Vehicle control device

Abstract

To provide a vehicle control device which can suppress unnecessary speed control on the basis of an obstacle existing in a semi-recognition area, and an obstacle outside the recognition area.SOLUTION: An automatic driving control device 100 includes a recognition part 130 for radially recognizing a peripheral situation of an own vehicle, an action plan generating part 150 for performing vehicle control of the own vehicle on the basis of the recognition result of the recognition part 130, and a second control part 160, wherein the action plan generating part 150 and the second control part 160 perform vehicle control in a first driving mode of maintaining a distance from the obstacle at a prescribed distance when it is indicated that there exists an obstacle in a recognition area along a travel path of the own vehicle, and performs vehicle control in a second driving mode of maintaining the distance at a prescribed distance to a boundary position far away from the own vehicle when it is indicated that there exists an obstacle in a semi-recognition area between the recognition areas in a prescribed direction.SELECTED DRAWING: Figure 2

Description

[Technical field]

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

[0002] In recent years, research and practical application of autonomous driving, which allows a vehicle to travel autonomously, has been progressing. Conventionally, in autonomous driving, a technology is known in which a recognition area is set in advance in front of the vehicle, and the speed is controlled according to the distance to an obstacle detected within the recognition area (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2001-222320 A Summary of the Invention [Problem to be solved by the invention]

[0004] In the technology disclosed in Patent Document 1, depending on the orientation of the vehicle, the recognition area may include areas other than the driving route, and the speed may be controlled by detecting obstacles that do not affect the vehicle's driving. In particular, in the technology disclosed in Patent Document 1, there are cases where the speed is controlled by detecting more obstacles than necessary inside curved areas. [Means for solving the problem]

[0005] A vehicle control device that achieves the above-mentioned object includes a recognition unit that radially recognizes the surrounding situation of the host vehicle, and a driving control unit that performs vehicle control of the host vehicle based on the recognition result of the recognition unit, wherein when the recognition result of the recognition unit indicates that an obstacle is present within a recognition area along the driving path of the host vehicle, the driving control unit performs vehicle control in a first driving mode that maintains a distance to the obstacle at a predetermined distance, and when the recognition result of the recognition unit indicates that an obstacle is present in a quasi-recognition area between the recognition areas in a predetermined radial direction, the driving control unit performs vehicle control in a second driving mode that sets the distance to the boundary position between the recognition area and the quasi-recognition area in the predetermined direction, which is farthest from the host vehicle, as the distance to the obstacle, and maintains the distance to the boundary position farthest from the host vehicle at the predetermined distance.

[0006] According to this configuration, the vehicle control device can suppress unnecessary speed control from being performed based on an obstacle present in the quasi-recognition area and an obstacle outside the recognition area. In the above-mentioned vehicle control device, when there are multiple quasi-recognition areas between the recognition areas, the driving control unit may perform vehicle control of the host vehicle by using as the recognition area a quasi-recognition area among the multiple quasi-recognition areas other than the quasi-recognition area closest to the host vehicle.

[0007] According to this configuration, the vehicle control device can reduce the processing load associated with identifying the quasi-recognition area. In the above vehicle control device, the driving control unit may convert the recognition area into polar coordinates based on the coordinates of the vertices of the recognition area, and determine whether or not an obstacle exists in the quasi-recognition area based on the quasi-recognition area between the recognition areas converted into polar coordinates and the recognition result of the recognition unit.

[0008] According to this configuration, the processing load on the vehicle control device for determining whether or not an obstacle exists within the recognition area can be reduced. Effect of the Invention

[0009] According to the present invention, it is possible to prevent unnecessary speed control from being performed based on an obstacle present in the quasi-recognition area and an obstacle outside the recognition area. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram illustrating an example of a configuration of a vehicle system. [Diagram 2] FIG. 2 is a functional configuration diagram of a first control unit and a second control unit. [Diagram 3] FIG. 13 is a diagram used to explain a quasi-recognition area. [Figure 4] FIG. 13 is a diagram used to explain a quasi-recognition area. [Diagram 5] 11A and 11B are diagrams used to explain an obstacle determination process. [Figure 6] 4 is a flowchart illustrating an example of a process executed by the automatic driving control device. [Figure 7] FIG. 13 is a diagram used to explain a plurality of quasi-recognition areas. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] <Embodiment> Hereinafter, an embodiment of a vehicle control device will be described with reference to the drawings. The vehicle control device of the embodiment is applied to, for example, an autonomous vehicle. Autonomous driving means, for example, performing driving control by controlling one or both of steering and acceleration / deceleration of the vehicle. The above-mentioned driving control includes, for example, an adaptive cruise control system (ACC), a traffic jam pilot (TJP), an auto lane changing system (ALC), a collision mitigation brake system (CMBS), a lane keeping assistance system (LKAS), and the like. In addition, the autonomous vehicle may be manually driven by an occupant to perform driving control.

[0012] [Overall configuration] Fig. 1 is a configuration diagram of a vehicle system 1 according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and the drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination of these. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharged power from a secondary battery or a fuel cell. Hereinafter, the vehicle on which the vehicle system 1 is mounted is referred to as the host vehicle M.

[0013] The vehicle system 1 includes, for example, a finder 10, a vehicle sensor 20, a GNSS (Global Navigation Satellite System) receiver 30, a driving operator 80, an automatic driving control device 100, a driving force output device 200, a braking device 210, and a steering device 220. These devices and equipment are connected to each other by a multiplex communication line such as a CAN (Controller Area Network) communication line, a serial communication line, a wireless communication network, or the like. Note that the configuration shown in FIG. 1 is merely an example, and part of the configuration may be omitted, or another configuration may be added. The automatic driving control device 100 is an example of a "vehicle control device".

[0014] The finder 10 is, for example, a LIDAR (Light Detection and Ranging). The finder 10 irradiates light around the vehicle M and measures scattered light. The finder 10 detects the distance to an object based on the time from light emission to light reception. The irradiated light is, for example, a pulsed laser light. The finder 10 outputs the detection result to the automatic driving control device 100. In this embodiment, a case will be described in which the finder 10 is attached to the front end of the vehicle M and irradiates light radially in front of the vehicle M to detect the distance to an object.

[0015] The vehicle sensor 20 includes a vehicle speed sensor that detects the speed of the host vehicle M, an acceleration sensor that detects acceleration, a yaw rate sensor that detects the angular velocity around a vertical axis, a direction sensor that detects the direction of the host vehicle M, and the like.

[0016] Based on the signals received from the GNSS satellites, the GNSS receiver 30 determines the position of the host vehicle M. The position of the host vehicle M may be determined or supplemented by an INS (Inertial Navigation System) that uses the output of the vehicle sensor 20.

[0017] The driving operators 80 include, for example, an accelerator pedal, a brake pedal, a shift lever, a steering wheel, a special steering wheel, a joystick, and other operators. The driving operators 80 are fitted with sensors that detect the amount of operation by a passenger or the presence or absence of operation, and the detection results are output to the automatic driving control device 100, or some or all of the driving force output device 200, the brake device 210, and the steering device 220.

[0018] The automatic driving control device 100 includes, for example, a first control unit 120, a second control unit 160, and a storage unit 180. The first control unit 120 and the second control unit 160 are each realized by, for example, a hardware processor such as a CPU (Central Processing Unit) executing a program (software). In addition, some or all of these components may be realized by hardware (including circuitry) such as an LSI (Large Scale Integration), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a GPU (Graphics Processing Unit), or may be realized by cooperation between software and hardware. The program may be stored in advance in a storage device (storage device having a non-transient storage medium) such as an HDD (Hard Disk Drive) or flash memory of the automatic driving control device 100, or may be stored in a removable storage medium such as a DVD or CD-ROM, and the storage medium (non-transient storage medium) may be installed in the HDD or flash memory of the automatic driving control device 100 by mounting the storage medium to a drive device.

[0019] The storage unit 180 is realized by the various storage devices described above. The storage unit 180 is realized by, for example, a HDD, a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a ROM (Read Only Memory), or a RAM (Random Access Memory). For example, a program and travel route information 181 are stored in the storage unit 180. The travel route information 181 is information indicating the coordinates of a travel route RT1 along which the host vehicle M travels.

[0020] 2, the first control unit 120 includes, for example, a recognition unit 130 and a behavior plan generation unit 150. A combination of the behavior plan generation unit 150 and the second control unit 160 is an example of a "driving control unit."

[0021] The recognition unit 130 recognizes the surrounding conditions of the target vehicle. For example, the recognition unit 130 recognizes the state of the position, speed, acceleration, and traveling direction of an object around the vehicle M based on the information input from the finder 10. The object around the vehicle M is, for example, a surrounding vehicle or a target. The position of the object is recognized as a position on a relative coordinate system with the representative point of the vehicle M as the origin, and is used for control. Hereinafter, a case will be described in which the representative point of the vehicle M is the center of the drive shaft, and the drive shaft of the vehicle M is the drive shaft of the rear wheels. The position of the object may be represented by a representative point such as the center of gravity, center, or corner of the object, or may be represented by an area in which the object is represented. When the object is a vehicle, the "state" of the object may include the acceleration or jerk of the object, or a behavior state such as whether or not the object is changing lanes or is about to change lanes.

[0022] In principle, the behavior plan generating unit 150 refers to the travel route information 181 and generates a target trajectory so that the host vehicle M travels along a predetermined travel route. The behavior plan generating unit 150 also generates a target trajectory along which the host vehicle M will travel automatically (without relying on the driver's operation) in the future so that the host vehicle M can respond to the surrounding conditions of the host vehicle M. The target trajectory includes, for example, a speed element. For example, the target trajectory is expressed as a sequence of points to be reached by the host vehicle M. Hereinafter, the points to be reached by the host vehicle M will be referred to as "trajectory points." The trajectory points are points to be reached by the host vehicle M for each predetermined travel distance along a road, and separately, the target speed and target acceleration for each predetermined sampling time are generated as part of the target trajectory. The predetermined travel distance is, for example, about several [m]. The predetermined sampling time is, for example, about a few tenths [sec]. The trajectory points may also be positions to be reached by the host vehicle M at each sampling time for each predetermined sampling time. In this case, the information on the target speed and target acceleration is expressed as the interval between the trajectory points.

[0023] The behavior plan generating unit 150 judges whether or not an obstacle exists within the recognition area based on the recognition result of the recognition unit 130. The recognition area is, for example, a range up to a position a predetermined distance away in the width direction of the travel route on the travel route to a position a predetermined distance away from the vehicle M among all travel routes indicated in the travel route information 181. Details of the process by the behavior plan generating unit 150 to judge whether or not an obstacle exists within the recognition area will be described later.

[0024] When the behavior plan generating unit 150 determines that there is no obstacle in the recognition area, it performs speed control according to the distance of the travel route so that the speed of the host vehicle M is constant. When the behavior plan generating unit 150 determines that there is an obstacle in the recognition area, it performs vehicle control by a driving mode that keeps the distance to the obstacle at a predetermined distance. In detail, the behavior plan generating unit 150 generates a target trajectory that keeps the distance to the obstacle at a predetermined distance, and drives the host vehicle M. In the following description, the driving mode that keeps the distance to the obstacle at a predetermined distance is referred to as a "first driving mode". Therefore, when the behavior plan generating unit 150 determines that there is an obstacle in the recognition area, it performs vehicle control by the first driving mode.

[0025] Further, the behavior plan generating unit 150 judges whether or not an obstacle exists in the quasi-recognition area based on the recognition result of the recognition unit 130. The quasi-recognition area is, for example, a range between the recognition areas in a certain predetermined direction among the radial directions detected by the finder 10. Details of the process in which the behavior plan generating unit 150 judges whether or not an obstacle exists in the quasi-recognition area will be described later. When the behavior plan generating unit 150 judges that an obstacle exists in the quasi-recognition area, the behavior plan generating unit 150 performs vehicle control by a driving mode that keeps the distance to the boundary position at a predetermined distance, taking the distance to the boundary position far from the vehicle M among the boundary positions between the recognition area and the quasi-recognition area in a certain direction as the distance to the obstacle. In detail, the behavior plan generating unit 150 generates a target trajectory that keeps the distance to the boundary position far from the vehicle M at a predetermined distance among the boundary positions, and drives the vehicle M. In the following description, the driving mode that keeps the distance to the boundary position far from the vehicle M at a predetermined distance will be described as a "second driving mode". Therefore, when the behavior plan generating unit 150 determines that an obstacle exists in the quasi-recognition area, it controls the vehicle in the second driving mode.

[0026] The second control unit 160 controls the traveling driving force output device 200, the braking device 210, and the steering device 220 so that the host vehicle M passes the target trajectory generated by the action plan generating unit 150 at the scheduled time.

[0027] The second control unit 160 includes, for example, an acquisition unit 162, a speed control unit 164, and a steering control unit 166. The acquisition unit 162 acquires information on the target trajectory (i.e., trajectory points) generated by the action plan generation unit 150, and stores it in a memory (not shown). The speed control unit 164 controls the traveling drive force output device 200 or the brake device 210 based on the speed element associated with the target trajectory stored in the memory. The steering control unit 166 controls the steering device 220 according to the curvature of the target trajectory stored in the memory. The processing of the speed control unit 164 and the steering control unit 166 is realized, for example, by a combination of feedforward control and feedback control. As an example, the steering control unit 166 executes a combination of feedforward control according to the curvature of the road ahead of the host vehicle M and feedback control based on the deviation from the target trajectory.

[0028] The driving force output device 200 outputs a driving force (torque) for the vehicle to travel to the driving wheels. The driving force output device 200 includes, for example, a combination of an internal combustion engine, an electric motor, a transmission, etc., and an ECU (Electronic Control Unit) that controls these. The ECU controls the above components according to information input from the second control unit 160 or information input from the driving operation device 80.

[0029] The brake device 210 includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the cylinder, and a brake ECU. The brake ECU controls the electric motor according to information input from the second control unit 160 or information input from the driving operation element 80, so that a brake torque corresponding to a braking operation is output to each wheel. The brake device 210 may include a backup mechanism that transmits hydraulic pressure generated by operation of a brake pedal included in the driving operation element 80 to the cylinder via a master cylinder. Note that the brake device 210 is not limited to the configuration described above, and may be an electronically controlled hydraulic brake device that controls an actuator according to information input from the second control unit 160 to transmit hydraulic pressure in the master cylinder to the cylinder.

[0030] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor changes the direction of the steered wheels by applying a force to, for example, a rack and pinion mechanism. The steering ECU drives the electric motor in accordance with information input from the second control unit 160 or information input from the driving operator 80 to change the direction of the steered wheels.

[0031] [About the semi-recognized area] The quasi-recognition area will be described in detail below. As shown in FIG. 3, the finder 10 detects the distance to the target by irradiating light radially in the range of the radiation angle φ centered on the traveling direction of the vehicle M in front of the vehicle M. As described above, the travel route information 181 indicates the coordinates of the travel route RT1. The recognition area AR1 is a range up to a position that is a predetermined distance away in the width direction of the travel route RT1. Therefore, the recognition unit 130 can specify the coordinates of the end of the recognition area AR1 based on the position of the vehicle M and the orientation of the vehicle M. As a result, the recognition unit 130 can specify that, for a certain predetermined direction DD1 among the radiation directions related to the detection of the finder 10, there exists a recognition area AR1 from the origin of the detection range of the finder 10 to the coordinate (x1, y1), a recognition area AR1 from the coordinate (x2, y2) to the coordinate (x3, y3), and a quasi-recognition area UA1 that is a range between the recognition area AR1. The coordinates (x1, y1) and (x2, y2) are the boundary positions between the recognition area AR1 and the quasi-recognition area UA1.

[0032] In the following description, the recognition area AR1 that is closer to the vehicle M than the quasi-recognition area UA1 in the predetermined direction DD1 will be referred to as the "first recognition area AR1-1," and the recognition area AR1 that is farther from the vehicle M than the quasi-recognition area UA1 will be referred to as the "second recognition area AR1-2." In addition, an area outside the recognition area AR1 that is not the quasi-recognition area UA1 will be referred to as the "non-recognition area WA." Therefore, in the radiation angle φ of the finder 10, the first recognition area AR1-1, the quasi-recognition area UA1, the second recognition area AR1-2, and the non-recognition area WA exist in the predetermined direction DD1 in the order described.

[0033] In the example shown in FIG. 3, the behavior plan generating unit 150 determines that an obstacle OB1 exists in the quasi-recognition area UA1 based on the recognition result of the recognition unit 130. Therefore, the behavior plan generating unit 150 performs vehicle control by the second driving mode. As described above, the boundary position assumed to be the position of the obstacle OB1 by the second driving mode is the distance to the boundary position farthest from the host vehicle M among the boundary positions. Therefore, the behavior plan generating unit 150 performs vehicle control by the second driving mode, assuming that the distance to the coordinate (x2, y2) among the coordinates (x1, y1) and the coordinates (x2, y2) is the distance to the obstacle OB1.

[0034] 4, when the vehicle M travels to the coordinates (x2, y2) which is a boundary position assumed to be the position of the obstacle OB1 under the control of the behavior plan generating unit 150, the obstacle OB1 is no longer included in the detection range of the finder 10. Therefore, after the position of the coordinates (x2, y2) which is the boundary position, the behavior plan generating unit 150 performs vehicle control by a first driving mode based on other obstacles, or by speed control according to the distance of the travel route RT1 so that the speed is constant, without being influenced by the presence of the obstacle OB1.

[0035] [Obstacle detection process] Hereinafter, the details of the process in which the behavior plan generating unit 150 determines whether or not an obstacle OB1 exists within the recognition area AR1 will be described. The behavior plan generating unit 150 converts the range of the orthogonal coordinates indicating the recognition area AR1 into polar coordinates with the origin of the detection range by the finder 10. As shown in FIG. 5, the behavior plan generating unit 150 converts the range of the orthogonal coordinates indicating the recognition area AR1 into polar coordinates based on the following formula (1). Through the polar coordinate conversion, the behavior plan generating unit 150 sets the range of the recognition area AR1 within the detection range of the finder 10 as a triangular range S with vertices at coordinates (L3, θ3), coordinates (L4, θ4), and the origin of the detection range by the finder 10. The range from angle θ3 to angle θ4 is the range of the recognition area AR1 within the detection range by the finder 10. The distance L3 is the distance to the end of the recognition area AR1 in the direction of angle θ3. The distance L4 is the distance to the end of the recognition area AR1 in the direction of angle θ4.

[0036] S=1 / 2L3L4sin(θ4-θ3)=1 / 2(L3L´sin(θ´-θ3)+L4L´sin(θ4-θ´))…(1) S: Range of recognition area in polar coordinate system θ3: Angle of viewfinder 10 θ4: Angle of the viewfinder 10 (θ4>θ3) L3: Distance to the edge of the recognition area AR1 in the direction of angle θ3 L4: Distance to the edge of the recognition area AR1 in the direction of angle θ4 The finder 10 detects an object present within the detection range with a predetermined resolution. The predetermined resolution is, for example, about a few tenths of a degree to a few degrees. The behavior plan generating unit 150 specifies a distance L' to an end of the recognition area AR1 in the angle θ' direction in the range from angle θ3 to angle θ4 using the following formula (2) based on formula (1).

[0037] L´=L3L4sin(θ4-θ3) / (L3sin(θ´-θ3)+L4sin(θ4-θ´))…(2) θ´: Angle of viewfinder 10 L': Distance to the end of the recognition area AR1 in the direction of angle θ' When converting into polar coordinates based on the range of Cartesian coordinates indicating the recognition area AR1, the behavior plan generating unit 150 specifies the range of the quasi-recognition area UA1 at angle θ' for each angle θ' of the finder 10. As shown in Fig. 5, the behavior plan generating unit 150 specifies a distance Lc' to a coordinate (x1, y1) that is a boundary position close to the host vehicle M among the boundary positions at the angle θ' of the finder 10. In addition, the behavior plan generating unit 150 specifies a distance Lf' to a coordinate (x2, y2) that is a boundary position far from the host vehicle M among the boundary positions at the angle θ' of the finder 10.

[0038] The behavior plan generating unit 150 determines that the obstacle OB1 does not exist in the recognition area AR1 (i.e., exists in the non-recognition area WA) when the distance to the object in the angle θ' direction in the detection result of the finder 10 is longer than the distance L' to the end of the specified recognition area AR1. The behavior plan generating unit 150 determines that the obstacle OB1 exists in the recognition area AR1 when the distance to the object in the angle θ' direction in the detection result of the finder 10 is equal to or less than the distance L' and equal to or greater than the distance Lf'. The behavior plan generating unit 150 determines that the obstacle OB1 exists in the quasi-recognition area UA1 when the distance to the object in the angle θ' direction in the detection result of the finder 10 is less than the distance Lf' and longer than the distance Lc'. The behavior plan generating unit 150 determines that the obstacle OB1 exists in the recognition area AR1 when the distance to the object in the angle θ' direction in the detection result of the finder 10 is equal to or less than the distance Lc'.

[0039] [Operation flow] Hereinafter, the process executed by the automatic driving control device 100 will be described with reference to FIG. 6. The process of this flowchart is executed, for example, at predetermined time intervals. First, the behavior plan generating unit 150 determines whether or not an obstacle OB1 exists around the host vehicle M based on the recognition result of the recognition unit 130 (step S100). When the behavior plan generating unit 150 determines that an obstacle OB1 exists, it determines whether or not the obstacle OB1 exists within the recognition area AR1 (step S102). When the behavior plan generating unit 150 determines that the obstacle OB1 exists within the recognition area AR1, it performs speed control by a first driving mode that keeps the distance to the obstacle OB1 at a predetermined distance (step S104).

[0040] When the behavior plan generating unit 150 determines that the obstacle OB1 does not exist within the recognition area AR1, it determines whether or not the obstacle OB1 exists within the quasi-recognition area UA1 (step S106). When the behavior plan generating unit 150 determines that the obstacle OB1 exists within the quasi-recognition area UA1, it performs speed control by a second driving mode that keeps the distance from the vehicle M to the farthest boundary position among the boundary positions at a predetermined distance (step S108). When the behavior plan generating unit 150 determines that the obstacle OB1 does not exist within the recognition area AR1 and the quasi-recognition area UA1, it determines that the obstacle OB1 exists in the non-recognition area WA, and performs speed control according to the distance of the travel route RT1 so that the speed is constant (step S110).

[0041] [Effects of the embodiment] According to the above embodiment, the following advantageous effects can be obtained. (1) The automatic driving control device 100 as a vehicle control device includes a recognition unit 130, a behavior plan generation unit 150, and a second control unit 160. The recognition unit 130 radially recognizes the surrounding situation of the host vehicle M. The behavior plan generation unit 150 and the second control unit 160 perform vehicle control of the host vehicle M based on the recognition result of the recognition unit 130. Furthermore, when the recognition result of the recognition unit 130 indicates that an obstacle OB1 exists within a recognition area AR1 along the driving route of the host vehicle M, the behavior plan generation unit 150 and the second control unit 160 perform vehicle control by a first driving mode that keeps the distance to the obstacle OB1 at a predetermined distance. In addition, when the recognition result of the recognition unit 130 indicates that an obstacle OB1 exists in a quasi-recognition area UA1 between the recognition areas AR1 in a specific direction DD1 among the radial directions, the behavior plan generation unit 150 and the second control unit 160 control the vehicle using a second driving mode in which the distance to the boundary position farthest from the vehicle M among the boundary positions between the recognition area AR1 and the quasi-recognition area UA1 in the specific direction DD1 is determined as the distance to the obstacle OB1, and the distance to the boundary position farthest from the vehicle M is kept at a specific distance.

[0042] When the host vehicle M travels along a travel route RT1 including a curve, the finder 10 may detect an obstacle OB1 that is inside the curved region and outside the recognition area AR1. If the action plan generating unit 150 and the second control unit 160 control the speed based on the presence of the obstacle OB1, the host vehicle M may unnecessarily decelerate due to the presence of the obstacle OB1 that has no effect on the travel of the host vehicle M along the travel route RT1.

[0043] According to this configuration, the behavior plan generating unit 150 changes the driving mode based on whether the obstacle OB1 recognized by the recognition unit 130 is located in the recognition area AR1, the quasi-recognition area UA1, or the non-recognition area WA. Therefore, the second control unit 160 can suppress unnecessary speed control based on the obstacle OB1 located in the quasi-recognition area UA1 and the obstacle OB1 in the non-recognition area WA.

[0044] (2) The behavior plan generation unit 150 and the second control unit 160 convert the recognition area AR1 into polar coordinates based on the coordinates of the vertices of the recognition area AR1, and determine whether or not an obstacle OB1 exists in the quasi-recognition area UA1 based on the quasi-recognition area UA1 between the recognition areas AR1 converted into polar coordinates and the recognition result of the recognition unit 130.

[0045] Here, the recognition unit 130 may output the detection result of the finder 10 to the behavior plan generation unit 150 as the recognition result. The detection result of the finder 10 may be expressed by a polar coordinate system indicating the detection direction of the finder 10 and the distance to the detected object. With this configuration, the behavior plan generation unit 150 does not sequentially convert the detection result of the finder 10 from the polar coordinate system to the Cartesian coordinate system, but converts the recognition area AR1 and the quasi-recognition area UA1 into polar coordinates in advance. This allows the behavior plan generation unit 150 to reduce the processing load of determining whether the obstacle OB1 is located in the recognition area AR1, the quasi-recognition area UA1, or the non-recognition area WA.

[0046] The above-described embodiments may be modified as follows: The above-described embodiments and the following examples may be combined with each other as long as they are not technically inconsistent. In the above description, a case where one quasi-recognition area UA1 exists between the first recognition area AR1-1 and the second recognition area AR1-2 in the predetermined direction DD1 has been described, but this is not limited to this. If the travel route RT1 has a complex shape, multiple quasi-recognition areas UA1 may exist in the predetermined direction DD1. As shown in FIG. 7, the recognition unit 130 can identify, for a certain specified direction DD1, the existence of a first recognition area AR1-1 from the origin of the detection range of the finder 10 to the coordinate (x1, y1), a first quasi-recognition area UA1-1 from the coordinate (x1, y1) to the coordinate (x2, y2), a second recognition area AR1-2 from the coordinate (x2, y2) to the coordinate (x3, y3), a second quasi-recognition area UA1-2 from the coordinate (x3, y3) to the coordinate (x4, y4), a third recognition area AR1-3 from the coordinate (x4, y4) to the coordinate (x5, y5), and a non-recognition area WA farther than the coordinate (x5, y5).

[0047] When there are a plurality of quasi-recognition areas UA1 between the recognition areas AR1, the behavior plan generating unit 150 performs vehicle control of the host vehicle M by setting, as the recognition area AR1, a quasi-recognition area UA1 other than the quasi-recognition area UA1 closest to the host vehicle M among the plurality of quasi-recognition areas UA1. In an example of FIG. 7, there are a first quasi-recognition area UA1-1 and a second quasi-recognition area UA1-2 among the recognition areas AR1. In this case, the behavior plan generating unit 150 performs vehicle control of the host vehicle M by setting, as the recognition area AR1, a second quasi-recognition area UA1-2 other than the first quasi-recognition area UA1-1 closest to the host vehicle M among the first quasi-recognition area UA1-1 and the second quasi-recognition area UA1-2.

[0048] Here, when the behavior plan generating unit 150 judges each of the multiple quasi-recognition areas UA1, it is necessary to specify polar coordinate data for each predetermined direction DD1 used to judge the quasi-recognition area UA1. In this case, the more the number of quasi-recognition areas UA1, the greater the processing load of the behavior plan generating unit 150 related to the specification of the quasi-recognition areas UA1. With this configuration, the behavior plan generating unit 150 can reduce the processing load related to the specification of the quasi-recognition area UA1 by controlling the vehicle based on the quasi-recognition area UA1 that is closest to the host vehicle M among the multiple quasi-recognition areas UA1.

[0049] Furthermore, among the multiple quasi-recognition areas UA1, the quasi-recognition area UA1 other than the quasi-recognition area UA1 closest to the vehicle M may not immediately affect vehicle control even if an obstacle OB1 exists in the quasi-recognition area UA1. On the other hand, an obstacle OB1 existing in the quasi-recognition area UA1 other than the closest quasi-recognition area UA1 may move to the recognition area AR1 before the vehicle M approaches the vicinity. According to this configuration, the behavior plan generating unit 150 treats the quasi-recognition area UA1 other than the closest quasi-recognition area UA1 as the recognition area AR1, so that the vehicle can be immediately controlled in an appropriate driving manner even for an obstacle OB1 currently existing in the quasi-recognition area UA1 and later moving to the recognition area AR1.

[0050] The vehicle system 1 may include a camera instead of (or in addition to) the finder 10 as a configuration for detecting the distance to an object present around the vehicle M. The camera is, for example, a digital camera using a solid-state imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor). The camera is attached to any location of the vehicle M. For example, when imaging the front of the vehicle M, the camera is attached to the top of the front windshield or the back of the rearview mirror. When imaging the rear of the vehicle M, the camera is attached to the top of the rear windshield. When imaging the right side or left side of the vehicle M, the camera is attached to the right side or left side of the vehicle body or the door mirror. The camera may be provided for each direction in which the image is captured. In this case, the front camera, rear camera, etc. that captures the front or rear may be more sensitive than the side camera that captures the right side or left side. The camera periodically and repeatedly captures the surroundings of the vehicle M, for example. The camera may be a stereo camera.

[0051] The vehicle system 1 may include a radar device instead of (or in addition to) the finder 10 as a configuration for detecting the distance to an object present in the vicinity of the host vehicle M. The radar device radiates radio waves such as millimeter waves to the vicinity of the host vehicle M and detects radio waves (reflected waves) reflected by the object to detect at least the distance and direction of the object. The radar device is attached to any location of the host vehicle M. The radar device may detect the position and speed of the object by an FM-CW (Frequency Modulated Continuous Wave) method.

[0052] In addition to detecting objects in the horizontal XY direction, where one horizontal direction is designated as X and the other direction is designated as Y, the finder 10 may also detect objects in the vertical direction Z, which is perpendicular to the horizontal XY direction.

[0053] In the above, the case where the finder 10 is attached to the front end of the host vehicle M has been described, but this is not limited thereto. The finder 10 may be attached to any location of the host vehicle M as long as it can detect an object present in front of the host vehicle M. In this case, the recognition unit 130 corrects the detection result of the finder 10 according to the position where the finder 10 is attached. In detail, the recognition unit 130 corrects the detection result of the finder 10 so as to cancel the amount of deviation from the center of the tip of the host vehicle M and the amount of deviation from the center of the host vehicle M in the width direction.

[0054] The vehicle M may travel along a route determined by a navigation device instead of (or in addition to) the travel route RT1 indicated in the travel route information 181. The navigation device includes a navigation HMI (Human Machine Interface), a route determination unit, and first map information. The route determination unit, for example, determines a route on a map from the position of the vehicle M specified by the GNSS receiver 30 (or any input position) to a destination input by the occupant using the navigation HMI (Human Machine Interface) by referring to the first map information. The first map information is, for example, information in which a road shape is expressed by links indicating roads and nodes connected by the links. The first map information may include curvature of the road, POI (Point Of Interest) information, and the like. The route on the map is output to an MPU (Map Positioning Unit). The navigation device may perform route guidance using the navigation HMI based on the route on the map. The navigation device may be realized by, for example, a function of a terminal device such as a smartphone or a tablet terminal owned by the occupant. The navigation device may transmit the current position and the destination to a navigation server via a communication device that communicates with devices external to the vehicle M, and obtain a route equivalent to the route on the map from the navigation server.

[0055] The MPU includes, for example, a recommended lane determination unit, and stores second map information in a storage device such as a HDD or a flash memory. The recommended lane determination unit divides the route on the map provided by the navigation device into a plurality of blocks (for example, by dividing it into 100 m intervals in the vehicle travel direction), and determines a recommended lane for each block by referring to the second map information. The recommended lane determination unit determines, for example, which lane from the left the vehicle should travel in. When a branch point is present on the route on the map, the recommended lane determination unit determines a recommended lane so that the host vehicle M can travel along a reasonable route to proceed to the branch point.

[0056] The second map information is map information with higher accuracy than the first map information. The second map information includes, for example, information on the center of a lane or information on a boundary between a lane. The second map information may include road information, traffic regulation information, address information (address and zip code), facility information, telephone number information, and the like. The second map information may be updated at any time by the communication device communicating with another device. The action plan generating unit 150 executes the above-mentioned various processes with the recommended lane determined by the MPU as the travel route RT1. According to this configuration, the action plan generating unit 150 and the second control unit 160 can also apply the above-mentioned processes to a travel route RT1 other than the travel route RT1 previously determined by the travel route information 181.

[0057] The position of the vehicle M may be identified using a ranger system or SLAM (Simultaneous Localization and Mapping) instead of (or in addition to) the GNSS receiver 30. [Explanation of symbols]

[0058] 1...vehicle system, 10...finder, 20...vehicle sensor, 30...GNSS receiver, 80...driving operator, 100...automatic driving control device, 120...first control unit, 130...recognition unit, 150...action plan generation unit, 160...second control unit, 162...acquisition unit, 164...speed control unit, 166...steering control unit, 180...memory unit, 181...driving route information, 200...driving force output device, 210...brake device, 220...steering device, AR1...recognition area, AR1-1...first recognition area, AR1-2...second recognition area, AR1-3...third recognition area, DD1...predetermined direction, M...own vehicle, OB1...obstacle, RT1...driving route, UA1...quasi-recognition area, UA1-1...first quasi-recognition area, UA1-2...second quasi-recognition area, WA...non-recognition area.

Claims

1. A recognition unit that radially recognizes a surrounding situation of the host vehicle; a driving control unit that controls the host vehicle based on the recognition result of the recognition unit, The operation control unit is When a recognition result of the recognition unit indicates that an obstacle is present within a recognition area along a travel route of the host vehicle, the vehicle is controlled in a first driving mode in which a distance to the obstacle is kept at a predetermined distance; When the recognition result of the recognition unit indicates that an obstacle exists in a quasi-recognition area between the recognition areas in a predetermined direction among the radial directions, a distance to a boundary position between the recognition area and the quasi-recognition area in the predetermined direction that is far from the vehicle is determined as a distance to the obstacle, and vehicle control is performed in a second driving mode in which the distance to the boundary position far from the vehicle is kept at the predetermined distance. A vehicle control device comprising:

2. When a plurality of quasi-recognition areas exist among the recognition areas, the driving control unit performs vehicle control of the host vehicle by setting, as the recognition area, a quasi-recognition area other than the quasi-recognition area that is closest to the host vehicle among the plurality of quasi-recognition areas. The vehicle control device according to claim 1.

3. the driving control unit converts the recognition area into a polar coordinate system based on the coordinates of the vertices of the recognition area, and determines whether or not an obstacle is present in the quasi-recognition area based on the quasi-recognition area between the recognition areas converted into the polar coordinate system and the recognition result of the recognition unit. The vehicle control device according to claim 1 or 2.

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