Construction section determination method and construction section determination device

Abstract

A processor (7) determines whether a construction-related object has been detected ahead of a host vehicle on the basis of vehicle periphery information acquired from a sensor (1). When it has been determined that a construction-related object has been detected, the processor (7) determines a point a predetermined distance away ahead of the host vehicle from the construction related object as an end point of a road construction zone. The predetermined distance is shorter in the situation when the construction-related object is detected and another vehicle is not detected in the periphery of the detected construction-related object, than the predetermined distance in the situation when the construction-related object is detected and another vehicle is detected in the periphery of the detected construction-related object.

Description

Technical Field

[0001] The present invention relates to a construction section determination method and a construction section determination device.

Background Art

[0002] There is a known technique in which an updated map is generated based on real-time traffic information received from a plurality of autonomous vehicles by a remote server, and when an autonomous vehicle receives the updated map from the remote server, the autonomous vehicle is planned and controlled based on the real-time traffic information obtained from the updated map (Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] The technique of Patent Document 1, for example, when identifying the end point of a road construction section, detects the end point of the road construction section based on information obtained from a remote server, and there is a problem that the end point of the road construction section cannot be identified based on information detected by a sensor mounted on the own vehicle.

[0005] The problem to be solved by the present invention is to provide a construction section determination method and a construction section determination device capable of identifying the end point of a road construction section based on information detected by a sensor mounted on the own vehicle.

Means for Solving the Problems

[0006] The present invention determines whether a construction-related object is detected in front of the host vehicle based on vehicle surrounding information around the host vehicle acquired from sensors mounted on the host vehicle. When it is determined that a construction-related object is detected, a point at a predetermined distance in front of the host vehicle from the construction-related object is determined as the end point of the road construction section. The predetermined distance is shorter when a construction-related object is detected and no other vehicles are detected around the detected construction-related object than when a construction-related object is detected and other vehicles are detected around the detected construction-related object, thereby solving the above problems.

Effect of the Invention

[0007] According to the present invention, the end point of the road construction section can be specified based on the information detected by the sensors mounted on the host vehicle.

Brief Description of the Drawings

[0008]

Figure 1

Figure 2

Figure 3

Mode for Carrying Out the Invention

[0009] An embodiment of the construction section determination device according to the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a driving support system 10 including the construction section determination device according to the present invention. As shown in FIG. 1, the driving support system 10 includes a sensor 1, a map DB 2, a host vehicle information detection device 3, a navigation device 4, a vehicle control device 5, and a construction section determination device 6. The sensor 1 includes a camera 11 and a radar 12. The host vehicle information detection device 3 includes a vehicle speed detection device 31, a steering angle detection device 32, and a host vehicle position detection device 33. The vehicle control device 5 includes a vehicle speed control device 51 and a steering control device 52. The devices included in the driving support system 10 are connected by a CAN or other in-vehicle LAN and can exchange information with each other. In the present embodiment, the driving support system 10 supports the driving of the host vehicle in the road construction section determined by the construction section determination device 6.

[0010] In the following description, it is assumed that the vehicle travels on the right side in a country having a traffic law of driving on the right side. In a country having a traffic law of driving on the left side, since the vehicle travels on the left side, the right and left in the following description should be read symmetrically.

[0011] The sensor 1 is a sensor for acquiring vehicle surrounding information around the host vehicle including objects around the host vehicle. The objects include, for example, automobiles (other vehicles) other than the host vehicle, motorcycles, bicycles, pedestrians, lane boundary lines of the road, guiding bands of zebra zones, center lines, road markings, median strips, guardrails, curbstones, side walls of highways, road signs, traffic signals, crosswalks, road construction sites, accident sites, and traffic restrictions. The road construction site includes construction-related objects installed for traffic control in the road construction section. The construction-related objects are, for example, road cones and barrels. The objects also include obstacles that may affect the driving of the host vehicle. The sensor 1 acquires the position, attitude (direction), and speed of the moving object.

[0012] Sensor 1 detects objects around the host vehicle by, for example, camera 11 and / or radar 12. The construction section determination device 6 acquires the detection result of sensor 1 as vehicle surrounding information at a predetermined cycle. Camera 11 recognizes objects around the host vehicle from an image. A plurality of cameras 11 may be provided on one vehicle. For example, camera 11 includes a front camera, a side camera, and a back camera. Radar 12 is a device for calculating the relative distance and relative speed between the vehicle and the object, and is, for example, a laser radar or the like. A plurality of radars 12 may be provided on one vehicle. In the present embodiment, camera 11 acquires a captured image of the front of the host vehicle at a predetermined cycle, and detects an object around the host vehicle from the captured image.

[0013] Map DB 2 is a database containing information used for the generation of a travel route and / or travel control, and includes road information, lane boundary information, road attribute information, uphill / downhill information of the lane, lane identification information, connecting lane information, facility information, and their attribute information at each map coordinate. The road information includes information such as road width, radius of curvature, shoulder structure, road traffic regulations (speed limit, possibility of lane change), confluence points of roads, branch points, and positions where the number of lanes increases or decreases.

[0014] In addition, Map DB 2 includes information on lane boundaries indicating the boundaries between the lane on which the host vehicle travels and the others. The lane boundaries exist on the left and right sides with respect to the traveling direction of the host vehicle. The lane boundaries include, for example, road markings and road structures. The road markings are, for example, lane boundary lines and center lines. The road structures are, for example, median strips, guardrails, curbstones, tunnels, or side walls of highways. Note that in the map DB, an overhead travel boundary is set in advance as a lane boundary at a point where the lane boundary cannot be specified (for example, inside an intersection).

[0015] The own-vehicle information detection device 3 is a device that detects information regarding the state of the own vehicle. The state of the own vehicle includes the traveling speed, acceleration, steering angle, position, attitude, etc. of the own vehicle. The vehicle speed detection device 31 detects the traveling speed and acceleration. The steering angle detection device 32 detects the steering angle. The current position is calculated based on the information acquired from the own vehicle position detection device 33. The own vehicle position detection device 33 is a positioning system including, for example, a GPS unit. The attitude is detected using an inertial measurement unit. Further, the own-vehicle information detection device 3 may acquire the traveling speed and steering angle of the own vehicle from the vehicle control device 5. The construction section determination device 6 acquires the detection results of these devices via the in-vehicle LAN as necessary.

[0016] The navigation device 4 is a device that calculates a traveling route from the current position of the own vehicle detected by the own vehicle position detection device 33 of the own-vehicle information detection device 3 to the destination set by the driver with reference to the map DB2. The calculated traveling route is output to the construction section determination device 6. The traveling route is linear with the road on which the own vehicle travels, the direction (uphill / downhill), and the lane identified. The traveling route includes information on the traveling lane.

[0017] The vehicle control device 5 is an in-vehicle computer such as an electronic control unit (ECU), and electronically controls in-vehicle devices that regulate the traveling of the vehicle. The vehicle control device 5 includes a vehicle speed control device 51 that controls the traveling speed of the own vehicle and a steering control device 52 that controls the steering operation of the own vehicle.

[0018] The vehicle speed control device 51 controls drive devices such as an electric motor and / or an internal combustion engine, which are traveling drive sources, and an automatic transmission. The vehicle speed control device 51 autonomously controls the traveling speed of the vehicle based on the control signal input from the construction section determination device 6. The steering control device 52 controls the steering device. The steering control device 52 controls the operation of the steering device based on the control signal input from the construction section determination device 6 and using at least one of the detection result of the sensor 1, the map DB2, and the own-vehicle information acquired by the own-vehicle information detection device 3 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 traveling route.

[0019] The construction section determination device 6 is a device that controls and cooperates with the devices included in the driving support system 10 to determine a road construction section where construction-related objects are installed when the host vehicle is traveling. When the construction section determination device 6 detects a construction-related object in front of the host vehicle, it sets a road construction section. In the present embodiment, the road construction section is a section that controls the travel of the host vehicle in a hands-on state that requires the driver to hold the steering wheel. In addition, a normal section, which is a section other than the road construction section, is a section that controls the travel of the host vehicle in a hands-off state where the driver has removed their hand from the steering wheel.

[0020] The construction section determination device 6 realizes the determination of the construction section by the processor 7. The processor 7 is a computer including a ROM 72 in which a program is stored, a CPU 71 which is an operation circuit for functioning as the construction section determination device 6 by executing the program stored in the ROM 72, and a RAM 73 which functions as an accessible storage device. The processor 7 according to the present embodiment executes each function by the cooperation of software for realizing the above functions and the above-described hardware.

[0021] The processor 7 includes, as functional blocks, a surrounding information acquisition unit 100, a detection unit 101, a determination unit 102, a distance setting unit 103, a section determination unit 104, a mode switching unit 105, and a vehicle control unit 106. In the present embodiment, the functions of the processor 7 are divided into seven blocks and the functions of each functional block are described. However, as long as each function can be realized, the functions of the processor 7 do not necessarily have to be divided into seven blocks.

[0022] The surrounding information acquisition unit 100 acquires vehicle surrounding information around the host vehicle from the sensor 1. The vehicle surrounding information is, for example, a vehicle surrounding image around the host vehicle captured by the camera 11 and includes information on the detection results of objects around the host vehicle. For example, the surrounding information acquisition unit 100 acquires vehicle surrounding information at regular intervals while the host vehicle is traveling.

[0023] The detection unit 101 detects construction-related objects and other vehicles located in front of the host vehicle based on the vehicle surrounding information. For example, the detection unit 101 identifies the driving road in front of the host vehicle and detects construction-related objects and other vehicles located on the driving road. The driving road in front of the host vehicle includes the host lane on which the host vehicle is traveling and the lanes surrounding the host lane. Further, the detection unit 101 may detect construction-related objects located around the driving road in front of the host vehicle.

[0024] In addition, the detection unit 101 detects other vehicles located around the detected construction-related objects based on the vehicle surrounding information. For example, the detection unit 101 detects other vehicles within the detection range in which the construction-related objects can be detected by the camera 11.

[0025] The determination unit 102 determines whether a construction-related object has been detected in front of the host vehicle based on the vehicle surrounding information. In the present embodiment, the determination unit 102 determines whether a construction-related object has been detected in front of the host vehicle based on the vehicle surrounding information at regular intervals while the host vehicle is traveling.

[0026] In addition, the determination unit 102 determines the type of the detected construction-related object. The type of the construction-related object is, for example, either a road cone or a barrel.

[0027] In addition, the determination unit 102 determines whether a new construction-related object has been detected within a predetermined section from the time when it is determined that a construction-related object has been detected. For example, the predetermined section is a distance obtained by adding 450 m to the distance from the current position of the host vehicle to the position of the detected construction-related object. The determination unit 102 determines whether a new construction-related object has been detected based on the vehicle surrounding information acquired by the surrounding information acquisition unit 100 at regular intervals from the time when it is determined that a construction-related object has been detected until the host vehicle passes through the predetermined section. In the present embodiment, when it is determined that no new construction-related object has been detected within the predetermined section from the time when it is determined that a construction-related object has been detected, the construction-related object detected immediately before that becomes the last detected construction-related object.

[0028] When the determination unit 102 determines that a construction-related object has been detected in front of the host vehicle, it determines whether another vehicle has been detected around the construction-related object based on the vehicle surrounding information. Further, the determination unit 102 may also determine whether another vehicle has been detected in the direction in which the construction-related object is located with respect to the host vehicle. For example, when the construction-related object is located in the left direction, right direction, or front direction with respect to the host vehicle, the determination unit 102 determines whether another vehicle has been detected in the left direction, right direction, or front direction with respect to the host vehicle, respectively.

[0029] For example, when a construction-related object or another vehicle is located to the left of the left lane boundary line of the host lane, the determination unit 102 determines that the construction-related object or another vehicle is located in the left direction. Further, for example, when a construction-related object or another vehicle is located to the right of the right lane boundary line of the host lane, the determination unit 102 determines that the construction-related object or another vehicle is located in the right direction. Also, when a construction-related object or another vehicle is located in front of the host vehicle on the host lane, the determination unit 102 determines that the construction-related object or another vehicle is located in the front direction.

[0030] Further, the determination unit 102 is not limited to determining whether another vehicle has been detected when the construction-related object is detected. The determination unit 102 may also determine whether another vehicle has been detected during a certain period after the construction-related object is detected. For example, the determination unit 102 may determine whether another vehicle has been detected within the detection range of the camera 11 while the host vehicle passes the detected construction-related object after the construction-related object is detected.

[0031] Further, the determination unit 102 determines whether an end sign indicating that the road construction section has ended has been detected in front of the host vehicle based on the vehicle surrounding information. The end sign is, for example, a signboard stating that the road construction section has ended.

[0032] The distance setting unit 103 sets a predetermined distance indicating the distance from the construction-related object to the end point of the road construction section. For example, the distance setting unit 103 sets the predetermined distance as the first distance. The first distance is, for example, 450 m. Also, the predetermined distance is shorter when a construction-related object is detected and no other vehicle is detected around the detected construction-related object than when a construction-related object is detected and another vehicle is detected around the detected construction-related object. That is, when the determination unit 102 determines that a construction-related object is detected and no other vehicle is detected around the detected construction-related object, the distance setting unit 103 sets the predetermined distance shorter than when it is determined that a construction-related object is detected and another vehicle is detected around the detected construction-related object. For example, when the distance setting unit 103 determines that a construction-related object is detected and another vehicle is detected around the detected construction-related object, it sets the predetermined distance as the first distance. Also, when the distance setting unit 103 determines that a construction-related object is detected and no other vehicle is detected around the detected construction-related object, it sets the predetermined distance as a second distance that is shorter than the first distance. The second distance is, for example, 300 m. more is also set to a shorter second distance. The second distance is, for example, 300 m.

[0033] In addition, when it is determined that no other vehicle is detected, the distance setting unit 103 may further set a predetermined distance according to the type of the detected construction-related object. For example, the predetermined distance is shorter when all the detected construction-related objects are road cones than when all the detected construction-related objects are barrels. That is, when all the detected construction-related objects are road cones, the distance setting unit 103 sets the predetermined distance shorter than when all the detected construction-related objects are barrels. When all the detected construction-related objects are barrels, the distance setting unit 103 sets the predetermined distance to the second distance. On the other hand, when all the detected construction-related objects are road cones, the distance setting unit 103 sets the predetermined distance to the third distance, which is shorter than the second distance. Also, the third distance is, for example, 150 m. Generally, barrels are arranged at large-scale road construction sites, and road cones are arranged at small-scale road construction sites. Therefore, when all the detected construction-related objects are barrels, the predetermined distance is set so that the road construction section becomes longer.

[0034] The section determination unit 104 determines the road construction section. The road construction section is a section along the traveling direction of the host vehicle and is a section between the start point and the end point. The section determination unit 104 determines the start point and the end point of the road construction section based on the position of the detected construction-related object and the set predetermined distance.

[0035] First, when the section determination unit 104 first detects a construction-related object, it determines the road construction section based on the position of the first detected construction-related object and the predetermined distance. For example, the section determination unit 104 determines the position of the first detected construction-related object as the start point of the road construction section, and determines a point at a first distance ahead of the host vehicle from the position of the first detected construction-related object as the end point of the road construction section.

[0036] Further, after the section determination unit 104 determines the road construction section, if a construction-related object is newly detected within the road construction section, the end point of the road construction section is updated. For example, after the distance setting unit 103 sets a predetermined distance based on the presence or absence of other vehicles, the section determination unit 104 determines a point that is a predetermined distance ahead of the host vehicle from the position of the newly detected construction-related object as the end point of the road construction section. That is, while the host vehicle is traveling, each time a construction-related object is detected, the section determination unit 104 updates the end point of the road construction section to a point that is a predetermined distance away from the position of the detected construction-related object.

[0037] For example, when the section determination unit 104 newly detects a construction-related object within the road construction section and does not detect other vehicles around the detected construction-related object, the end point of the road construction section is updated to a point that is a second distance ahead of the host vehicle from the position of the detected construction-related object.

[0038] In addition, when the determination unit 102 determines that an end sign is detected within the road construction section, the section determination unit 104 updates the end point of the road construction section to the location where the end sign is installed.

[0039] Next, a method for determining a road construction section will be described with reference to FIG. 2. FIG. 2 is a diagram showing a scene in which the section determination method according to the present embodiment is executed. FIG. 2 shows a scene in which a road construction area Ce exists in front of the host vehicle V1 while the host vehicle V1 is traveling on the road. Construction-related objects Co1, Co2, and Co3 are installed in the road construction area Ce. In addition, other vehicles V2, V3, and V4 are traveling in front of the host vehicle V1.

[0040] In FIG. 2, the host vehicle V1 detects construction-related objects Co1, Co2, and Co3 within the detection range Se of the camera. The construction-related object Co3 is the last detected construction-related object. The processor 7 determines the position of the construction-related object Co1 as the starting point Ps of the road construction section Cs as the first detected construction-related object, and determines a point at a predetermined distance D from the position of the construction-related object Co3 as the end point Pe of the road construction section Cs as the last detected construction-related object. At this time, the processor 7 determines whether there is another vehicle in the right direction with respect to the host vehicle V1 as the direction in which the construction-related object Co3 is located. In the example of FIG. 2, the processor 7 determines that another vehicle V2 is detected in the right direction with respect to the host vehicle V1, and sets the predetermined distance D as the first distance.

[0041] As shown in FIG. 2, when another vehicle V2 is located around the construction-related object, a blind spot is created by the other vehicle V2, so it is uncertain whether there is a new construction-related object behind the construction-related object Co3 in the traveling direction. In the present embodiment, if it is not determined that a new construction-related object is detected while the host vehicle V1 travels to the end point Pe determined at a point at a predetermined distance D from the construction-related object Co3, the construction-related object Co3 becomes the last detected construction-related object.

[0042] Also, for example, if a new construction-related object is detected after detecting the construction-related object Co3 and before the host vehicle V1 reaches the end point Pe of the road construction section Cs, the end point Pe is updated to a point at a predetermined distance D from the newly detected construction-related object. In the example of FIG. 2, since the other vehicle V3 is located outside the detection range Se of the camera, it is not a detection target. Also, since the other vehicle V4 is located within the detection range Se of the camera but in a direction (left direction) different from the direction in which the construction-related object Co3 is located, it is not a determination target.

[0043] For example, according to the regulations in the United States, when a sign indicating the end of a road construction section is installed, the sign is installed at a point about 300 to 450 m away from the last construction-related object. That is, there is a section where no construction-related objects are installed from the last construction-related object to the sign. After the own vehicle passes the last construction-related object, it is inconvenient for the driver to drive in a hands-on state in the section without construction-related objects. From the driver's perspective, after passing through the road construction site, it is desirable to quickly switch to driving the own vehicle in a hands-off state. Therefore, when a sign is detected ahead of the generally set sign location, by setting the end point of the road construction section ahead, the own vehicle can resume driving in a hands-off state at an earlier timing.

[0044] However, for example, when other vehicles are present around a construction-related object and blind spots are created by the other vehicles, it is impossible to determine whether the detected construction-related object is the last one. On the other hand, when no other vehicles are present around the construction-related object and there are no blind spots caused by other vehicles, if no construction-related object is detected, it can be determined that there is no newly detected construction-related object. Therefore, in this embodiment, when no other vehicles are present around the construction-related object, the end point of the road construction section is set ahead. As a result, it is possible to determine at an earlier timing that the own vehicle has passed through the road construction section, so the switch from driving the own vehicle in a hands-on state to driving the own vehicle in a hands-off state in the road construction section can occur at an earlier timing, providing effective driving assistance to the driver.

[0045] The mode switching unit 105 switches the driving mode of the driver. The driving mode includes a hands-on mode and a hands-off mode. The hands-on mode is a mode for controlling the running of the host vehicle in a hands-on state that requires the driver to hold the steering wheel. The hands-off mode is a mode for controlling the running of the host vehicle in a hands-off state where the driver can release their hands from the steering wheel. The mode switching unit 105 sets the driving mode to the hands-on mode while the host vehicle is traveling through a road construction section. The mode switching unit 105 sets the driving mode to the hands-off mode while the host vehicle is traveling through a normal section other than the road construction section. For example, the mode switching unit 105 sets the driving mode to the hands-off mode when the host vehicle starts running.

[0046] In addition, the mode switching unit 105 determines whether the host vehicle has reached the start point of the road construction section. When it is determined that the host vehicle has reached the start point of the road construction section, the mode switching unit 105 switches the driving mode from the hands-off mode to the hands-on mode. That is, the start point of the road construction section is the point where the driving mode switches from the normal section where the hands-off mode is set to the road construction section where the hands-on mode is set. Also, the mode switching unit 105 may determine whether the host vehicle has reached a position before the start point of the road construction section. Then, the mode switching unit 105 determines whether the host vehicle has reached the end point of the road construction section. When it is determined that the host vehicle has reached the end point of the road construction section, the mode switching unit 105 switches the driving mode from the hands-on mode to the hands-off mode. That is, the end point of the road construction section is the point where the driving mode switches from the road construction section where the hands-on mode is set to the normal section where the hands-off mode is set.

[0047] Further, when the mode switching unit 105 detects the end flag, it may calculate the target distance from the current position of the host vehicle at that time to the location where the end flag is installed, and determine whether the host vehicle has reached the end point of the road construction section based on whether the host vehicle has traveled the target distance. For example, the mode switching unit 105 calculates the travel distance by integrating the vehicle speed of the host vehicle over the travel time, compares the travel distance with the target distance, and determines whether the host vehicle has traveled the target distance.

[0048] The vehicle control unit 106 controls the travel of the host vehicle along the travel route. The vehicle control unit 106 sets a travel route for the host vehicle to travel. The vehicle control unit 106 calculates a target vehicle speed and a target steering angle for traveling along the set travel route, and generates a control signal for causing the host vehicle to travel based on the calculated target vehicle speed and target steering angle. The generated control signal is output to the vehicle control device 5.

[0049] Also, in the present embodiment, the construction section determination device 6 is provided with the mode switching unit 105 and the vehicle control unit 106. However, the present invention is not limited to this, and the vehicle control device 5 may be provided with the functions of the mode switching unit 105 and the vehicle control unit 106. For example, after determining the road construction section, the construction section determination device 6 may output information on the road construction section, for example, information on the start point and end point of the road construction section, to the vehicle control device 5. Then, the vehicle control device 5 switches the driving mode based on the output information on the road construction section and the current position of the host vehicle. Further, the vehicle control device 5 calculates a target vehicle speed and a target steering angle for traveling along the travel route, and generates a control signal for causing the host vehicle to travel based on the calculated target vehicle speed and target steering angle.

[0050] Next, the processing related to the construction section determination control executed by the construction section determination device 6 will be described. FIG. 3 is a flowchart showing a control flow for executing the construction section determination control in the construction section determination device 6. When the host vehicle starts traveling, the processor 7 starts the control flow from step S1. In the present embodiment, when the host vehicle reaches the start point of the road construction section, the construction section determination device 6 sets the driving mode to the hands-on mode, and when the host vehicle reaches the end point of the road construction section, the construction section determination device 6 sets the driving mode to the hands-off mode.

[0051] In step S1, the processor 7 acquires vehicle surrounding information from the camera 11. In step S2, the processor 7 detects construction-related objects located in front of the host vehicle based on the vehicle surrounding information. In step S3, the processor 7 determines whether a construction-related object has been detected in front of the host vehicle based on the vehicle surrounding information. If it is determined that a construction-related object has been detected in front of the host vehicle, the processor 7 proceeds to step S4. If it is determined that no construction-related object has been detected in front of the host vehicle, the processor 7 returns to step S1 and repeats the following flow. In step S4, the processor 7 sets a predetermined distance as the first distance. In step S5, the processor 7 determines the road construction section. For example, the processor 7 determines the position of the detected construction-related object as the start point of the road construction section, and determines a point at a first distance in front of the host vehicle from the position of the detected construction-related object as the end point of the road construction section.

[0052] In step S6, the processor 7 acquires vehicle surrounding information from the camera 11. In step S7, the processor 7 detects construction-related objects and other vehicles located in front of the host vehicle based on the vehicle surrounding information. In step S8, the processor 7 determines whether a construction-related object has been detected in front of the host vehicle. If it is determined that a construction-related object has been detected in front of the host vehicle, the processor 7 proceeds to step S11. If it is determined that no construction-related object has been detected in front of the host vehicle, the processor 7 proceeds to step S9.

[0053] In step S9, the processor 7 determines whether it has detected an end sign indicating that the road construction section has ended. If it is determined that the end sign has been detected, the processor 7 proceeds to step S10. If it is determined that the end sign has not been detected, the processor 7 proceeds to step S17. In step S10, the processor 7 determines the point where the end sign is set as the end point of the road construction section.

[0054] In step S11, the processor 7 determines, based on the vehicle surrounding information, whether other vehicles have been detected around the construction-related object detected in step S7. If it is determined that other vehicles have been detected, the processor 7 proceeds to step S12. That is, when the processor 7 has detected a construction-related object and has determined that other vehicles have been detected around the detected construction-related object, the processor 7 proceeds to step S12. If it is determined that no other vehicles have been detected, the processor 7 proceeds to step S13. That is, when the processor 7 has detected a construction-related object and has determined that no other vehicles have been detected around the detected construction-related object, the processor 7 proceeds to step S13.

[0055] In step S12, the processor 7 sets a predetermined distance as the first distance. Step S In step 13, the processor 7 determines whether all of the detected construction-related objects are barrels. If it is determined that all of the detected construction-related objects are barrels, the processor 7 proceeds to step S14. If it is determined that not all of the detected construction-related objects are barrels, the processor 7 proceeds to step S15. In step S14, the processor 7 sets the predetermined distance as the second distance. In step S15, the processor 7 sets the predetermined distance as the third distance. In this embodiment, in step S13, it is also possible to determine whether all of the construction-related objects are barrels, but not limited thereto, it is also possible to determine whether all of the construction-related objects are road cones, and if it is determined that all of the construction-related objects are road cones, it is also possible to set the predetermined distance as the third distance.

[0056] In step S16, the processor 7 determines a road construction section based on the set predetermined distance. The processor 7 determines a point at a predetermined distance in front of the host vehicle from the construction-related object as the end point of the road construction section. In step S17, the processor 7 determines whether the host vehicle has passed through the road construction section. For example, the processor 7 determines whether the host vehicle has passed through the road construction section based on whether the host vehicle has reached the end point of the road construction section. If it is determined that the host vehicle has passed through the road construction section, the processor 7 proceeds to step S18. If it is determined that the host vehicle has not passed through the road construction section, the processor 7 proceeds to step S6. In step S18, the processor 7 determines that the road construction section has ended and sets the driving mode to the hands-off mode.

[0057] As described above, in this embodiment, based on the vehicle surrounding information around the host vehicle acquired from the sensors mounted on the host vehicle, it is determined whether a construction-related object has been detected in front of the host vehicle. If it is determined that a construction-related object has been detected, a point at a predetermined distance in front of the host vehicle from the construction-related object is determined as the end point of the road construction section. The predetermined distance is shorter when a construction-related object is detected and no other vehicles are detected around the detected construction-related object than when a construction-related object is detected and other vehicles are detected around the detected construction-related object. Thereby, based on the information detected by the sensors mounted on the host vehicle, the end point of the road construction section can be specified.

[0058] Also, in this embodiment, if it is determined that a construction-related object has been detected, it is determined whether another vehicle has been detected within the detection range in which the construction-related object can be detected by the sensor. Thereby, it is possible to highly estimate the possibility that the construction-related object is hidden by the detected other vehicle, and it is possible to avoid unnecessarily extending the road construction section.

[0059] In addition, in the present embodiment, when it is determined that a construction-related object has been detected, it is determined whether another vehicle has been detected in the direction in which the construction-related object is located with respect to the host vehicle. As a result, even when another vehicle is detected in a direction different from the direction in which the construction-related object is located, the possibility that the vehicle is hiding the construction-related object is low. Therefore, when no other vehicle is detected in the direction in which the construction-related object is located, it is possible to determine at a faster timing that the host vehicle has passed the end point of the road construction section.

[0060] In addition, in the present embodiment, when a sign indicating that the road construction section has ended is detected within the road construction section, the end point is updated to the location where the sign is installed. As a result, when a sign indicating that the road construction section has actually ended is detected, it is possible to surely determine whether the host vehicle has passed the end point of the road construction section.

[0061] In addition, in the present embodiment, the road construction section is a section that controls the running of the host vehicle in a hands-on state that requires the driver to hold the steering wheel, and the end point is a point where the running of the host vehicle in a hands-off state where the driver has released their hand from the steering wheel is permitted, switching from the road construction section to a normal section. As a result, based on the information detected by the host vehicle, the driver can resume the running of the host vehicle in a state where their hand is released from the steering wheel.

[0062] Note that the embodiments described above are described to facilitate the understanding of the present invention and are not described to limit the present invention. Therefore, each element disclosed in the above embodiments is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

Description of Reference Numerals

[0063] 10…Travel support system 6…Construction section determination device 7…Processor 100…Surrounding information acquisition unit 101…Detection unit 102…Determination unit 103…Distance setting unit 104…Section determination unit 105... Mode switching unit 106... Vehicle control unit

Claims

1. A construction section determination method executed by a processor to determine a road construction section where construction-related objects for traffic control are installed during the travel of a host vehicle, comprising: The processor: Based on vehicle surrounding information around the host vehicle obtained from a sensor mounted on the host vehicle, determines whether the construction-related object is detected in front of the host vehicle; When it is determined that the construction-related object is detected, determines a point at a predetermined distance in front of the host vehicle from the construction-related object as the end point of the road construction section; The predetermined distance is shorter when the construction-related object is detected and no other vehicle is detected around the detected construction-related object than when the construction-related object is detected and other vehicles are detected around the detected construction-related object. A construction section determination method.

2. The processor: When it is determined that the construction-related object is detected, determines whether another vehicle is detected within a detection range in which the construction-related object can be detected by the sensor. The construction section determination method according to claim 1.

3. The processor: When it is determined that the construction-related object is detected, determines whether another vehicle is detected in the direction in which the construction-related object is located with respect to the host vehicle. The construction section determination method according to claim 1 or 2.

4. The processor: When a sign indicating that the road construction section has ended is detected within the road construction section, updates the end point to the point where the sign is installed. The construction section determination method according to any one of claims 1 to 3.

5. The road construction section is a section that controls the travel of the host vehicle in a hands-on state that requires the driver to hold the steering wheel, The end point is a point where the travel of the host vehicle switches from the road construction section to a normal section that permits the travel of the host vehicle in a hands-off state where the driver releases the hand from the steering wheel. The construction section determination method according to any one of claims 1 to 4.

6. In a construction section determination device including a processor that determines a road construction section where construction-related objects for traffic control are installed during the travel of a host vehicle, The processor: Based on vehicle surrounding information around the host vehicle obtained from a sensor mounted on the host vehicle, determines whether the construction-related object is detected in front of the host vehicle; When it is determined that the construction-related object has been detected, a point that is a predetermined distance in front of the host vehicle from the construction-related object is determined as the end point of the road construction section. The predetermined distance is a construction section determination device that is shorter when the construction-related object is detected and no other vehicle is detected around the detected construction-related object than when the construction-related object is detected and the other vehicle is detected around the detected construction-related object.

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