first control unit 11 is not fully exerted. In other words, when the second control unit 12 starts deviation prevention control while the first control unit 11 is executing lane keeping control, there is a possibility that an abnormality has occurred in the first control unit 11 (the first control unit 11 has broken down). Therefore, the driving control device 100 can determine a situation in which an abnormality may have occurred in the execution function of the lane keeping control by determining whether the second control unit 12 starts deviation prevention control while the first control unit 11 is executing the lane keeping control, and can control the driving of the host vehicle according to the determination result. Furthermore, when the second control unit 12 starts deviation prevention control while executing the lane keeping control, that is, even when there is a possibility that an abnormality has occurred in the execution function of the lane keeping control, the second control unit 12 continues the deviation prevention control until the host vehicle 1 stops, and ends the deviation prevention control when the host vehicle 1 stops. As a result, when an abnormality has occurred in the function of executing the lane keeping control, the driving control device 100 can stop the host vehicle 1 while preventing deviation of the host vehicle 1 from the driving lane L, and end the driving assistance control.

[0037] Furthermore, when the processor 10 of the driving control device 100 is controlling the driving of the vehicle 1 in the hands-off mode, if the second control unit 12 determines that deviation prevention control is to be started during execution of lane keeping control, the processor 10 outputs hands-on request information requesting the driver to hold the steering wheel 104a of the vehicle 1. As a result, if an abnormality occurs in the function that executes the lane keeping control, the driver can start manual driving by holding the steering wheel 104a while the driving control device 100 continues deviation prevention control.

[0038] Furthermore, when the processor 10 of the driving control device 100 determines that the second control unit 12 will start deviation prevention control while lane keeping control is being executed, it determines that an abnormality has occurred in the first control unit 11 (the first control unit 11 has failed). This allows the driving control device 100 to efficiently determine whether or not there is an abnormality (failure) in the first control unit 11 without using an abnormality determination device with a complex configuration.

[0039] Furthermore, the processor 10 of the driving control device 100 determines whether or not an abnormality has occurred in the second control unit 12 (whether or not the second control unit 12 has failed) before the second control unit 12 starts deviation prevention control, and terminates driving assistance control if an abnormality has occurred in the second control unit 12. This allows the driving control device 100 to prevent in advance a situation in which the presence or absence of an abnormality in the first control unit 11 cannot be accurately determined due to an abnormality occurring in the second control unit 12. [Explanation of symbols]

[0040] 100...Operation control device 1…Own vehicle 10…Processor 11...First control section 12...Second control section 14...Abnormality determination section 15...Vehicle control unit 104a…Steering wheel L: Traffic lane

Claims

1. A driving control method for performing driving assistance control of a host vehicle using a processor having a first control unit that performs lane keeping control to maintain a lateral position of the host vehicle at a predetermined position within a driving lane, and a second control unit that performs deviation prevention control to prevent the host vehicle from deviating from the driving lane, comprising: The processor, determining whether or not the second control unit starts the deviation prevention control while the first control unit is performing the lane keeping control; When the second control unit determines that the departure prevention control is to be started while the lane keeping control is being executed, Ending the lane keeping control currently being executed; Start deceleration control of the host vehicle, The deviation prevention control is continued until the host vehicle is stopped by the deceleration control, a driving control method for terminating the deviation prevention control being executed when the host vehicle is stopped by the deceleration control;

2. The processor, 2. The driving control method according to claim 1, further comprising: outputting hands-on request information requesting the driver to hold the steering wheel of the host vehicle when the second control unit determines that the departure prevention control is to be started while the lane keeping control is being executed when controlling the driving of the host vehicle in a hands-off mode.

3. The processor, 3. The driving control method according to claim 1, further comprising: determining that an abnormality has occurred in the first control unit when the second control unit determines that the departure prevention control is to be started while the lane keeping control is being performed.

4. The processor, Before the second control unit starts the deviation prevention control, it is determined whether or not an abnormality occurs in the second control unit, The driving control method according to any one of claims 1 to 3, further comprising the step of: terminating the driving assistance control when an abnormality occurs in the second control unit.

5. A driving control device that executes driving assistance control of a vehicle, a vehicle control unit including a first control unit that executes lane keeping control to maintain a lateral position of the host vehicle at a predetermined position within a travel lane, and a second control unit that executes deviation prevention control to prevent the host vehicle from deviating from the travel lane; an abnormality determination unit that determines whether or not the second control unit starts the deviation prevention control while the first control unit is performing the lane keeping control, When the abnormality determination unit determines that the second control unit starts the deviation prevention control while the lane keeping control is being executed, The vehicle control unit includes: Ending the lane keeping control currently being executed; Start deceleration control of the host vehicle, The deviation prevention control is continued until the host vehicle is stopped by the deceleration control, A driving control device that terminates the deviation prevention control being executed when the host vehicle is stopped by the deceleration control.

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