Driving control method and driving control device

Abstract

To provide a travelling control method and a travelling control device which enable a vehicle, which has not travelled on an entire travelling route from a current position to a destination previously. to automatically travel while generating a target track.SOLUTION: A travelling control device 1 according to the present invention comprises: a track candidate generating part 15 that generates a track candidate by dividing a travelling track on which a vehicle has travelled into a section including an intersection and a section other than the section including the intersection; a travelling route calculating part 17 that calculates a travelling route from a current position of an own vehicle to a destination; a target track generating part 19 that selects track candidates along the calculated travelling route and generates a target track by combining the selected track candidates with each other; and a travelling control part 21 that executes travelling control so that the own vehicle travels along the generated target track.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a driving control method and device for driving a vehicle from a current location to a destination. [Background technology]

[0002] Conventionally, Patent Document 1 discloses a vehicle driving control device that sets a route for an automatically driven vehicle. The vehicle driving control device disclosed in Patent Document 1 stores the driving trajectory of the vehicle when the vehicle is driven manually, and when performing automatic driving, sets the stored driving trajectory as a target trajectory and automatically drives the vehicle along the target trajectory. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-22353 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, the conventional vehicle driving control device described above had a problem in that unless the vehicle had driven the entire route from its current location to its destination in advance, the target trajectory could not be set and automatic driving could not be performed.

[0005] Therefore, the present invention has been made in consideration of the above problems, and aims to provide a driving control method and device therefor that can generate a target trajectory and perform automatic driving without the vehicle having to drive the entire driving route from the current location to the destination in advance. [Means for solving the problem]

[0006] In a cruise control method and device according to one aspect of the present invention, a travel path of a vehicle is divided into sections including intersections and other sections to generate trajectory candidates, and the trajectory candidates are selected along a travel route from the current location of the vehicle to a destination. The selected trajectory candidates are then connected together to generate a target trajectory, and cruise control is performed so that the vehicle travels along the generated target trajectory. The trajectory candidates have overlapping portions with other divided trajectory candidates. Effect of the Invention

[0007] According to the present invention, it is possible to generate a target trajectory and perform automatic driving without having to drive the entire driving route from the current location to the destination in advance. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 is a diagram showing the configuration of a vehicle equipped with a cruise control device according to one embodiment of the present invention. [Diagram 2] FIG. 2 is a block diagram showing the configuration of a driving control device according to one embodiment of the present invention. [Diagram 3] FIG. 3 is a diagram for explaining a method for dividing a travel locus by a travel control device according to one embodiment of the present invention. [Figure 4] FIG. 4 is a diagram for explaining a method for dividing a travel locus by a travel control device according to one embodiment of the present invention. [Diagram 5] FIG. 5 is a diagram for explaining the reason why the trajectory candidates created by the cruise control device according to one embodiment of the present invention have overlapping portions. [Figure 6] FIG. 6 is a diagram for explaining a method for deleting a lane change section from a trajectory candidate by a cruise control device according to an embodiment of the present invention. [Figure 7] FIG. 7 is a diagram for explaining a case in which the lane change section is not deleted from the trajectory candidate by the cruise control device according to one embodiment of the present invention. [Figure 8] FIG. 8 is a flowchart showing a processing procedure of the driving control process performed by the driving control device according to one embodiment of the present invention. [Figure 9] FIG. 9 is a diagram for explaining the effects of the cruise control device according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the description of the drawings, the same parts are given the same reference numerals and detailed description will be omitted.

[0010] [Vehicle configuration] Fig. 1 is a diagram showing the configuration of a vehicle equipped with a cruise control device according to this embodiment. As shown in Fig. 1, a vehicle 100 (own vehicle) is equipped with a cruise control device 1, a GPS receiver 3, an HMI (Human Machine Interface) 5, a camera 7, and an actuator 9. The vehicle 100 is a vehicle that can switch between manual driving by a driver and automatic driving, and has, as operation modes, a manual driving mode in which the driver manually drives the vehicle while recording a driving trajectory, and an automatic driving mode in which automatic driving is performed based on the recorded driving trajectory.

[0011] The cruise control device 1 is a device that executes cruise control to drive the vehicle 100 from the current location to the destination. Specifically, the cruise control device 1 divides the travel trajectory of a plurality of vehicles including the vehicle 100 into sections including intersections and other sections to create trajectory candidates, and stores the created trajectory candidates. Then, when autonomous driving is performed, the cruise control device 1 calculates a travel route from the current location of the vehicle 100 to the destination, and selects the stored trajectory candidates along the calculated travel route. Furthermore, the selected trajectory candidates are connected together to generate a target trajectory, and cruise control is executed so that the vehicle 100 travels along the generated target trajectory.

[0012] The GPS receiver 3 detects the current location of the vehicle 100 on the ground by receiving radio waves from artificial satellites, and outputs the detected data to the cruise control device 1. However, the satellite positioning system used is not limited to GPS (Global Positioning System), and other satellite positioning systems such as GNSS (Global Navigation Satellite System) may also be used.

[0013] The HMI 5 is a device that performs input / output operations between the driver and the driving control device 1, and is, for example, a display of a navigation device. The driver can perform operations such as setting a destination by operating a touch panel provided on the display.

[0014] The camera 7 captures images of the surroundings of the vehicle 100 and detects information about the surroundings of the vehicle required for autonomous driving from the captured images. The detected information is output to the driving control device 1 and used to execute autonomous driving. In particular, the images captured by the camera 7 are used to recognize the lane on which the vehicle 100 is traveling.

[0015] The actuator 9 is a device for driving various parts of the vehicle 100, such as the accelerator (driving force control device), brake (braking force control device), or steering (steering device), and is driven by the driver's operation during manual driving, and is driven by the control of the driving control device 1 during automatic driving. The actuator 9 may be a part of the accelerator, brake, or steering, or may be provided with all of them.

[0016] [Configuration of driving control device] Fig. 2 is a diagram showing the configuration of the driving control device 1 according to this embodiment. As shown in Fig. 2, the driving control device 1 includes a vehicle position detection unit 11, a driving trajectory creation unit 13, a trajectory candidate creation unit 15, a driving route calculation unit 17, a target trajectory generation unit 19, a driving control unit 21, and a database 23.

[0017] The vehicle position detection unit 11 detects the position of the vehicle 100 (the vehicle itself) by applying a Kalman filter to the position of the vehicle 100 measured by the GPS receiver 3. The position of the vehicle 100 detected here needs to be accurate to a level that allows the position of the vehicle 100 to be specified within the lane in which the vehicle 100 is traveling, that is, the position of the vehicle 100 needs to be detected with an error of about 50 cm.

[0018] The travel trajectory creation unit 13 records the position of the vehicle 100 detected by the vehicle position detection unit 11 at regular time intervals or regular distance intervals, and connects each recorded position to create a continuous travel trajectory. The created travel trajectory is a record of the position (x, y) on a two-dimensional plane and the azimuth angle θ at regular time intervals or regular distance intervals, and is stored in the database 23. Note that since the position detected by the vehicle position detection unit 11 has a level of positional accuracy that allows the position within the lane to be identified, the created travel trajectory also identifies the position in the vehicle width direction within the lane.

[0019] The trajectory candidate creation unit 15 acquires the travel trajectory created by the travel trajectory creation unit 13 from the database 23, and creates trajectory candidates by dividing the acquired travel trajectory into sections including intersections and other sections. For example, the travel trajectory is divided into trajectory candidates for intersection sections and trajectory candidates for single road sections. The intersection section is not limited to a crossroads, and may be any section where roads branch off. The single road section is a section where roads do not branch off and are continuous. Note that the trajectory candidates for sections other than the above-mentioned sections including intersections may be trajectory candidates divided at predetermined distances.

[0020] For example, as shown in FIG. 3, when there is a travel trajectory 32 that turns right at an intersection, the trajectory candidate creation unit 15 sets an intersection area 30 indicated by a dotted line from the map information stored in the database 23. The intersection area may be set based on the map information if the area of ​​the intersection is described in the map information. However, when the area of ​​the intersection is not described in the map information, the intersection area is set within a range of a predetermined distance from the intersection point between the roads that are the center of the intersection. However, the intersection area does not need to exactly match the area of ​​the actual intersection, and may be set wider than the area of ​​the actual intersection. For example, the boundary of the intersection area is set outside the stop line of the intersection. In particular, it is preferable that the boundary of the intersection area is set outside the point where the travel trajectory that goes straight at the intersection and the travel trajectory that turns right and left branch off.

[0021] The map information stored in the database 23 is map information that includes information on a road basis, such as map information used in general navigation devices, and does not include information on a lane basis (position information of driving lanes or lane divisions on the road). In such maps, node points are usually set at predetermined distances along the center of the road, and links connecting each node point are set. Furthermore, the node points are set at intersection entrances and exits on the road. Therefore, the intersection area is included in the map information as node points set at the intersection entrances and exits, or can be easily identified from the node points.

[0022] When the intersection area 30 is set in this way, the trajectory candidate creation unit 15 divides the traveling trajectory 32 at the boundary of the intersection area 30 to create three trajectory candidates 34, 36, and 38. At this time, the trajectory candidate creation unit 15 creates the trajectory candidates so that the created trajectory candidates have overlapping portions with other divided trajectory candidates. For example, after dividing the traveling trajectory 32 at the boundary (dotted line portion) of the intersection area 30, each of the trajectory candidates 34, 36, and 38 is extended, for example, by about 1 m so as to have overlapping portions with other divided trajectory candidates as shown in FIG. 3. As a result, the trajectory candidates 34, 36, and 38 are created so as to have overlapping portions with other divided trajectory candidates. Similarly, for a traveling trajectory going straight through an intersection, as shown in FIG. 4, a traveling trajectory 42 going straight through the intersection is divided at the boundary of the intersection area 40, and extended so as to have overlapping portions with other divided trajectory candidates, to create three trajectory candidates 44, 46, and 48.

[0023] In this way, each trajectory candidate has an overlapping portion with other divided trajectory candidates, so that the trajectory candidates can be smoothly joined together when generating the target trajectory. For example, as shown in FIG. 5, even in the same lane, a deviation 55 occurs in the vehicle width direction between a trajectory candidate 51 that turns left and a trajectory candidate 53 that goes straight near the boundary of the intersection area. Therefore, if the traveling trajectory is divided at the boundary of the intersection area, when joining the trajectory candidates inside the intersection and the trajectory candidates outside the intersection, the deviation 55 in the vehicle width direction may make it difficult to join them together smoothly.

[0024] However, when the trajectory candidates 51 and 53 are extended and divided outside the boundary of the intersection area, the left-turning trajectory candidate 51 and the straight-moving trajectory candidate 53 almost overlap in the section 57. Therefore, when connecting with the trajectory candidates outside the intersection, it is possible to smoothly connect the trajectory candidates 51 and 53. Therefore, by extending the trajectory candidates divided at the boundary of the intersection area and making each trajectory candidate have an overlapping portion with the other divided trajectory candidates, the trajectory candidates can be smoothly connected.

[0025] In addition, if the trajectory candidate includes a lane change section where the vehicle has changed lanes, the trajectory candidate creation unit 15 deletes the lane change section from the trajectory candidate. If the trajectory candidate includes a lane change section, there is a possibility that an unnecessary lane change will be performed when the target trajectory is generated and automatic driving is performed. Therefore, the trajectory candidate creation unit 15 deletes the lane change section from the trajectory candidate in advance to prevent unnecessary lane changes.

[0026] The lane change section is set as a section from a start point where the turn signal of the vehicle starts to light up to an end point where the turn signal of the vehicle stops lighting up and the vehicle is in the center of the lane. For example, FIG. 6 shows a case where a vehicle changes lanes from the left lane to the right lane while traveling on a two-lane road. Many drivers start the lane change operation at a point P1 where the turn signal starts to light up when changing lanes, but end the operation of the turn signal before completely completing the lane change. Therefore, if the section from the point P1 where the turn signal starts to light up to the point P2 where the turn signal stops lighting up is set as the lane change section, it may be shorter than the actual lane change section.

[0027] Therefore, the trajectory candidate creation unit 15 performs lane recognition using images from the camera 7, and sets the section up to point P3 where the turn signal is turned off and the vehicle is positioned approximately in the center of the lane as the lane change section. This makes it possible to set a section that is substantially the same as the section where the lane is actually being changed as the lane change section. However, the trajectory candidate creation unit 15 sets the lane change section as the lane change section when the change in the azimuth angle of the vehicle between point P1 where the lane change started and point P3 where the lane change ended is less than a predetermined value.

[0028] When the lane change section is set in this manner, the trajectory candidate creation unit 15 divides the trajectory candidates before and after the lane change section, as shown in FIG. 6, and deletes the trajectory candidates in the lane change section.

[0029] However, even if a lane change section is included in a trajectory candidate, the trajectory candidate creation unit 15 does not delete the lane change section if the lane change section is within a predetermined distance from the position where the vehicle makes a right or left turn.

[0030] For example, FIG. 7 shows a case where a vehicle makes a right turn at an intersection with a right-turn-only lane. The vehicle changes lanes to the right-turn-only lane, enters the intersection, and makes a right turn. At this time, the travel trajectory is divided at the intersection area 70, and is therefore divided into trajectory candidate 71 and trajectory candidate 73. Furthermore, since trajectory candidate 73 includes a lane change section 75, the lane change section 75 is deleted from trajectory candidate 73. However, if the lane change section 75 is within a predetermined distance, for example, 50 m, from the intersection area 70 where the right turn was made, the lane change section 75 is not deleted.

[0031] When a vehicle makes a right turn, the lane change to a right-turn-only lane is different from a normal lane change and is not an unnecessary lane change, but is an essential and important target trajectory when turning right. Therefore, the trajectory candidate creation unit 15 does not delete the lane change section if it is within a predetermined distance from the position where the vehicle made a right or left turn.

[0032] In addition, the method of determining whether the vehicle is turning right or left is that when the change in the azimuth angle of the vehicle between the start point where the vehicle's turn indicator starts to light and the end point where the vehicle's turn indicator stops lighting and is located in the center of the lane is equal to or greater than a predetermined value. In this case, the section from the start point where the turn indicator starts to light to the end point where the turn indicator stops lighting and the vehicle is located in the center of the lane is set as the right or left turn section. For example, in FIG. 7, the trajectory candidate 71 is set as the right or left turn section.

[0033] When the trajectory candidates are created in this way, the trajectory candidate creation unit 15 stores the created trajectory candidates in the database 23. At this time, if there are multiple trajectory candidates whose deviation in the vehicle width direction is within a predetermined value among the created trajectory candidates, the trajectory candidate creation unit 15 integrates the multiple trajectory candidates into one by a method such as calculating an average value, and stores the integrated trajectory candidates. This makes it possible to integrate multiple trajectory candidates that are considered to have traveled on the same lane, thereby eliminating positioning errors that occur only on a specific travel trajectory, and disturbances in the travel trajectory caused by obstacle avoidance, etc.

[0034] In addition, the trajectory candidate creation unit 15 deletes trajectory candidates whose shape changes with a curvature equal to or greater than a predetermined value from among the created trajectory candidates. For example, when a vehicle forcibly changes lanes into the next lane during a traffic jam, the curvature of the trajectory candidate becomes very large. If a target trajectory is generated using such a trajectory candidate, the vehicle will make a sudden lane change during automatic driving. Therefore, the trajectory candidate creation unit 15 deletes in advance trajectory candidates whose shape changes with a curvature equal to or greater than a predetermined value.

[0035] The driving route calculation unit 17 calculates a driving route from the current location of the vehicle 100 to the destination. Specifically, the driving route calculation unit 17 acquires the current location of the vehicle 100 detected by the vehicle position detection unit 11 and the destination input from the HMI 5, and calculates a driving route from the current location of the vehicle 100 to the destination using map information stored in the database 23. Note that the map information may be map information on a road-by-road basis that does not include information on lanes as used in navigation devices. Therefore, the calculated driving route may be a road-by-road driving route from the current location to the destination.

[0036] The target trajectory generating unit 19 selects trajectory candidates stored in the database 23 along the travel route calculated by the travel route calculating unit 17, and generates a target trajectory by connecting the selected trajectory candidates. The database 23 stores all trajectory candidates created by dividing the road along which the vehicle has traveled into sections including intersections and other sections, and selects trajectory candidates along the travel route from among these trajectory candidates. For example, the target trajectory generating unit 19 selects trajectory candidates along the travel route at the current location, and then selects trajectory candidates along the travel route in order toward the destination. At this time, the target trajectory generating unit 19 selects trajectory candidates in front and behind the travel route so that the deviation in the vehicle width direction is within a predetermined value. This allows the trajectory candidates to be connected smoothly.

[0037] Then, the target trajectory generating unit 19 generates a target trajectory from the current location to the destination by connecting the selected trajectory candidates. At this time, the target trajectory generating unit 19 generates the target trajectory by calculating an approximation curve of the connected trajectory candidates. For example, using a method such as the least squares method, the target trajectory is generated by approximating an arbitrary curve such as a cubic function for each 200 m section from the current location of the vehicle 100 along the travel route. This makes it possible to generate a smooth target trajectory even if there are discontinuous points or overlapping points at the connection points of the trajectory candidates. Since the travel trajectory created by the travel trajectory creating unit 13 is specified up to the position in the vehicle width direction within the lane, the target trajectory also has the accuracy of being specified up to the position in the vehicle width direction within the lane.

[0038] The driving control unit 21 executes driving control so that the vehicle 100 drives along the target trajectory generated by the target trajectory generating unit 19. Specifically, when the driving control unit 21 is set to the autonomous driving mode, it controls the actuator 9 to control the vehicle 100 to drive along the target trajectory.

[0039] The database 23 stores information necessary for executing driving control of the vehicle 100. In particular, the database 23 stores the driving trajectory created by the driving trajectory creation unit 13, the trajectory candidates created by the trajectory candidate creation unit 15, the driving route calculated by the driving path calculation unit 17, the target trajectory generated by the target trajectory generation unit 19, and the like. However, the driving trajectory is not limited to the driving trajectory of the vehicle 100, and the driving trajectories of other vehicles may be collected and stored via vehicle-to-vehicle communication or a server.

[0040] In addition, the trajectory candidates do not have to be created in advance and stored in the database 23. If the trajectory candidates required are created after the travel route is calculated, only the travel trajectory may be stored in the database 23.

[0041] Furthermore, in the above-described embodiment, it is described that all the processes are executed inside the vehicle 100, but this is not necessarily required. For example, the travel trajectories collected from a plurality of vehicles may be stored on the cloud, and the travel trajectories of the plurality of vehicles may be collectively divided on the server side, and the trajectory candidates created as a result may be distributed to each vehicle. In this case, it is not necessary to store the travel trajectories in the database 23, and it is sufficient to store only the distributed trajectory candidates.

[0042] The driving control device 1 is a controller configured with general-purpose electronic circuits including a microcomputer, a microprocessor, and a CPU, and peripheral devices such as a memory, and is installed with a computer program for executing functions for controlling the driving of the vehicle 100. Each function of the driving control device 1 can be implemented by one or more processing circuits. The processing circuits include programmed processing devices, such as processing devices including electrical circuits, and also include devices such as application specific integrated circuits (ASICs) and conventional circuit components arranged to perform the functions described in the embodiments.

[0043] [Drive control processing] 8 is a flowchart showing the procedure of the driving control process by the driving control device 1 according to this embodiment. The driving control process by the driving control device 1 according to this embodiment starts when the vehicle 100 is started by the occupant.

[0044] 8, in step S101, the cruise control device 1 determines whether the operation mode of the vehicle 100 is a manual driving mode in which the vehicle is manually driven and a driving path is recorded, or an automatic driving mode in which the vehicle is automatically driven based on the recorded driving path. If the operation mode is the manual driving mode, the process proceeds to step S103, and if the operation mode is the automatic driving mode, the process proceeds to step S109.

[0045] First, the case of the manual driving mode will be described. In step S101, when it is determined that the driving mode is the manual driving mode and the process proceeds to step S103, the vehicle position detection unit 11 detects the position of the vehicle 100 (the vehicle itself) by applying a Kalman filter to the position of the vehicle 100 measured by the GPS receiver 3.

[0046] In step S105, the travel locus creation unit 13 records the positions of the vehicle 100 detected in step S103 at regular time intervals or regular distance intervals, and connects the recorded positions to create a continuous travel locus.

[0047] In step S107, the trajectory candidate creation unit 15 creates trajectory candidates by dividing the traveling trajectory created in step S105 into sections including intersections and other sections. At this time, the trajectory candidate creation unit 15 creates the trajectory candidates so that the created trajectory candidates have overlapping portions with other divided trajectory candidates.

[0048] In addition, when there are multiple trajectory candidates whose deviation in the vehicle width direction is within a predetermined value among the trajectory candidates, the trajectory candidate creation unit 15 integrates the multiple trajectory candidates into one by a method such as averaging. Furthermore, the trajectory candidate creation unit 15 deletes, from the created trajectory candidates, trajectory candidates whose shape changes with a curvature equal to or greater than a predetermined value. When the trajectory candidates are created in this manner, the driving control process in the manual driving mode ends.

[0049] Next, the case of the autonomous driving mode will be described. In step S101, when it is determined that the autonomous driving mode is set and the process proceeds to step S109, the vehicle position detection unit 11 detects the position of the vehicle 100 (the vehicle itself) by applying a Kalman filter to the position of the vehicle 100 measured by the GPS receiver 3.

[0050] In step S111, the driving route calculation unit 17 acquires the current location of the vehicle 100 detected in step S109 and the destination input from the HMI 5, and calculates a driving route from the current location of the vehicle 100 to the destination using the map information stored in the database 23.

[0051] In step S113, the target trajectory generating unit 19 selects trajectory candidates stored in the database 23 along the travel route calculated in step S111, and generates a target trajectory by connecting the selected trajectory candidates. At this time, the target trajectory generating unit 19 selects the front and rear trajectory candidates along the travel route such that the deviation in the vehicle width direction is within a predetermined value. Furthermore, the target trajectory generating unit 19 generates the target trajectory by calculating an approximation curve of the connected trajectory candidates.

[0052] In step S115, the driving control unit 21 controls the actuator 9 to execute driving control so that the vehicle 100 drives along the target trajectory generated in step S113. When the driving control is executed in this manner and the vehicle 100 arrives at the destination, the driving control process in the autonomous driving mode ends.

[0053] [Effects of the embodiment] As described above in detail, the cruise control device 1 according to this embodiment creates trajectory candidates by dividing the travel path of the vehicle into sections including intersections and other sections, and selects the trajectory candidates along the travel route from the current location of the vehicle to the destination. Then, the selected trajectory candidates are connected together to generate a target trajectory, and cruise control is executed so that the vehicle travels along the generated target trajectory. This makes it possible to generate a target trajectory and perform automatic travel without having to travel the entire travel route from the current location to the destination in advance.

[0054] For example, as shown in Fig. 9, assume that R1, R2, and R3 are recorded as the driving trajectories traveled by the vehicle itself or another vehicle, and the current location of the vehicle itself is point A, and the destination is set to point B. In this case, conventionally, since none of the driving trajectories R1, R2, and R3 travel the entire driving route from point A to point B, it has not been possible to generate a target trajectory from point A to point B and perform automatic driving.

[0055] However, in the driving control device 1 according to this embodiment, the driving trajectories R1, R2, and R3 are divided into sections including intersections and other sections to create trajectory candidates, and the created trajectory candidates are joined together to generate the target trajectory R. Therefore, even if the entire driving route from point A to point B has not been driven in advance, it is possible to generate the target trajectory R from point A to point B by combining parts of the driving trajectories R1, R2, and R3, and perform automatic driving.

[0056] Furthermore, in the cruise control device 1 according to this embodiment, the trajectory candidates have overlapping portions with other divided trajectory candidates, so that the trajectory candidates can be joined together smoothly.

[0057] Furthermore, in the cruise control device 1 according to this embodiment, when selecting trajectory candidates along the travel route, the trajectory candidates are selected so that the deviation in the vehicle width direction between the front and rear trajectory candidates along the travel route is within a predetermined value. This allows the trajectory candidates to be joined together smoothly.

[0058] Furthermore, in the cruise control device 1 according to this embodiment, a target trajectory is generated by calculating an approximation curve of the joined trajectory candidates. As a result, even if the target trajectory is not smooth in the portion where the trajectory candidates are joined, a smooth target trajectory can be generated by calculating the approximation curve.

[0059] Furthermore, in the cruise control device 1 according to the present embodiment, if there are multiple trajectory candidates among the created trajectory candidates whose deviation in the vehicle width direction is within a predetermined value, the multiple trajectory candidates are merged into one. This makes it possible to merge multiple trajectory candidates that are considered to have traveled on the same lane, thereby eliminating positioning errors that occur only on a specific travel trajectory, or disturbances in the travel trajectory caused by obstacle avoidance, etc.

[0060] Furthermore, in the cruise control device 1 according to the present embodiment, among the created trajectory candidates, trajectory candidates whose shape changes with a curvature equal to or greater than a predetermined value are deleted. This makes it possible to eliminate trajectory candidates that are generated by abrupt vehicle behavior that does not match the shape of the lane, such as when the vehicle cuts into an adjacent lane on a congested road.

[0061] Furthermore, in the cruise control device 1 according to the present embodiment, when a lane change section where the vehicle has changed lanes is included in the trajectory candidate, the lane change section is deleted from the trajectory candidate. This makes it possible to prevent unnecessary lane changes during autonomous driving.

[0062] Furthermore, in the cruise control device 1 according to this embodiment, even if a lane change section is included in the trajectory candidate, if the lane change section is within a predetermined distance from the position where the vehicle makes a right or left turn, the lane change section is not deleted. This makes it possible to store trajectory candidates including lane changes to right or left turn lanes without deleting them, and therefore to generate a smooth target trajectory when making right or left turns.

[0063] Furthermore, in the driving control device 1 according to this embodiment, if the change in the azimuth angle of the vehicle between the start point where the turn signal starts to light and the end point where the turn signal stops lighting and the vehicle is in the center of the lane is less than a predetermined value, the section from the start point to the end point is set as a lane change section. This makes it possible to accurately set the section where the lane change was actually performed as the lane change section.

[0064] Furthermore, in the driving control device 1 according to this embodiment, if the change in the azimuth angle of the vehicle between the start point where the turn signal starts to light and the end point where the turn signal stops lighting and the vehicle is in the center of the lane is equal to or greater than a predetermined value, the section from the start point to the end point is set as a right / left turn section where the vehicle made a right / left turn. This makes it possible to accurately set the section where the vehicle actually made a right / left turn as the right / left turn section.

[0065] The above-described embodiment is merely an example of the present invention, and the present invention is not limited to the above-described embodiment, and various modifications can be made to the design and other aspects of the present invention without departing from the technical concept of the present invention. [Explanation of symbols]

[0066] 1 Driving control device 3 GPS receiver 5. HMI 7. Camera 9 Actuators 11 Vehicle position detection unit 13. Driving trajectory creation section 15 Orbit Candidate Creation Section 17. Driving route calculation unit 19 Target trajectory generation section 21 Driving control unit 23 Database 100 vehicles

Claims

1. A driving control method for a driving control device that drives a vehicle from a current location to a destination, comprising: Dividing the travel path of the vehicle into sections including intersections and other sections to generate trajectory candidates; Calculating a driving route from the current location of the vehicle to the destination; Selecting the trajectory candidates along the calculated travel route, and generating a target trajectory by connecting the selected trajectory candidates; Executing a driving control so that the host vehicle travels along the generated target trajectory; The trajectory candidate has an overlapping portion with other divided trajectory candidates. A driving control method comprising:

2. A driving control method for a driving control device that drives a vehicle from a current location to a destination, comprising: Dividing the travel path of the vehicle into sections including intersections and other sections to generate trajectory candidates; Calculating a driving route from the current location of the vehicle to the destination; Selecting the trajectory candidates along the calculated travel route, and generating a target trajectory by connecting the selected trajectory candidates; Executing a driving control so that the host vehicle travels along the generated target trajectory; If the trajectory candidate includes a lane change section in which the vehicle has changed lanes, the lane change section is deleted from the trajectory candidate; Even if the lane change section is included in the trajectory candidate, if the lane change section is within a predetermined distance from a position where the vehicle makes a right or left turn, the lane change section is not deleted. A driving control method comprising:

3. A driving control method for a driving control device that drives a vehicle from a current location to a destination, comprising: Dividing the travel path of the vehicle into sections including intersections and other sections to generate trajectory candidates; Calculating a driving route from the current location of the vehicle to the destination; Selecting the trajectory candidates along the calculated travel route, and generating a target trajectory by connecting the selected trajectory candidates; Executing a driving control so that the host vehicle travels along the generated target trajectory; If the trajectory candidate includes a lane change section in which the vehicle has changed lanes, the lane change section is deleted from the trajectory candidate; When a change in an azimuth angle of the vehicle between a start point where a turn signal of the vehicle starts to be turned on and an end point where the turn signal of the vehicle stops being turned on and the vehicle is positioned at the center of the lane is less than a predetermined value, the section from the start point to the end point is set as the lane change section. A driving control method comprising:

4. The cruise control method according to any one of claims 1 to 3, characterized in that, when selecting the trajectory candidates along the travel route, the trajectory candidates are selected such that a deviation in a vehicle width direction between front and rear trajectory candidates along the travel route is within a predetermined value.

5. 5. The cruise control method according to claim 1, wherein the target trajectory is generated by calculating an approximation curve of the connected trajectory candidates.

6. The cruise control method according to any one of claims 1 to 5, characterized in that, when there are a plurality of trajectory candidates among the created trajectory candidates, the deviation degree in the vehicle width direction is within a predetermined value, the plurality of trajectory candidates are integrated into one.

7. The cruise control method according to any one of claims 1 to 6, characterized in that, from among the generated trajectory candidates, trajectory candidates whose shape changes with a curvature equal to or greater than a predetermined value are deleted.

8. 2. The cruise control method according to claim 1, wherein, when the trajectory candidate includes a lane change section in which the vehicle has changed lanes, the lane change section is deleted from the trajectory candidate.

9. 4. The cruise control method according to claim 3, wherein, when a change in azimuth angle of the vehicle between the start point and the end point is equal to or greater than a predetermined value, the section from the start point to the end point is set as a right / left turn section in which the vehicle has made a right / left turn.

10. A driving control device that drives a vehicle from a current location to a destination, a trajectory candidate creation unit that creates trajectory candidates by dividing a travel path of the vehicle into sections including intersections and other sections; a travel route calculation unit that calculates a travel route from a current location of the vehicle to a destination; a target trajectory generation unit that selects the trajectory candidates created by the trajectory candidate creation unit along the travel route calculated by the travel route calculation unit, and generates a target trajectory by connecting the selected trajectory candidates; a travel control unit that executes travel control so that the host vehicle travels along the target trajectory generated by the target trajectory generation unit; Equipped with The trajectory candidate has an overlapping portion with other divided trajectory candidates. A driving control device comprising:

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