Vehicle driving control method and driving control device

Abstract

To provide a vehicle travel control method and vehicle travel control device for enabling continuation of autonomous travel control with the use of a detection device mounted on the vehicle.SOLUTION: A stopping area for enabling a vehicle to arrive at one stopping area among stopping areas to stop the vehicle by round travel from the one stopping area within a travel time equal to or less than a predetermined time and / or a travel distance equal to or less than a predetermined distance is set as a target point.SELECTED DRAWING: Figure 3

Description

Technical Field

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

Background Art

[0002] There is known an automatic driving device that acquires information indicating the situation around a set destination, determines whether an event for changing the destination has occurred based on the acquired information, and controls the automatic driving of the vehicle to stop at a searched new destination when an event such as an obstacle existing at the set destination has occurred (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In the above prior art, when a new destination satisfying predetermined conditions cannot be found by searching using an in-vehicle detection device and vehicle-to-vehicle communication, in order to continue the automatic driving, information on a stoppable location is acquired from an operator who can view the images of the infrastructure cameras. Therefore, when communication with an external operator is not possible and a stoppable destination cannot be set even using the in-vehicle detection device and vehicle-to-vehicle communication, there is a problem that the autonomous driving control of the vehicle cannot be continued.

[0005] The problem to be solved by the present invention is to provide a vehicle driving control method and a driving control device capable of continuing autonomous driving control using a detection device mounted on the vehicle.

Means for Solving the Problems

[0006] Among the parking areas for a vehicle to park, the vehicle reaches the one parking area by circular driving from another parking area within a driving time of a predetermined time or less and / or a driving distance of a predetermined distance or less. Determine whether a circular route can be generated, set a single parking area where a circular route can be generated as the target point, and drive the vehicle along the driving route for the vehicle to travel from the current position to the target point by autonomous driving control towards the target point. After the vehicle has traveled from the current position to the single parking area which is the target point, determine whether the vehicle can park in the single parking area. If it is determined that the vehicle can park in the single parking area, park the vehicle at the parking position set in the single parking area. If it is determined that the vehicle cannot park in the single parking area, drive the vehicle in a circular motion by autonomous driving control along the previously generated circular route This solves the above problems.

Advantages of the Invention

[0007] According to the present invention, even when the vehicle cannot park at a preset position, by continuing circular driving, autonomous driving control using a detection device mounted on the vehicle can be continued.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Figure 4

Figure 5

Figure 6

Figure 7

Figure 8

Embodiments for Carrying Out the Invention

[0009] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Note that the following description is based on the premise that the vehicle travels on the left side in a country with a left-hand traffic regulation. In a country with a right-hand traffic regulation, since the vehicle travels on the right side, the right and left in the following description should be read symmetrically.

[0010] [Configuration of Driving Control System] FIG. 1 is a block diagram showing a driving control system 1 according to the present invention. The driving control system 1 of the present embodiment is an in-vehicle system, and can be used not only for private vehicles that autonomously drive to a destination set by a vehicle occupant, but also for vehicles dispatched in a car-sharing service, for example. The car-sharing service means allocating a vehicle that transports a user from a pick-up location to a drop-off location to the user, and examples include the dispatch of manned and unmanned taxis, the dispatch of vehicles used in pick-up and drop-off services such as airports, stations, hotels, wedding halls, event venues, nurseries, schools, and nursing homes, and the dispatch of vehicles used in rental car and ride-sharing services. The users of the car-sharing service are not particularly limited as long as they can appropriately pay the price for the service.

[0011] As shown in FIG. 1, the driving control system 1 includes an imaging device 11, a distance measuring device 12, map information 13, a host vehicle position detection device 14, a navigation device 15, a vehicle control device 16, a display device 17, an input device 18, and a driving control device 19. The devices included in the driving control system 1 are connected by a CAN (Controller Area Network) or other in-vehicle LAN and can exchange information with each other.

[0012] The imaging device 11 is a device that recognizes objects around the host vehicle by an image, and is, for example, a camera equipped with an imaging element such as a CCD, an ultrasonic camera, or an infrared camera. A plurality of imaging devices 11 can be provided on one vehicle, and can be arranged, for example, in the front grille portion of the vehicle, the lower part of the left and right door mirrors, and the vicinity of the rear bumper. Thereby, the dead angle when recognizing an object around the vehicle can be reduced.

[0013] The distance measurement device 12 is a device for calculating the relative distance and relative speed between the vehicle and the object, such as a laser radar, a millimeter-wave radar, etc. (such as an LRF), a LiDAR (light detection and ranging) unit, a radar device such as an ultrasonic radar, or a sonar. The distance measurement device 12 can be provided in plural on one vehicle, and can be arranged, for example, in front of, on the right side, on the left side, and at the rear of the vehicle. Thereby, the relative distance and relative speed with respect to the object around the vehicle can be accurately calculated.

[0014] The objects detected by the imaging device 11 and the distance measurement device 12 are the lane boundary lines of the road, the center line, the road surface markings, the median strip, the guardrail, the curb, the side wall of the highway, the road signs, the traffic signals, the crosswalk, the construction site, the accident site, the traffic restriction, etc. In addition, the objects include obstacles that may affect the running of the host vehicle, such as automobiles other than the host vehicle (other vehicles), motorcycles, bicycles, pedestrians, etc. The detection results of the imaging device 11 and the distance measurement device 12 are acquired by the travel control device 19 at a predetermined time interval.

[0015] In addition, the detection results of the imaging device 11 and the distance measurement device 12 can be integrated or synthesized by the travel control device 19, whereby the lacking information of the detected object can be complemented. For example, based on the self-position information, which is the position where the host vehicle travels and is acquired by the host vehicle position detection device 14 described later, and the relative position (distance and direction) between the host vehicle and the object, the travel control device 19 can calculate the position information of the object. The calculated position information of the object is integrated by the travel control device 19 with the detection results of the imaging device 11 and the distance measurement device 12, and a plurality of information such as the map information 13 to become the environmental information around the host vehicle. Also, using the detection results of the imaging device 11 and the distance measurement device 12 and the map information 13, it is also possible to recognize the objects around the host vehicle and predict their movements.

[0016] The map information 13 is information used for generating a driving route and / or driving control, and includes road information, facility information, and their attribute information. The road information and the attribute information of the road include information such as the width of the road, the radius of curvature of the road, the structure of the road shoulder, road traffic regulations (speed limit, possibility of lane change), the merging and branching points of the road, and the positions where the number of lanes increases or decreases. The map information 13 of the present embodiment is high-precision map information capable of grasping the movement trajectory for each lane, and includes two-dimensional position information and / or three-dimensional position information at each map coordinate, the boundary information of the road / lane at each map coordinate, road attribute information, the up / down information of the lane, lane identification information, connection destination lane information, and the like.

[0017] The boundary information of the road / lane of the high-precision map information is information indicating the boundary between the road on which the host vehicle travels and the others. The road on which the host vehicle travels is a road for the host vehicle to travel, and the form of the road is not particularly limited. The boundary exists on the left and right sides respectively with respect to the traveling direction of the host vehicle, and the form is not particularly limited. The boundary includes road surface markings, road structures, etc. The road surface markings include lane boundary lines, center lines, etc., and the road structures include median strips, guardrails, curbstones, tunnels, side walls of expressways, etc. respectively. In addition, at a point where the road boundary such as within an intersection cannot be clearly specified, a boundary is set for the road in advance. This boundary is an overhead one and is not an actually existing road surface marking or road structure.

[0018] The map information 13 is stored in a record medium provided in a driving control device 19, an in-vehicle device, or a server on a network in a readable state. The driving control device 19 acquires the map information 13 as necessary.

[0019] The own-vehicle position detection device 14 is a positioning system for detecting the current position of the own vehicle, and is not particularly limited, and a known one can be used. The own-vehicle position detection device 14 calculates, for example, the current position of the own vehicle from radio waves received from satellites for GPS (Global Positioning System). Further, the own-vehicle position detection device 14 may estimate the current position of the own vehicle from the vehicle speed information acquired from the vehicle speed sensor and the acceleration information acquired from the acceleration sensor and the gyro sensor, and calculate the current position of the own vehicle by collating the estimated current position with the map information 13.

[0020] The navigation device 15 is a device that calculates a travel route from the current position of the own vehicle detected by the own-vehicle position detection device 14 to the destination set by the driver with reference to the map information 13. The navigation device 15 searches for a travel route for the own vehicle to reach the destination from the current position using the road information and facility information of the map information 13. The travel route includes at least information on the road on which the own vehicle travels, the travel lane, and the travel direction of the own vehicle, and is displayed linearly, for example. Depending on the search conditions, there may be a plurality of travel routes. The travel route calculated by the navigation device 15 is output to the travel control device 19.

[0021] The vehicle control device 16 is an in-vehicle computer such as an electronic control unit (ECU: Electronic Control Unit), and electronically controls in-vehicle devices that regulate the travel of the vehicle. The vehicle control device 16 includes a vehicle speed control device 161 that controls the travel speed of the own vehicle and a steering control device 162 that controls the steering operation of the own vehicle. The vehicle speed control device 161 and the steering control device 162 autonomously control the operations of these drive devices and steering devices according to the control signals input from the travel control device 19. Thereby, the own vehicle can travel autonomously according to the set travel route.

[0022] The drive device controlled by the vehicle speed control device 161 includes an electric motor and / or an internal combustion engine that are driving power sources, a power transmission device including a drive shaft and an automatic transmission that transmit the output from these driving power sources to the drive wheels, a drive device that controls the power transmission device, and the like. Further, the braking device controlled by the vehicle speed control device 161 is, for example, a braking device that brakes the wheels. A control signal corresponding to the set traveling speed is input to the vehicle speed control device 161 from the traveling control device 19. The vehicle speed control device 161 generates a signal for controlling these drive devices based on the control signal input from the traveling control device 19, and transmits the signal to the drive device, thereby autonomously controlling the traveling speed of the vehicle.

[0023] On the other hand, the steering device controlled by the steering control device 162 includes a steering device that controls the total steering wheels according to the steering angle of the steering wheel (so-called steering wheel), for example, a steering actuator such as a motor attached to the column shaft of the steering. The steering control device 162 autonomously controls the operation of the steering device based on the control signal input from the traveling control device 19, using at least one of the detection results of the imaging device 11 and the distance measuring device 12, the map information 13, and the information on the current position acquired by the own vehicle position detection device 14, so that the own vehicle travels while maintaining a predetermined lateral position (position in the left-right direction of the vehicle) with respect to the set traveling route.

[0024] Information necessary for autonomous control in the vehicle speed control device 161 and the steering control device 162, such as the traveling speed, acceleration, steering angle, and attitude of the own vehicle, are detected using various sensors provided in the vehicle control device 16. Examples of the various sensors include a vehicle speed sensor, an acceleration sensor, a gyro sensor, a steering angle sensor, and an inertial measurement unit (IMU). The vehicle control device 16 outputs the detection results of these sensors to the traveling control device 19.

[0025] The display device 17 is a device for providing the information necessary for the vehicle occupants, for example, a liquid crystal display provided on the instrument panel, a projector such as a head-up display (HUD). Note that the vehicle occupants are not limited to the users of the ride-hailing service using the driving control system 1.

[0026] The input device 18 is a device for the vehicle occupants to input instructions to the driving control device 19, and examples include a touch panel input by the user's finger touch or a stylus pen, a microphone for acquiring the user's voice instructions, and a switch attached to the vehicle's steering wheel. Note that the vehicle occupants are not limited to the users of the ride-hailing service using the driving control system 1.

[0027] The driving control device 19 controls the devices included in the driving control system 1 to cooperate with each other to control the driving of the host vehicle, and is a device for stopping the host vehicle near the destination set by the vehicle occupants or the users of the ride-hailing service. The driving control device 19 is, for example, a computer, and includes a CPU (Central Processing Unit) 191 as a processor, a ROM (Read Only Memory) 192 storing a program, and a RAM (Random Access Memory) 193 functioning as an accessible storage device. The CPU 191 is an operation circuit for functioning as the driving control device 19 by executing the program stored in the ROM 192.

[0028] In addition, the driving control device 19 can exchange information with the terminal device 4 used by the users who use the ride-hailing service using the driving control system 1 via the network 3. The network 3 refers to a telecommunication line network such as the Internet or a LAN (local area network), and is not particularly limited as long as information can be exchanged between the driving control device 19 and the terminal device 4, and a known one can be used. Also, the communication method may be wired or wireless, and may use mobile communication such as 4G / LTE or 5G.

[0029] The terminal device 4 is a device operated by a user of the vehicle dispatching service using the driving control system 1, and is, for example, a personal computer, a smartphone, or other portable devices such as a PDA (Personal Digital Assistant). Further, the terminal device 4 may be a wearable terminal such as a smartwatch or a head-mounted display. The terminal device 4 includes a display unit (for example, a liquid crystal display) for presenting information to the user of the vehicle dispatching service, and an input unit (for example, a touch panel) for the user to input an instruction to the driving control device 19 via a server (not shown) that provides the vehicle dispatching service.

[0030] [Control Unit] The program used in the driving control device 19 of the present embodiment includes a control unit 2 which is a functional block for realizing the control of the driving of the host vehicle by the driving control device 19. The control unit 2 has a function of driving the host vehicle by autonomous driving control. Autonomous driving control means autonomously controlling the driving operation of the host vehicle using the driving control device 19, and the driving operation includes all driving operations such as acceleration, deceleration, starting, stopping, steering to the right or left, lane change, and lateral displacement. Further, autonomously controlling the driving operation means that the driving control device 19 controls the driving operation using the devices of the host vehicle. That is, the control unit 2 intervenes in and controls these driving operations within a predetermined range. For driving operations that are not intervened, manual operations by the driver are performed.

[0031] The control unit 2 of the present embodiment particularly has a function of autonomously controlling the driving operation of the host vehicle to stop near the destination set by the user of the host vehicle. The autonomous driving control of the present embodiment includes parking control. Parking control means stopping the host vehicle at the set parking position by autonomous driving, and the driving control device 19 controls all driving operations necessary for the host vehicle to stop using the devices of the host vehicle. Further, as shown in FIG. 1, the control unit 2 includes a parking unit 21, a search unit 22, a generation unit 23, a setting unit 24, and a driving unit 25. In FIG. 1, each unit is shown by being extracted for convenience.

[0032] The control unit 2 of the present embodiment supports the running of the host vehicle to autonomously stop near a set destination in a running scene shown in FIG. 2, for example. In the running scene of FIG. 2, there are roads R1, R2, and R3 extending in the vertical direction of the drawing, and roads R4, R5, and R6 extending in the left-right direction of the drawing. The roads R1 to R6 are all left-hand traffic roads and are four-lane roads with two lanes on each side. An intersection C1 exists at the intersection of road R1 and road R4, an intersection C2 exists at the intersection of road R1 and road R5, an intersection C3 exists at the intersection of road R2 and road R4, an intersection C4 exists at the intersection of road R2 and road R5, an intersection C5 exists at the intersection of road R2 and road R6, an intersection C6 exists at the intersection of road R3 and road R5, and an intersection C7 exists at the intersection of road R3 and road R6. At intersection C4, there is a crosswalk W1 for pedestrians to cross road R2 and a crosswalk W2 for pedestrians to cross road R5.

[0033] Also, at each of the intersections C1 to C7, it is assumed that a vehicle traveling in the left lane in the traveling direction can turn left or go straight at the intersection, and a vehicle traveling in the right lane in the traveling direction can turn right or go straight at the intersection. Specifically, in lane L1 of road R1, it is assumed that the traveling vehicle can turn left at intersection C2, and in lane L2, it is assumed that the traveling vehicle can turn right at intersection C2. Similarly, in lanes L3 and L5 of road R2, the traveling vehicle can turn left or go straight at intersection C3, in lanes L4 and L6, the traveling vehicle can turn right or go straight at intersection C3, in lane L7, the traveling vehicle can turn left or go straight at intersection C4, in lane L8, the traveling vehicle can turn right or go straight at intersection C4, in lane L9, the traveling vehicle can turn left or go straight at intersection C5, and in lane L10, it is assumed that the traveling vehicle can go straight at intersection C5. Also, in lane L11 of road R3, it is assumed that the traveling vehicle can turn left at intersection C6, and in lane L12, it is assumed that the traveling vehicle can turn right at intersection C6.

[0034] The same applies to roads R4 to R6. Assume that in lane L13 of road R4, a traveling vehicle can turn left or go straight at intersection C1, and in lane L14, a traveling vehicle can turn right or go straight at intersection C1. Assume that in lanes L15 and L17 of road R5, a traveling vehicle can turn left or go straight at intersection C4, and in lanes L16 and L18, a traveling vehicle can turn right or go straight at intersection C4. And assume that in lane L19 of road R6, a traveling vehicle can turn left or go straight at intersection C7, and in lane L20, a traveling vehicle can turn right or go straight at intersection C7.

[0035] In the driving scene of FIG. 2, assume that the host vehicle V1 is moving toward the destination X along the driving route set by the navigation device 15. The host vehicle V1 traveling at position P1 in lane L6 goes straight through intersection C3 and enters lane L8. When approaching the destination X, the host vehicle V1 attempts to stop by autonomous driving with stop control at the first stop area Z1, which is a preset target point. Other vehicles V2 and V3 are stopped in lane L7 of road R2. Other vehicles V2 and V3 are stopped in front of the destination X, and their vehicle bodies are included in the first stop area Z1 in a plan view.

[0036] Note that the host vehicle V1 does not necessarily have to be a private vehicle. For example, it may be a commercial vehicle such as a taxi, bus, or truck, a vehicle provided for a vehicle rental service (rental car), or a vehicle used for various services such as car sharing and ride sharing. Here, car sharing means that a plurality of registered users pay a fee and jointly use a specific vehicle, and ride sharing means that a plurality of users are picked up according to the current position and destination of the vehicle and transported to their respective destinations. Ride sharing includes a vehicle dispatching service as part of the provided service.

[0037] Hereinafter, in the driving control when the host vehicle V1 stops near the destination X, the functions performed by each functional block of the control unit 2 will be described.

[0038] The parking unit 21 has a function of detecting an obstacle existing in a parking area set as a target point and determining whether or not the host vehicle V1 can park in the parking area from the detection result of the obstacle. The target point is a point at which the travel control by the control unit 2 is completed when the host vehicle V1 can park. In the travel control by the control unit 2, since the host vehicle V1 autonomously travels and parks near the set destination, a parking area for the host vehicle V1 to park existing near the destination is set as the target point. Whether or not the host vehicle V1 can actually park in the parking area set as the target point depends on whether or not a space for the host vehicle V1 to park can be secured in the parking area. The travel control device 19 detects an obstacle existing in the parking area set as the target point by the function of the parking unit 21 and determines whether or not there is a space for the host vehicle V1 to park in the parking area.

[0039] The parking unit 21 detects an obstacle existing in a parking area set as a target point by using the imaging device 11 and the distance measuring device 12. For example, pattern matching is performed on the image data acquired by the imaging device 11 to recognize the parking area and the obstacles existing in the parking area. Then, the type and position of the obstacles existing in the parking area set as the target point are recognized by combining the distance between the obstacles recognized from the image data and the obstacles detected by the distance measuring device 12. The obstacles detected by the parking unit 21 include all objects that can obstruct the travel of the host vehicle V1, such as other vehicles, motorcycles, bicycles, pedestrians, as well as barricades, pylons (cones), etc. Note that the setting of the parking area, which is the target point, is performed by the setting unit 24 described later.

[0040] When determining whether the host vehicle V1 can park in the parking area set at the target location, the parking unit 21 uses the types and positions of obstacles existing in the parking area detected by the imaging device 11 and the distance measuring device 12. Specifically, at least, it is determined whether the width deviation to the shoulder side and the travel distance necessary to complete the driving operation for parking can be ensured in the parking area set at the target location. The width deviation to the shoulder side and the driving operation for parking are performed by parking control. In this determination, for example, using the vehicle speed of the host vehicle V1 acquired from the vehicle control device 16, the travel distance required for the host vehicle V1 to stop is calculated, and in the parking area set as the target location, the distance in the travel direction of the portion where the host vehicle V1 can travel without contacting an obstacle is calculated. Then, the magnitudes of the two calculated distances are compared.

[0041] When the travel distance required for the host vehicle V1 to stop is smaller than the distance of the portion where the host vehicle V1 can travel without contacting an obstacle in the parking area set at the target location, the parking unit 21 determines that the host vehicle V1 can park in the parking area because the travel distance to complete the driving operation for parking can be ensured in the parking area set as the target location. Then, the host vehicle V1 is parked in the parking area by parking control along the travel route generated by the generation unit 23 described later. On the other hand, when the travel distance required for the host vehicle V1 to stop is equal to or greater than the distance of the portion where the host vehicle V1 can travel without contacting an obstacle in the parking area set as the target location, the parking unit 21 determines that the host vehicle V1 cannot park in the parking area because the travel distance to complete the driving operation for parking cannot be ensured in the parking area set as the target location. In this case, the host vehicle V1 is made to travel in a circular motion by autonomous driving control along the circular route generated by the generation unit 23 described later. Then, while continuing the travel by autonomous driving control, a new parking area is searched using the devices mounted on the host vehicle V1 such as the imaging device 11 and the distance measuring device 12 by the function of the search unit 22 described later.

[0042] Alternatively, instead of or in addition to this, when road signs, pavement markings, etc. indicating prohibition of parking or stopping of the vehicle are detected from the image data acquired by the imaging device 11, in accordance with traffic regulations, it is determined that the host vehicle V1 cannot park in the parking area set as the target location. On the other hand, when road signs, pavement markings, etc. indicating that parking or stopping is possible are detected from the image data acquired by the imaging device 11, it is determined that the host vehicle V1 can park in the parking area set as the target location. Note that the host vehicle V1 parking in the parking area means that at least a part of the vehicle body of the parked host vehicle V1 is included in the parking area in a plan view, and it is not necessarily required that the entire vehicle body of the host vehicle V1 is included in the parking area.

[0043] In the driving scene of FIG. 2, the host vehicle V1 travels along the trajectory T1 from the position P1 to the position P2, and at the position P2 near the destination X, by the function of the parking unit 21, obstacles existing in the first parking area Z1 are detected using the imaging device 11 and the distance measuring device 12. As a result of the detection, other vehicles V2 and V3 parked on the first parking area Z1 set in front of the destination X are detected. And since there is not enough space for the host vehicle V1 to travel without contacting other vehicles V2 and V3 in the first parking area Z1, the parking unit 21 determines that the host vehicle V1 cannot park in the first parking area Z1 set as the first target location. In this case, the control unit 2 searches for a parking area different from the first parking area Z1 and newly sets the detected parking area as the second target location.

[0044] In addition, when the host vehicle V1 is a commercial vehicle such as a taxi or a bus, or a vehicle used for various services such as car sharing or ride sharing, when it is determined that the host vehicle V1 cannot park in the first parking area Z1 which is the first target point, the user of the vehicle may be notified to that effect. The users include not only the passengers currently riding in the host vehicle V1, but also the users waiting for the arrival of the host vehicle V1 near the first parking area Z1 in order to use the host vehicle V1 in the future. The notification is made by displaying on the display device 17, displaying on the display unit of the terminal 4, etc. Thereby, the discomfort (for example, uneasiness) given to the user when the host vehicle V1 passes through the first parking area Z1 can be suppressed.

[0045] The search unit 22 has a function of searching for a parking area for the host vehicle V1 to park. The parking area is an area where, by parking control, at least the lateral movement to the road shoulder and the driving distance necessary to complete the parking driving operation can be secured, and there are no obstacles in the area that hinder the autonomous driving of the host vehicle V1. When the host vehicle V1 is a commercial vehicle such as a taxi, a bus, or a truck, and a dedicated parking space is provided at the destination, the area corresponding to the parking space may be used as the parking area. Other examples of the parking area include a bus or taxi stop, a vehicle drop-off area at a station or an airport, a parking space on the right or left side of the road, and an area delimited by a boundary such as a parking lot. The boundary that separates the parking area from other areas includes an object that separates a drivable area from a non-drivable area, such as a guardrail or a curb, and a boundary line that separates lanes, such as a white line. The area surrounded by these boundaries becomes the parking area.

[0046] In addition, an area not delimited by a boundary line also becomes a parking area. For example, in the autonomous driving by parking control, an area on the road shoulder side of a road having two or more lanes on one side becomes a parking area so that the host vehicle V1 can park without disturbing the driving of other vehicles (especially following vehicles). Furthermore, even on a one-lane road, when the host vehicle V1 parks on the road shoulder side and there is a road width for a following vehicle to overtake the host vehicle V1 and the width does not hinder the driving of other vehicles, the area on the road shoulder side of the one-lane road becomes a parking area.

[0047] For the search of a parking area, detection devices mounted on the host vehicle V1 such as the imaging device 11, the distance measuring device 12, the host vehicle position detection device 14, and the vehicle control device 16 are used. For example, the search unit 22 searches for an area within a predetermined range using the imaging device 11 and the distance measuring device 12, and detects a parking area existing in the searched area. The predetermined range is a range of a predetermined distance (for example, 5 to 100 m) in front of and on the side of the host vehicle, a range of a predetermined distance (for example, 5 to 100 m) behind the host vehicle, a range of a predetermined distance (for example, 50 to 100 m) from the destination, etc., and an appropriate range can be set in consideration of the road conditions and traffic regulations on which the host vehicle V1 travels. Hereinafter, the area searched by the search unit 22 is referred to as a search area.

[0048] Specifically, using the imaging device 11 and the distance measuring device 12, an area within a predetermined range in front of and on the side of the host vehicle is searched, and in the search area, obstacles existing in the lane on the shoulder side of the road (the left lane if driving on the left, the right lane if driving on the right) are detected. The obstacles include all objects that can interfere with the travel of the host vehicle V1 such as other vehicles, motorcycles, bicycles, pedestrians, as well as barricades, pylons (cones), etc. Then, an area within the search area in the lane on the shoulder side where a travel distance necessary for completing the driving operation necessary for parking can be secured is detected. The method for detecting obstacles is the same as the detection method in the parking unit 21. For example, pattern matching is performed on the image data acquired by the imaging device 11 to recognize obstacles existing in the lane on the shoulder side, and the distance to the obstacles is detected by the distance measuring device 12. When no obstacle is recognized by the imaging device 11 and no obstacle can be detected by the distance measuring device 12 either, the search unit 22 determines that no obstacle exists. Also, the travel distance necessary for completing the driving operation necessary for parking is obtained, for example, using the vehicle speed of the host vehicle V1 acquired from the vehicle control device 16 as the distance required to stop from the current vehicle speed of the host vehicle V1 at a predetermined deceleration. Note that whether the host vehicle V1 can actually park in the detected parking area is separately determined by the parking unit 21 before executing the control of the driving operation using the function of the travel unit 25.

[0049] Further, the search unit 22 has a function of detecting a following vehicle traveling behind the host vehicle V1 using the imaging device 11 and the distance measuring device 12. When a following vehicle of the host vehicle V1 is detected, while driving the host vehicle V1 at a vehicle speed equal to or higher than a predetermined vehicle speed so that the host vehicle V1 does not stop, the parking area is searched for by the device of the host vehicle V1. On the other hand, when a following vehicle of the host vehicle V1 is not detected, the parking area may be searched for autonomously while driving the host vehicle V1 at a vehicle speed equal to or higher than a predetermined vehicle speed, or while driving the host vehicle V1 at a vehicle speed lower than the predetermined vehicle speed or stopping the host vehicle V1, the parking area may be searched for by the device of the host vehicle V1. The predetermined vehicle speed is not particularly limited as long as it does not interfere with the running of the following vehicle. For example, it is the speed limit of the road on which the host vehicle V1 travels, the vehicle speed of the host vehicle V1 set by the driver, or the vehicle speed of the preceding vehicle or the following vehicle detected by the distance measuring device 12.

[0050] In the driving scene of FIG. 2, due to the function of the parking unit 21, it is determined that the host vehicle V1 cannot park in the first parking area Z1. Therefore, it is not possible to park the host vehicle V1 in the first parking area Z1 and complete the driving control by the control unit 2. Therefore, the host vehicle V1 searches for a parking area different from the first parking area Z1 while continuing the circular driving by the autonomous driving control along the locus T2 shown in FIG. 3 by the function of the search unit 22. When continuing the circular driving by the autonomous driving control, a driving route for driving the host vehicle V1 straight can be set as shown by the locus T2 in FIG. 3, but it is not always necessary for the host vehicle V1 to continue straight driving, and a lane change or the like may be performed as necessary. When it is determined that there is no other vehicle in the first parking area Z1 and the host vehicle V1 can park in the first parking area Z1, the host vehicle V1 is parked in the first parking area Z1 by the parking control.

[0051] When detecting a parking area, first, the search unit 22 uses the imaging device 11 and the distance measuring device 12 to detect a following vehicle traveling behind the host vehicle V1. In the driving scene of FIG. 3, since there is no vehicle traveling behind the host vehicle V1, no following vehicle of the host vehicle V1 is detected by either the imaging device 11 or the distance measuring device 12. In this case, the parking area may be searched while slowly traveling in the vicinity of position P2. However, since the traffic volume is large around the destination X, autonomous driving is continued at the vehicle speed set by the driver. Next, while continuing autonomous driving, the search unit 22 searches the area between the destination X and the intersection C4. Then, a parking area is detected in the lane L7 on the shoulder side of the search area from the destination X to the intersection C4. In the driving scene of FIG. 3, since the driving distance required for the parking driving operation cannot be secured between the other vehicle V3 and the crosswalk W1 and it will also interfere with the driving of the other vehicle turning left at the intersection C4, there is no parking area in the search area, and no parking area is detected.

[0052] In this case, the search unit 22 makes the vehicle go straight through the intersection closest in the traveling direction and searches for a new parking area in another section adjacent to the section where the parking area was searched. In the driving scene of FIG. 3, the host vehicle V1 is made to go straight through the intersection C4 along the trajectory T2, and while the host vehicle V1 is traveling to the position P3, the area between the intersection C4 and the intersection C5 is searched using the detection device of the host vehicle V1. Then, a parking area is detected in the lane L9 on the shoulder side of the search area from the intersection C4 to the intersection C5. In the driving scene of FIG. 3, since there are no obstacles such as other vehicles in the lane L9, an appropriate area of the lane L9 becomes the parking area within a range that does not interfere with the driving of the following vehicle going straight through the lane L7 and entering the lane L9 and the other vehicle turning left at the intersection C5. As an example, the second parking area Z2 is shown in FIG. 3.

[0053] The generation unit 23 has a function of generating a travel route for the host vehicle V1 to travel from the current position to a target point, with any one of the parking areas as the target point. Based on the current position of the host vehicle V1 acquired by the host vehicle position detection device 14, the generation unit 23 refers to the road information in the map information 13 and generates a travel route from the current position to the parking area set as the target point using the navigation device 15. Specifically, a route connecting the current position and the target point (parking area) is searched for using the node information included in the road information and the link information indicating the connection between the nodes.

[0054] In particular, the generation unit 23 of the present embodiment has a function of generating a circular route that starts traveling from a certain parking area as the target point, makes a round trip, and reaches the same parking area. Since it is a route for circular travel with one parking area as the target point, the start point and the end point of the circular route exist in the same parking area. When a circular route can be generated for the parking area set as the target point, even if there are obstacles in the parking area that is the target point and the vehicle cannot park at the preset parking position, autonomous driving control allows the vehicle to continue circular travel along the circular route. Therefore, autonomous driving can be continued using the detection device of the host vehicle V1 even when new parking area information cannot be obtained from the infrastructure. Also, when a new parking area is detected during circular travel along the circular route, the vehicle can park in the parking area.

[0055] More specifically, continuing autonomous driving leads to suppressing the occurrence of a situation that may impede the driving of the following vehicle of the host vehicle V1. For example, when it is determined that the host vehicle V1 cannot stop at the parking area set as the target point in a state where new parking area information cannot be obtained from the infrastructure, and a circumferential route cannot be generated in the parking area, a new target point cannot be set immediately. Therefore, there is a risk of stopping or driving slowly in the driving lane of the road until a new target point is set. Also, when switching from autonomous driving control to manual operation by the driver, the vehicle will drive or creep at a low speed until the switching is completed. If autonomous driving along the circumferential route can be continued, the occurrence of either situation can be suppressed.

[0056] In addition, since the driving control device 19 is a device that stops the host vehicle V1 near the destination X set by the occupant of the host vehicle V1 or the user of the car-sharing service, the additional waiting time until parking caused by driving along the circumferential route must be within the range acceptable to the occupant of the host vehicle V1 or the user of the car-sharing service. Therefore, the circumferential route generated by the generation unit 23 is one in which the driving time of the host vehicle V1 is equal to or less than a predetermined time, or the driving distance of the host vehicle V1 is equal to or less than a predetermined distance, or the driving time of the host vehicle V1 is equal to or less than a predetermined time and the driving distance is equal to or less than a predetermined distance. The predetermined time is the time that the occupant of the host vehicle V1 or the user of the car-sharing service can tolerate as additional waiting time, for example, 30 seconds to 5 minutes. Also, the predetermined distance is the distance for which the time required to complete the circumferential route is within the range acceptable to the occupant of the host vehicle V1 or the user of the car-sharing service, for example, 50 m to 1 km. The predetermined time and the predetermined distance vary depending on the traffic conditions and traffic regulations around the destination X. For example, when the speed limit around the destination X is high, the predetermined distance is set longer than when the speed limit is low. Also, when traffic jams constantly occur around the destination X, the predetermined time is set longer than in a place where no traffic jam occurs.

[0057] In the driving scene of FIG. 3, assuming that the lengths around the section B1 defined by the roads R1, R2, R4, and R5 and the section B2 defined by the roads R2, R3, R5, and R6 are equal to or less than a predetermined distance, for the second parking area Z2 detected by the search unit 22, the circumferential path Y1 shown in FIG. 3 can be generated. The starting point S1 of the circumferential path Y1 exists in the second parking area Z2, and the starting point S1 is also the end point of the circumferential path Y1. When driving along the circumferential path Y1, the host vehicle V1 starts driving from the starting point S1, turns left sequentially at the intersections C5, C7, C6, and C4 to go around the section B2, and finally reaches the starting point S1 which is also the end point of the circumferential path Y1. Therefore, even if there are obstacles in the second parking area Z2 and the host vehicle V1 cannot stop, the autonomous driving control can continue by driving around along the circumferential path Y1. Also, when an obstacle moves from the second parking area Z2 during the driving around, the host vehicle V1 can stop in the second parking area Z2.

[0058] On the other hand, for the first parking area Z1 set in front of the destination X, since the length around the section B3 defined by the roads R2, R4, and R5 where the destination X exists exceeds a predetermined distance, a circumferential path with a driving distance equal to or less than the predetermined distance cannot be generated. Also, in front of the destination X, there are many parked vehicles such as the other vehicles V2 and V3, so traffic jams frequently occur in the lanes L7 and L8. Therefore, for the first parking area Z1, a circumferential path with a driving time equal to or less than a predetermined time cannot be generated either. Therefore, the first parking area Z1 is a parking area where the circumferential path of the present embodiment cannot be generated.

[0059] The setting unit 24 has a function of setting a target point to which the host vehicle V1 travels. In particular, in the present embodiment, the host vehicle V1 sets, as the target point, a parking area that can be reached from a certain parking area by circular travel. In this circular travel, the travel time of the host vehicle V1 is equal to or less than the predetermined time described above. Instead of or in addition to this, in this circular travel, the travel distance of the host vehicle V1 is equal to or less than a predetermined distance. Circular travel refers to travel that starts from a certain point and reaches the starting point by moving forward without reversing, specifically, travel along a circular route. Whether circular travel is possible is determined, for example, using the navigation device 15 based on the map information 13 and the current position of the host vehicle V1 acquired from the host vehicle position detection device 14. A parking area such as the first parking area Z1 that cannot be reached from one parking area by circular travel can be excluded from the candidates for the target point.

[0060] Further, the setting unit 24 can also set, as the target point, a parking area in which a circular route can be generated by the generation unit 23. Specifically, with the function of the search unit 22, an attempt is made to generate a circular route by the function of the generation unit 23 for the parking area detected using the imaging device 11 and the distance measuring device 12. Then, a parking area in which a circular route can be generated, such as the second parking area Z2, is set as the target point. On the other hand, a parking area in which a circular route cannot be generated, such as the first parking area Z1, can be excluded from the candidates for the target point. However, when there is no parking area in which a circular route can be generated around the destination X, a parking area in which a circular route cannot be generated may be set as the target point.

[0061] The target point may be automatically set by the setting unit 24 from the parking area detected by the search unit 22, or may be set by the occupant of the host vehicle V1 or the user of the dispatch service. For example, when one or more parking areas are detected by the function of the search unit 22, the function of the setting unit 24 causes map information as shown in FIG. 3 to be displayed on the display device 17. Then, based on the display on the display device 17, the occupant of the host vehicle V1 presented with the position of the parking area designates, from the input device 18, the parking area to be set as the target point. The setting unit 24 acquires the information input from the input device 18 and sets the parking area selected by the occupant of the host vehicle V1 as the target point. Similarly, the function of the setting unit 24 may cause map information as shown in FIG. 3 to be displayed on the display unit of the terminal device 4, and present the position of the parking area to the user of the dispatch service boarding the host vehicle V1. In this case, the user of the dispatch service designates, from the input unit of the terminal device 4, the parking area to be set as the target point. The setting unit 24 acquires the information input from the input unit of the terminal device 4 and sets the parking area selected by the user as the target point.

[0062] For setting the target point, detection of a parking area by the search unit 22 is not necessarily required. For example, if the position of the parking area of the host vehicle V1 and the position of the parking area where a circumferential route can be generated are pre-input in the map information 13, when the destination X is set, one parking area is selected from the parking areas around the destination X and automatically set as the target point. Alternatively, when the destination X is set, the occupant of the host vehicle V1 and / or the user of the dispatch service may be presented with a parking area as a candidate for the target point. For such presentation, the display device 17 and / or the display unit of the terminal device 4 are used. The selected parking area is input to the travel control device 19 via the input device 18 and / or the input unit of the terminal device 4 and acquired by the setting unit 24. Further, when setting the target point, only the parking areas where a circumferential route can be generated may be presented to the user of the host vehicle V1 (including the occupant of the host vehicle V1) as candidates for the target point. This can make the continuation of the autonomous driving control using the detection device mounted on the vehicle more reliable.

[0063] In the driving scene of FIG. 3, since other vehicles V2 and V3 were parked in the first parking area Z1 that had been set as the target point in advance, it was determined by the parking unit 21 that the host vehicle V1 could not park in the first parking area Z1. Thereafter, by the function of the search unit 22, the second parking area Z2 was detected using the imaging device 11 and the distance measuring device 12, and by the function of the generation unit 23, it was confirmed that the circumferential path Y1 could be generated in the second parking area Z2. In this case, the setting unit 24 sets the second parking area where the circumferential path can be generated as a new target point and continues the autonomous driving control. Also, since a new target point has been set, the generation unit 23 generates a driving route for the host vehicle V1 to reach the new target point from the current position. Note that, in order to distinguish the target points, the target point set in advance is also referred to as the first target point, and the newly set target point is also referred to as the second target point.

[0064] Also, when a plurality of parking areas are detected, among the detected parking areas, the parking area that the host vehicle V1 can reach in the shortest driving time is set as the new target point (second target point). Instead of or in addition to this, when a plurality of parking areas are detected, among the detected parking areas, the parking area that the person who will board the host vehicle V1 can reach in the shortest walking time is set as the new target point (second target point). The same applies when the first target point has been set in advance. From the first target point, the parking area that the host vehicle V1 can reach in the shortest driving time is set as the second target point. Instead of or in addition to this, the second target point is set in the parking area that the person who will board the host vehicle V1 can reach in the shortest walking time. Thereby, it is possible to suppress an increase in at least one of the waiting time of the passenger of the host vehicle V1 until parking and the walking time of the user who boards the host vehicle V1.

[0065] The running unit 25 has a function of running the host vehicle V1 along the running route generated by the generation unit 23. Specifically, the parking position of the host vehicle V1 is set in the parking area set as the target point by the setting unit 24, and a trajectory for moving from the current position of the host vehicle V1 to the parking position is generated along the running route generated by the generation unit 23. In the running route generated by the generation unit 23, the intersections to pass through to travel to the target point, the traveling directions at the intersections, and the roads to travel on when moving between intersections are set, but the lane in which the host vehicle V1 travels and the position up to which the host vehicle V1 stops are not set. Therefore, in order to actually control the running operation of the host vehicle V1, a lane in which the host vehicle V1 travels and a trajectory defining the final parking position are generated. In generating the trajectory, in addition to information such as the shape, width, and curvature of the curve of the road included in the map information 13, the overall length and width of the vehicle body of the host vehicle V1 and the minimum turning radius of the host vehicle V1 are considered.

[0066] The running unit 25 generates, for example, the trajectory T3 shown in FIG. 4 based on the running route for reaching a new target point generated by the generation unit 23. The trajectory T3 is a trajectory for the host vehicle V1 to move from the position P3 which is the current position to the position P4 which is the parking position. When the trajectory T3 is generated, the running unit 25 controls the vehicle speed control device 161 and the steering control device 162 of the vehicle control device 16 to autonomously run the host vehicle V1. When traveling along the trajectory T3, the host vehicle V1 changes lanes in front of the intersection C5 and enters the left-turnable lane L9 from the lane L10. Next, the host vehicle V1 makes a left turn at the intersection C5 and travels in the lane L19, makes a left turn at the intersection C7 and travels in the lane L11, makes a left turn at the intersection C6 and travels in the lane L17. Then, after making a left turn at the intersection C4, the host vehicle V1 stops at the position P4 in the lane L9. Further, instead of the trajectory T3 shown in FIG. 4, a trajectory for directly stopping at the second parking area Z2 from the position P3 without going around the area B2 may be generated, and the host vehicle V1 may travel and stop along the trajectory.

[0067] During the execution of the autonomous driving control by the traveling unit 25, the detection of obstacles using the imaging device 11 and the distance measuring device 12 is performed at predetermined time intervals. When an obstacle is detected, the trajectory is changed to avoid contact between the host vehicle V1 and the obstacle. Further, when an obstacle is detected around the position P4 which is the parking position, the function of the parking unit 21 determines whether the host vehicle V1 can park at the position P4 based on the detection results of the imaging device 11 and the distance measuring device 12. When it is determined that the host vehicle V1 can park at the position P4, the host vehicle V1 parks at the position P4 while avoiding the obstacle by the parking control. On the other hand, when it is determined that the host vehicle V1 cannot park at the position P4, for example, the vehicle shifts to traveling along the circumferential path. Then, while the host vehicle V1 is traveling along the circumferential path Y1 by the autonomous driving control, a new parking area is searched by the device mounted on the host vehicle V1.

[0068] When the host vehicle V1 parks at the position P4, the passenger of the host vehicle V1 gets off the host vehicle V1 at the position P4 and walks along the walking path U1 to reach the destination X. At that time, the passenger who gets off the host vehicle V1 crosses the crosswalk W2. Such a walking path U1 is notified to the passenger of the host vehicle V1 via the display device 17 after the setting unit 24 sets a new target point. Further, the user of the car-sharing service gets on the host vehicle V1 at the position P4. When boarding, after the setting unit 24 sets a new target point, the person boarding the vehicle is notified of the route for walking to the second parking area Z2 set as the new target point. The display unit of the terminal device 4 is used for the notification. The user who gets on the host vehicle V1 sets a new destination, and the travel control device 19 starts traveling by the autonomous driving control toward the new destination. Similarly, even when the first target point is set in advance, after the setting unit 24 sets the second target point, the passenger of the host vehicle V1 is notified of the route for walking to the destination after getting off the vehicle, and instead of or in addition to this, the person boarding the host vehicle V1 at the second parking area set as the second target point is notified of the route for walking to the second parking area.

[0069] Furthermore, a driving scene in FIG. 5 will be described as a case where the host vehicle V1 cannot park in the second parking area Z2. The driving scene in FIG. 5 is a driving scene similar to the driving scene shown in FIG. 3, in which the host vehicle V1 is traveling at a position P5 in front of the position P3. In the driving scene of FIG. 5, since other vehicles V4 and V5 are parked in the lane L9, it is a driving scene showing a case where the host vehicle V1 cannot park in the second parking area Z2. In the driving scene of FIG. 5, in the search area from the intersection C4 to the intersection C5, other vehicles V4 and V5 parked in the lane L9 on the shoulder side are detected, and there is not enough driving distance between the other vehicles V4 and V5 to complete the driving operation for the host vehicle V1 to park. Also, if the host vehicle parks behind the other vehicle V4, a following vehicle that goes straight in the lane L7 and enters the lane L9 needs to avoid the host vehicle V1 within the intersection C4, which will interfere with the driving of the following vehicle. Furthermore, if the host vehicle parks in front of the other vehicle V5, it will interfere with the driving of other vehicles turning left at the intersection C5. For this reason, a parking area cannot be detected in the lane L9, and even if it was preset as the parking area of the target point by the occupant of the host vehicle V1 or the user of the car-sharing service, the parking unit 21 determines that the host vehicle V1 cannot park in the second parking area Z2.

[0070] In this case, while the traveling unit 25 causes the host vehicle V1 to travel along the circular path Y1 shown in FIG. 3 under autonomous driving control, the exploration unit 22 functions to explore a new parking area using a device mounted on the host vehicle V1. In the driving scene of FIG. 5, while traveling in the lane L8, the third parking area Z3a located on the opposite side of the destination X can be detected. With respect to the third parking area Z3a, when attempting to generate a circular path by the function of the generation unit 23, a circular path Y2 can be generated that starts from the starting point S2 existing in the third parking area Z3a, makes left turns at the intersections C3, C1, C2, and C4 in sequence, circulates around the periphery of the section B1, and finally reaches the starting point S2. Therefore, the third parking area Z3a is a parking area in which a circular path can be generated, and the setting unit 24 sets the third parking area Z3a as the third target point. If the third parking area Z3a was previously registered in the map information 13, the third parking area Z3a may be set as the third target point without going through the exploration of the parking area using the imaging device 11 and the distance measuring device 12.

[0071] When the setting unit 24 sets the third parking area Z3a as the third target point, the generation unit 23 generates a driving route for the host vehicle V1 to reach the third parking area Z3a from the current position. The traveling unit 25 generates a trajectory for stopping in the third parking area Z3a by stopping control based on the newly generated driving route. An example of the trajectory is shown in FIG. 6. The trajectory T4 shown in FIG. 6 is a trajectory for the host vehicle V1 to move from the position P5, which is the current position, to the position P6, which is the stopping position. When the trajectory T4 is generated, the traveling unit 25 controls the vehicle speed control device 161 and the steering control device 162 of the vehicle control device 16 to cause the host vehicle V1 to travel autonomously. When traveling along the trajectory T4, the host vehicle V1 turns at the intersection C4 and enters from the lane L8 into the lane L3, and stops at the position P6. At this time, by the function of the stopping unit 21, an obstacle existing in the third parking area Z3a is detected, and it is determined whether the host vehicle V1 can stop in the third parking area Z3a. In the driving scene of FIG. 5, it is assumed that a vehicle turn at the intersection C4 is not prohibited.

[0072] Also, in the driving scene of FIG. 5, while the vehicle V1 is driven along the circular path Y1 shown in FIG. 3 by the function of the driving unit 25, a new parking area can also be searched by the function of the search unit 22 using the device mounted on the vehicle V1. In the driving scene of FIG. 5, while driving along the circular path Y1, the third parking area Z3b in the lane L19, the third parking area Z3c in the lane L11, and the third parking area Z3d in the lane L17 are detected. Similar to the second parking area Z2, the third parking areas Z3b to Z3d are areas where a width deviation toward the road shoulder side and a driving distance necessary to complete the parking driving operation can be ensured. The setting unit 24 sets any one of the third parking areas Z3b to 3d as the third target point. In the driving scene of FIG. 5, the third parking area Z3d where the walking time of the passenger of the vehicle V1 to the destination X and the distance traveled by the user boarding the vehicle V1 are the shortest is set as the third target point.

[0073] When the third parking area Z3d is set as the third target point by the setting unit 24, the generation unit 23 generates a driving route for the vehicle V1 to reach the third parking area Z3d from the current position, and the driving unit 25 generates a trajectory for parking at the third parking area Z3d. An example of the generated trajectory is the trajectory T5 shown in FIG. 6. The trajectory T5 is a trajectory for the vehicle V1 to move from the position P5 which is the current position to the position P7 which is the parking position. When driving along the trajectory T5, the vehicle V1 changes lanes in front of the intersection C5 and enters from the lane L10 into the left-turnable lane L9. Next, the vehicle turns left at the intersection C5 and drives in the lane L19, turns left at the intersection C7 and drives in the lane L11, turns left at the intersection C6 and enters the lane L17. Then, the vehicle stops at the position P7 in the lane L17.

[0074] When the host vehicle V1 stops at position P6, the passengers of the host vehicle V1 get off the host vehicle V1 at position P6 and walk along the walking route U2a to reach the destination X. At this time, the passengers who get off the host vehicle V1 cross the crosswalk W1. On the other hand, when the host vehicle V1 stops at position P7, the passengers of the host vehicle V1 get off the host vehicle V1 at position P7 and walk along the walking route U2b to reach the destination X. At this time, the passengers who get off the host vehicle V1 cross the crosswalk W2. The walking routes U2a and U2b are notified to the passengers of the host vehicle V1 via the display device 17 after the setting unit 24 sets the third target point. In addition, users of the vehicle dispatch service board the host vehicle V1 at position P6 or P7. When boarding, after the setting unit 24 sets the third target point, the person boarding the vehicle is notified of the route for walking to the third parking area Z3a or Z3d. The display unit of the terminal device 4 is used for the said notification.

[0075] So far, the functions of each functional block have been described. In addition, when the parking area cannot be found even by searching using the function of the search unit 22, if the host vehicle V1 travels along the route generated by the generation unit 23 and reaches the target point, but the parking unit 21 determines that parking is not possible at the reached target point, etc., the traveling unit 25 causes the host vehicle V1 to perform a circular running again along the circular route. When the number of circular runs exceeds the specified number (for example, 3 to 5 times), the running of the host vehicle V1 is controlled to return to a predetermined return location. Or alternatively, the execution of the autonomous driving control by the control unit 2 is terminated, the driver is notified that the execution of the autonomous driving control has ended, and a switch to manual operation by the driver is requested.

[0076] In addition, the driving control system 1 according to the present invention can be applied not only to driving by autonomous control but also to a navigation system that supports a driver's manual driving. Further, when the driving control system 1 is applied to the autonomous driving control of a vehicle, it can be applied not only when both the speed control and the steering control are autonomously controlled, but also when one of the speed control and the steering control is autonomously controlled and the other is manually controlled.

[0077] [Processing of the Driving Control System] Referring to FIGS. 7 and 8, the processing when the travel control device 19 executes the autonomous driving control and the parking control of the host vehicle V1 will be described. FIG. 7 is an example of a flowchart showing the information processing procedure in the travel control system 1 of FIG. 1. The processing described below is executed by the CPU (processor) 191 of the travel control device 19 at a predetermined time interval.

[0078] First, in step S1, the destination X input by the user of the host vehicle V1 (including the passengers in the host vehicle V1) via the input device 18 or the input unit of the terminal device 4 is acquired by the function of the control unit 2. In the subsequent step S2, the control unit 2 presents, to the user of the host vehicle V1 via the display device 17 or the display unit of the terminal device 4, a parking area around the destination X that is a candidate for the target point. In the subsequent step S3, the parking area selected by the user of the host vehicle V1 is acquired by the function of the control unit 2. The selected parking area is input from the input device 18 or the input unit of the terminal device 4 by the user.

[0079] In step S4, the setting unit 24 determines, by its function, whether the host vehicle V1 can reach the selected parking area by circular travel within a travel time of a predetermined time or less and / or a travel distance of a predetermined distance or less from the selected parking area. If it is determined that the vehicle can reach by circular travel within a travel time of a predetermined time or less and / or a travel distance of a predetermined distance or less, the process proceeds to step S5, and the selected parking area is set as the target point. On the other hand, if it is determined that the vehicle cannot reach by circular travel within a travel time of a predetermined time or less and / or a travel distance of a predetermined distance or less, the process proceeds to step S2, and the parking area that is a candidate for the target point is presented again. If there is no parking area around the destination X where circular travel within a travel time of a predetermined time or less and / or a travel distance of a predetermined distance or less is possible, for example, the parking area closest to the destination X is set as the target point.

[0080] In step S7, after traveling to the parking area, which is the target point, by the function of the traveling unit 25, in step S8, by the function of the parking unit 21, obstacles existing in the parking area are detected using the imaging device 11 and the distance measuring device 12. In the subsequent step S9, it is determined whether the host vehicle V1 can park in the parking area. If it is determined that the host vehicle V1 can park in the parking area, the process proceeds to step S10, where a trajectory is generated by the function of the traveling unit 25, and the vehicle speed control device 161 and the steering control device 162 are controlled to park the host vehicle V1 at the set parking position. At this time, by the function of the parking unit 21, the following vehicle of the host vehicle V1 is detected. If the following vehicle is detected, after traveling around along the detour route, it parks at the set parking position. On the contrary, if the following vehicle is not detected, it slowly travels to the set parking position without traveling around. Then, the execution of the routine is stopped, and the information processing by the CPU (processor) 191 of the travel control device 19 is terminated.

[0081] On the contrary, if it is determined that the host vehicle V1 cannot park in the parking area, the process proceeds to step S11. In step S11, by the function of the search unit 22, the detour traveling by the autonomous driving control is continued. Also, in step S12, while continuing the autonomous driving control, a new parking area is searched using the detection device of the host vehicle V1. In the subsequent step S13, it is determined whether a new parking area where detour traveling can be performed for a traveling time of a predetermined time or less and / or a traveling distance of a predetermined distance or less has been detected. If it is determined that a new parking area has been detected, the process proceeds to step S14, where the newly detected parking area is set as a new target point by the function of the setting unit 24. In the subsequent step S15, by the function of the setting unit 24, the passenger of the host vehicle V1 is notified of the walking route for walking to the destination X after getting off, and in step S16, the user who will board the host vehicle V1 from now on is notified of the walking route for reaching the newly set target point. These notifications use the display device 17 and the display unit of the terminal device 4.

[0082] In the subsequent step S17, the vehicle autonomously drives to the newly set target point, and in the subsequent step S18, it is determined whether the host vehicle V1 can park in the newly set parking area by the function of the parking section 21. If it is determined that the host vehicle V1 cannot park in the newly set parking area, the process proceeds to step S11, and the vehicle performs a circuit running along the circuit route again. If the number of circuit runs exceeds a specified number (for example, 3 to 5 times), the running of the host vehicle V1 is controlled to return to a predetermined return location, or the execution of the autonomous driving control is terminated and the operation is switched to manual operation by the driver. On the other hand, if it is determined that the host vehicle V1 can park in the newly set parking area, the process proceeds to step S10, and the vehicle parks at the parking position by parking control.

[0083] Also, in step S13, if it is determined that a new parking area where circuit running can be performed for a running time of a predetermined time or less and / or a running distance of a predetermined distance or less cannot be detected, the process proceeds to step S19, and the user of the host vehicle V1 (including the passengers of the host vehicle V1) is notified that a parking area where circuit running is possible cannot be detected. The display device 17 and the display unit of the terminal device 4 are used for the notification. After the notification, the execution of the routine is stopped, and the operation is switched to manual operation by the driver.

[0084] Next, with reference to the flowchart of FIG. 8, another example of the information processing procedure in the driving control system 1 of FIG. 1 is shown. Note that the first parking area in FIG. 8 is a parking area where a circuit route cannot be generated and is assumed to be set in advance at the target point. The processes described below are executed at predetermined time intervals by the CPU (processor) 191 of the driving control device 19.

[0085] First, in step S21, the traveling unit 25 functions to travel to the first parking area Z1. Subsequently, in step S22, the parking unit 21 functions to detect obstacles present in the first parking area Z1. In step S23, the parking unit 21 functions to determine whether the host vehicle V1 can park in the first parking area Z1. If it is determined that the host vehicle V1 can park in the first parking area Z1, the process proceeds to step S24, and based on the travel route generated by the generation unit 23, the traveling unit 25 functions to park the host vehicle V1 in the first parking area Z1. Thereafter, the execution of the routine is stopped and the information processing is terminated. On the other hand, if it is determined that the host vehicle V1 cannot park in the first parking area Z1, the process proceeds to step S25.

[0086] In step S25, the search unit 22 functions to search for a parking area in the section adjacent to the destination X where a circumferential route can be generated while continuing straight-ahead travel under autonomous driving control. The circumferential route is generated by the function of the generation unit 23. In the subsequent step S27, it is determined whether a parking area where a circumferential route can be generated has been detected. If it is determined that a parking area where a circumferential route can be generated has been detected, the process proceeds to step S28. On the other hand, if it is determined that a parking area where a circumferential route can be generated has not been detected, the process proceeds to step S35, which will be described later.

[0087] In step S28, the detected new parking area, the second parking area Z2, is set as the second target point. Subsequently, in step S29, the position of the second parking area Z2 is notified to the user of the host vehicle V1. The display device 17 and the display unit of the terminal device 4 are used for this notification. In the subsequent step S30, the traveling unit 25 functions to travel to the second parking area Z2. Subsequently, in step S31, the parking unit 21 functions to detect obstacles present in the second parking area Z2. In step S32, it is determined whether the host vehicle V1 can park in the second parking area Z2. If it is determined that the host vehicle V1 can park in the second parking area Z2, the process proceeds to step S33, and the host vehicle V1 is parked in the second parking area Z2. Thereafter, the execution of the routine is stopped and the information processing is terminated. On the other hand, if it is determined that the host vehicle V1 cannot park in the second parking area Z2, the process proceeds to step S34.

[0088] In step S34, while continuing the autonomous driving along the circulation route generated by the generation unit 23, in step S35, the position of the third parking area, which is a parking area where the circulation route can be generated and is preset in the map information 13, is acquired by the function of the setting unit 24 and set as the third target point. Note that the third parking area may be detected by the detection device of the host vehicle V1 by the function of the search unit 22, similar to the second parking area Z2. In the subsequent step S36, the position of the third parking area is notified to the user of the host vehicle V1. The display device 17 and the display unit of the terminal device 4 are used for the notification. In the subsequent step S37, the vehicle travels to the third parking area by the function of the traveling unit 25, and in the subsequent step S38, the obstacles existing in the third parking area are detected by the function of the parking unit 21.

[0089] In step S39, it is determined whether the host vehicle V1 can park in the third parking area. If it is determined that the host vehicle V1 can park in the third parking area, the process proceeds to step S40, and the host vehicle V1 is parked in the third parking area. Then, the execution of the routine is stopped and the information processing is terminated. On the other hand, if it is determined that the host vehicle V1 cannot park in the third parking area, the process proceeds to step S34, the traveling along the circulation route is continued, and the parking in the third parking area is attempted again. If the number of times of circulating the circulation route exceeds the specified number of times, instead, the execution of the routine is stopped and, for example, the operation is switched to the manual operation by the driver.

[0090] [Embodiment of the present invention] As described above, according to the present embodiment, among the parking areas for the vehicle to stop, the vehicle sets, as a target point, a parking area that can reach the one parking area by circular driving within a driving time of a predetermined time or less and / or a driving distance of a predetermined distance or less from the one parking area, and drives the vehicle by autonomous driving control toward the target point. Thus, even if there is an obstacle in the parking area that is the target point and the vehicle cannot stop at a preset parking position, it is possible to continue driving along the circular route by autonomous driving control. Therefore, even when new information on a parking area cannot be obtained from the infrastructure, autonomous driving can be continued using the vehicle detection device.

[0091] Further, in the vehicle driving control method of the present embodiment, the parking area is set on the shoulder side of a road having two or more lanes on one side or on the shoulder side of a one-lane road having a width that does not obstruct the driving of a following vehicle even if the vehicle stops on the shoulder side. Thereby, it is possible to stop without obstructing the driving of the following vehicle.

[0092] Further, in the vehicle driving control method of the present embodiment, only the parking areas that can reach the one parking area by circular driving from the one parking area are presented to the user of the vehicle as candidates for the target point. Thereby, it is possible to make the continuation of the autonomous driving control using the detection device mounted on the vehicle more reliable.

[0093] Also, in the driving control method of the vehicle according to the present embodiment, an obstacle existing in the parking area set at the target point is detected, and from the detection result of the obstacle, it is determined whether the vehicle can stop in the parking area set at the target point. When it is determined that the vehicle can stop in the parking area set at the target point, the vehicle is stopped in the parking area set at the target point by the stop control included in the autonomous driving control. When it is determined that the vehicle cannot stop in the parking area set at the target point, while the vehicle is traveling in a circular motion by the autonomous driving control, the device mounted on the vehicle searches for the parking area, sets the parking area detected by the search as a new target point, and stops the vehicle in the parking area set at the new target point by the stop control. Thereby, even when information on a new parking area cannot be obtained from the infrastructure, autonomous driving can be continued using the vehicle's detection device, and the vehicle can stop without disturbing the driving of the following vehicle.

[0094] Also, in the driving control method of the vehicle according to the present embodiment, among the detected parking areas, the parking area that the vehicle can reach in the shortest travel time is set as the new target point. Thereby, it is possible to suppress an increase in the time that the vehicle occupants wait until they stop.

[0095] Also, in the driving control method of the vehicle according to the present embodiment, among the detected parking areas, the parking area that the person boarding the vehicle can reach in the shortest walking time is set as the new target point. Thereby, it is possible to suppress an increase in the walking time of the users boarding the vehicle.

[0096] Also, in the driving control method of the vehicle according to the present embodiment, after the new target point is set, the vehicle occupants are notified of a route for walking to the destination after getting off the vehicle. Thereby, the vehicle users can smoothly reach the destination X.

[0097] Also, in the vehicle driving control method of the present embodiment, after the new target point is set, a person boarding the vehicle is notified of a route for walking to the parking area set at the new target point. Thereby, the user of the vehicle can smoothly reach the target point, which is the boarding position.

[0098] Also, in the vehicle driving control method of the present embodiment, when a first parking area Z1 in which a starting point and an ending point exist in the one parking area and a circular route with a driving time less than or equal to the predetermined time and / or a driving distance less than or equal to the predetermined distance cannot be generated is set in advance as a first target point, an obstacle existing in the first parking area Z1 is detected, and it is determined whether the vehicle can park in the first parking area Z1 based on the detection result of the obstacle existing in the first parking area Z1. When it is determined that the vehicle can park in the first parking area Z1, the vehicle is parked in the first parking area Z1 by the parking control included in the autonomous driving control. When it is determined that the vehicle cannot park in the first parking area Z1, a second parking area Z2 in which a circular route can be generated is set as a second target point, and the vehicle is driven toward the second parking area Z2 by the autonomous driving control. Thereby, even when new parking area information from the infrastructure cannot be obtained, autonomous driving can be continued using the vehicle detection device, and the vehicle can park without disturbing the driving of subsequent vehicles.

[0099] Also, in the vehicle driving control method of the present embodiment, an obstacle existing in the second parking area Z2 is detected, and based on the detection result of the obstacle existing in the second parking area Z2, it is determined whether the vehicle can stop in the second parking area Z2. If it is determined that the vehicle can stop in the second parking area Z2, the vehicle is stopped in the second parking area Z2 by the stop control. If it is determined that the vehicle cannot stop in the second parking area Z2, while the vehicle is being driven along the circumferential route by the autonomous driving control, a third parking area is searched for by a device mounted on the vehicle, the third parking area is set as a third target point, and the vehicle is stopped in the third parking area by the stop control. Thereby, even when new parking area information cannot be obtained from the infrastructure, autonomous driving can be continued using the vehicle's detection device, and the vehicle can stop without obstructing the driving of following vehicles.

[0100] Also, in the vehicle driving control method of the present embodiment, the second parking area Z2 is set as the parking area that the vehicle can reach from the first parking area Z1 in the shortest driving time. Thereby, it is possible to suppress an increase in the time that the vehicle occupants wait until they stop.

[0101] Also, in the vehicle driving control method of the present embodiment, the second parking area Z2 is set as the parking area that a person boarding the vehicle can reach in the shortest walking time. Thereby, it is possible to suppress an increase in the walking time of the users boarding the vehicle.

[0102] Also, in the vehicle driving control method of the present embodiment, after the second target point Z2 is set, the vehicle occupants are notified of the route for walking to the destination after getting off the vehicle. Thereby, the vehicle users can smoothly reach the destination X.

[0103] Also, in the vehicle driving control method of the present embodiment, after the second target point Z2 is set, the person boarding the vehicle is notified of the route for walking to the second parking area Z2. Thereby, the vehicle users can smoothly reach the target point, which is the boarding position.

[0104] Also, according to the present embodiment, in a vehicle travel control device 19 including a processor that causes a vehicle to travel by autonomous travel control, the processor sets, as a target point, a parking area within a parking area for the vehicle to stop, where the vehicle can reach the one parking area by circular travel within a travel time of a predetermined time or less and / or a travel distance of a predetermined distance or less from the one parking area, and causes the vehicle to travel by autonomous travel control toward the target point. Thus, even if there is an obstacle in the parking area that is the target point and the vehicle cannot stop at a preset parking position, it is possible to continue traveling along the circular route by autonomous travel control. Therefore, even when new information on a parking area cannot be obtained from the infrastructure, autonomous travel can be continued using a vehicle detection device.

Explanation of Signs

[0105] 1…Travel control system 11…Imaging device 12…Distance measuring device 13…Map information 14…Own vehicle position detection device 15…Navigation device 16…Vehicle control device 161…Vehicle speed control device 162…Steering control device 17…Display device 18…Input device 19…Travel control device 191…CPU (Processor) 192…ROM 193…RAM 2…Control unit 21…Parking unit 22…Search unit 23…Generation unit 24…Setting unit 25…Travel unit 3…Network 4…Terminal device B1, B2…Sections C1, C2, C3, C4, C5, C6, C7…Intersections Lanes L1, L2, L3, L4, L5, L6, L7, L8, L9, L10, L11, L12, L13, L14, L15, L16, L17, L18, L19, L20… Positions P1, P2, P3, P4, P5, P6, P7… Roads R1, R2, R3, R4, R5, R6… Starting points (ending points) S1, S2… Trajectories T1, T2, T3, T4, T5… Walking routes U1, U2a, U2b… Own vehicle V1… Other vehicles V2, V3, V4, V5… Crosswalks W1, W2… Destination X… Circular routes Y1, Y2… First parking area Z1… Second parking area Z2… Third parking areas Z3a, Z3b, Z3c, Z3d…

Claims

1. A vehicle driving control method for driving a vehicle toward a set target point by autonomous driving control, comprising: determining whether or not a circular route can be generated that allows the vehicle to reach one of the stopping areas by circular travel from one of the stopping areas for stopping the vehicle in a travel time equal to or less than a predetermined time and / or a travel distance equal to or less than a predetermined distance; Setting the one stop area for which the circular route can be generated as a destination point; generating a travel route for the vehicle to travel from the current position to the destination point; driving the vehicle along the travel route toward the target point under autonomous travel control; After traveling from the current position to the one stopping area which is the destination point, determining whether or not the vehicle can stop in the one stopping area; When it is determined that the vehicle can be stopped in the one stopping area, the vehicle is stopped at a stopping position set in the one stopping area; A vehicle driving control method, comprising: when it is determined that the vehicle cannot be stopped in the one stopping area, causing the vehicle to travel in a circle along the pre-generated circuit route by autonomous driving control.

2. 2. The vehicle driving control method according to claim 1, wherein the stopping area is set on the shoulder side of a road having two or more lanes on one side, or on the shoulder side of a one-lane road having a width such that the vehicle can be stopped on the shoulder side without impeding the travel of following vehicles.

3. 3. The vehicle travel control method according to claim 1, further comprising presenting to a user of the vehicle, as candidates for the destination point, only stopping areas that can be reached from the first stopping area by circular travel.

4. Detecting an obstacle present in the stopping area set at the target point; determining whether or not the vehicle can be stopped in the stopping area set at the target point based on a result of the obstacle detection; When it is determined that the vehicle can be stopped in the stopping area set at the target point, stopping the vehicle in the stopping area set at the target point by a stopping control included in the autonomous driving control; When it is determined that the vehicle cannot be stopped in the stopping area set at the target point, searching for the stopping area by a device mounted on the vehicle while causing the vehicle to travel in a circle by the autonomous travel control; The stopping area detected by the search is set as a new target point; The vehicle travel control method according to any one of claims 1 to 3, further comprising the step of: stopping the vehicle by the stopping control in the stopping area set at the new target point.

5. The vehicle travel control method according to claim 4 , further comprising: setting, as the new target point, the stopping area that the vehicle can reach in the shortest travel time out of the detected stopping areas.

6. 6. The vehicle travel control method according to claim 4, further comprising: setting, as the new target point, the stopping area that a passenger in the vehicle can reach in a shortest walking time, out of the detected stopping areas.

7. The vehicle driving control method according to any one of claims 4 to 6, further comprising notifying an occupant of the vehicle of a route for walking to the destination after getting off the vehicle after the new target point is set.

8. The vehicle driving control method according to any one of claims 4 to 7, further comprising the step of notifying a person in the vehicle of a walking route to the stopping area set at the new target point after the new target point is set.

9. When a first stop area in which a start point and an end point exist in the one stop area and a circular route in which the travel time is equal to or shorter than the predetermined time and / or the travel distance is equal to or shorter than the predetermined distance cannot be generated, is set as a first destination point in advance, Detecting an obstacle present in the first stopping area; determining whether or not the vehicle can be stopped in the first stopping area based on a result of detecting an obstacle present in the first stopping area; When it is determined that the vehicle can be stopped in the first stopping area, the vehicle is stopped in the first stopping area by a stopping control included in the autonomous driving control; If it is determined that the vehicle cannot be stopped in the first stopping area, a second stopping area in which the circular route can be generated is set as a second target point; The vehicle driving control method according to any one of claims 1 to 3, further comprising causing the vehicle to drive toward the second stopping area under the autonomous driving control.

10. Detecting an obstacle present in the second stopping area; determining whether or not the vehicle can be stopped in the second stopping area based on a detection result of an obstacle present in the second stopping area; When it is determined that the vehicle can be stopped in the second stopping area, the vehicle is stopped in the second stopping area by the stopping control; When it is determined that the vehicle cannot be stopped in the second stopping area, the autonomous driving control causes the vehicle to travel along the circular route while searching for a third stopping area with a device mounted on the vehicle; The third stopping area is set as a third destination point; The vehicle travel control method according to claim 9 , further comprising the step of: stopping the vehicle in the third stopping area by the stopping control.

11. The vehicle travel control method according to claim 9 or 10, further comprising: setting, as the second stopping area, a stopping area that the vehicle can reach from the first stopping area in a shortest travel time.

12. The vehicle travel control method according to any one of claims 9 to 11, further comprising setting the second stopping area to a stopping area that can be reached by a passenger in the vehicle in a shortest walking time.

13. The vehicle driving control method according to any one of claims 9 to 12, further comprising notifying an occupant of the vehicle of a route for walking to the destination after getting off the vehicle after the second target point is set.

14. The vehicle driving control method according to any one of claims 9 to 13, further comprising notifying a person in the vehicle of a route for walking to the second stopping area after the second destination point is set.

15. When it is determined that the vehicle cannot stop in the stopping area set at the target point, a device mounted on the vehicle searches for a new stopping area, determining whether the new stopping area is a stopping area in which the vehicle can reach the new stopping area by traveling in a circle from the new stopping area in the traveling time equal to or less than the predetermined time and / or the traveling distance equal to or less than the predetermined distance; The vehicle driving control method according to any one of claims 1 to 3, wherein when it is determined that the new stopping area is a stopping area that the vehicle can reach by circular driving from the new stopping area in the driving time equal to or less than the predetermined time and / or the driving distance equal to or less than the predetermined distance, the new stopping area is set as a new target point.

16. A vehicle driving control device having a processor that drives a vehicle by autonomous driving control toward a set target point, The processor, determining whether or not a circular route can be generated that allows the vehicle to reach one of the stopping areas by circular travel from one of the stopping areas for stopping the vehicle in a travel time equal to or less than a predetermined time and / or a travel distance equal to or less than a predetermined distance; Setting the one stop area for which the circular route can be generated as a destination point; generating a travel route for the vehicle to travel from the current position to the destination point; driving the vehicle along the travel route toward the target point under autonomous travel control; After traveling from the current position to the one stopping area which is the destination point, determining whether or not the vehicle can stop in the one stopping area; When it is determined that the vehicle can be stopped in the one stopping area, the vehicle is stopped at a stopping position set in the one stopping area; A vehicle driving control device that, when it is determined that the vehicle cannot be stopped in the one stopping area, causes the vehicle to travel in a circle along the pre-generated circuit route by autonomous driving control.

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