Operation control method and operation control system

Abstract

To prevent a target vehicle from being impeded by another vehicle entering an intersection area when the intersection area for the target vehicle on one lane to intersect with another lane is secured by controlling the surrounding automatic driving vehicles.SOLUTION: A driving control method secures an intersection area Ai for a first other vehicle V1 to intersect with a second lane L2 by estimating an intention of the first other vehicle V1 on a first lane L1 to intersect with the second lane L2 different from the first lane L1, and automatically controlling at least a first automatic driving vehicle AC1 among a plurality of automatic driving vehicles, and guides the second other vehicle V2 so that the second other vehicle V2 does not enter the intersection area Ai from a direction different from that in which the first other vehicle V1 enters the intersection area Ai by automatically controlling the second automatic driving vehicle AC2, which is different from the first automatic driving vehicle AC1, among the plurality of automatic driving vehicles.SELECTED DRAWING: Figure 2

Description

[Technical Field]

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

[0002] Patent Document 1 proposes a vehicle platoon formation control device for forming a group of vehicles traveling on a road and traveling in a convoy. This vehicle platoon formation control device determines a split position for accepting a vehicle entering from a merging road into the convoy, and allows the merging vehicle to enter between the split convoys. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 10-133867 Summary of the Invention [Problem to be solved by the invention]

[0004] However, even if multiple vehicles are controlled to secure space for target vehicles other than these vehicles, the target vehicle may be prevented from entering the space by another vehicle entering the space. The present invention aims to prevent another vehicle from entering an intersection area where a target vehicle in one lane crosses another lane and obstructing the target vehicle when the intersection area is secured by controlling surrounding autonomous vehicles. [Means for solving the problem]

[0005] One aspect of the present invention provides a driving control method for automatically controlling a plurality of automatically driven vehicles. The driving control method estimates an intention of a first other vehicle on a first lane to cross a second lane different from the first lane, automatically controls at least a first automatically driven vehicle among the plurality of automatically driven vehicles to secure an intersection area for the first other vehicle to cross the second lane, and automatically controls a second automatically driven vehicle among the plurality of automatically driven vehicles that is different from the first automatically driven vehicle to guide the second other vehicle so that the second other vehicle does not enter the intersection area from a direction different from the direction in which the first other vehicle will enter the intersection area. [Effects of the Invention]

[0006] According to the present invention, when an intersection area for a target vehicle on one lane to intersect with another lane is secured by controlling surrounding autonomous vehicles, it is possible to prevent another vehicle from entering this intersection area and obstructing the target vehicle. [Brief explanation of the drawings]

[0007] [Figure 1] 1 is a schematic configuration diagram of an example of an operation control system according to an embodiment; [Figure 2] FIG. 1 is an explanatory diagram illustrating an example of a situation in which an operation control method according to an embodiment can be applied. [Figure 3] 2 is a block diagram showing an example of the functional configuration of a controller of the center device of FIG. 1. FIG. [Figure 4] 4(a) to 4(d) are explanatory diagrams of an operation control method according to the first embodiment. [Figure 5] 3 is a flowchart illustrating an example of an operation control method according to an embodiment. [Figure 6] 10(a) to 10(d) are explanatory diagrams of an operation control method according to a second embodiment. [Figure 7] 10(a) to 10(d) are explanatory diagrams of an operation control method according to a third embodiment. [Figure 8] 10(a) and 10(b) are explanatory diagrams of an operation control method according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0008] Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the description of the drawings, identical or similar parts are designated by identical or similar reference numerals, and redundant explanations will be omitted. Each drawing is a schematic diagram and may differ from the actual product. The embodiments shown below exemplify devices and methods for embodying the technical concept of the present invention, and the technical concept of the present invention is not limited to the devices and methods exemplified in the following embodiments. The technical concept of the present invention can be modified in various ways within the technical scope described in the claims.

[0009] (First embodiment) (composition) 1 is a schematic diagram of an example of a driving control system according to an embodiment. The driving control system 1 includes a vehicle control device 10 mounted on each of a plurality of autonomously driving vehicles AC1 to ACn, and a center device 20 provided in a control center (infrastructure). This driving control system 1 is a system that performs infrastructure-cooperative automatic driving control to automatically drive automatically-driving vehicles AC1 to ACn by exchanging information between a center device 20 of a control center and a vehicle control device 10.

[0010] "Infrastructure-cooperative automatic driving control" refers to driving control in which automatically driven vehicles AC1-ACn are driven by obtaining information that cannot be detected by each of the automatically driven vehicles AC1-ACn on its own from information accumulated in center device 20 of the control center, which is the "infrastructure." For example, automatically driven vehicles AC1-ACn may be driven based on information obtained by sensors mounted on one of the automatically driven vehicles, or automatically driven based on information obtained by infrastructure sensors installed on the road. In this respect, this "infrastructure-cooperative automatic driving control" differs from autonomous driving control in which each automatically driven vehicle AC1-ACn is driven solely based on information obtained by sensors mounted on the vehicle itself.

[0011] The vehicle control device 10 mounted on each of the autonomously driven vehicles AC1 to ACn includes an external sensor 11, a vehicle sensor 12, a positioning device 13, a communication device 14, a map information database 15, an actuator 16, a human-machine interface 17, and a vehicle control controller 18. In the drawings, the database is referred to as "DB" and the human-machine interface is referred to as "HMI." Furthermore, the autonomously driven vehicles AC1 to ACn may be collectively referred to as "autonomous vehicle AC."

[0012] The external sensor 11 is a sensor that detects objects around the autonomous vehicle AC. The external sensor 11 detects the environment around the autonomous vehicle AC, such as the relative position of the autonomous vehicle AC and an object present around the autonomous vehicle AC, the distance between the autonomous vehicle AC and the object, and the direction in which the object is present. The external sensor 11 may include, for example, a camera that captures the environment around the autonomous vehicle AC. Furthermore, for example, the external sensor 11 may include a distance measuring device such as a laser range finder (LRF), radar, or a laser radar for LiDAR (Light Detection and Ranging). The external sensor 11 outputs ambient environment information, which is information about the detected environment around the autonomous vehicle AC, to the vehicle control controller 18.

[0013] The vehicle sensor 12 detects various information (vehicle state information) obtained from the autonomously driven vehicle AC. The vehicle sensor 12 may include, for example, a vehicle speed sensor that detects the traveling speed (vehicle speed) of the autonomously driven vehicle AC, a wheel speed sensor that detects the rotational speed of each tire equipped on the autonomously driven vehicle AC, a three-axis acceleration sensor (G sensor) that detects the acceleration (including deceleration) in three axial directions of the autonomously driven vehicle AC, a steering angle sensor that detects the steering angle (including the turning angle), a gyro sensor that detects the angular velocity generated in the autonomously driven vehicle AC, and a yaw rate sensor that detects the yaw rate. The vehicle sensor 12 outputs the vehicle state information to the vehicle control controller 18.

[0014] The positioning device 13 measures the current position and attitude of the autonomously driven vehicle AC. The positioning device 13 may include, for example, a Global Navigation System (GNSS) receiver. The GNSS receiver is, for example, a Global Positioning System (GPS) receiver, and receives radio waves from multiple navigation satellites to measure the current position of the autonomously driven vehicle AC. The positioning device 13 may also include an inertial navigation system. The positioning device 13 outputs self-position information, which is information on the measured current position and attitude, to the vehicle control controller 18. The communication device 14 provides a communication function between the vehicle control device 10 and the center device 20. The communication method used by the communication device 14 may be, for example, wireless communication using a public mobile phone network, road-to-vehicle communication, or satellite communication.

[0015] The map information database 15 may store high-precision map data (hereinafter simply referred to as "high-precision map") suitable as a map for automated driving. The high-precision map is map data with higher precision than map data for navigation (hereinafter simply referred to as "navigation map"), and includes more detailed information on a lane-by-lane basis than on a road-by-road basis. For example, a high-precision map includes, as information for each lane, information on lane nodes that indicate reference points on lane reference lines (e.g., the center line within a lane) and information on lane links that indicate the section configuration of the lane between the lane nodes. Lane node information includes the lane node's identification number, location coordinates, the number of connected lane links, and the identification numbers of the connected lane links. Lane link information includes the lane link's identification number, lane width, lane boundary line type, lane shape, lane marking shape, lane reference line shape, etc.

[0016] The actuator 16 generates vehicle behavior of the autonomous vehicle AC by operating the steering device, drive device, and braking device of the autonomous vehicle AC in response to control signals from the vehicle control controller 18. The actuator 16 includes a steering actuator, an accelerator opening actuator, and a brake control actuator. The human-machine interface 17 is an interface device that exchanges information between the occupant of the autonomous vehicle AC and the vehicle control device 10. The human-machine interface 17 is equipped with a display device that can be seen by the occupant. Furthermore, the human-machine interface 17 may be equipped with a speaker or buzzer for outputting warning sounds, notification sounds, and audio information. The human-machine interface 17 also includes an operator that accepts operational inputs from the occupant to the vehicle control device 10. The operator may be a mechanical interface device such as a button, switch, lever, dial, or keyboard, or may be a button, switch, lever, dial, or keyboard displayed on a touch panel.

[0017] The vehicle controller 18 is an electronic control unit (ECU) that controls the automatic driving of the automatic driving vehicle AC. When the autonomous vehicle AC travels in a section where infrastructure-cooperative autonomous driving control by the driving control system 1 can be executed (hereinafter, sometimes referred to as an "infrastructure-cooperative section"), the vehicle control controller 18 transmits vehicle information of the autonomous vehicle AC to the center device 20. The vehicle control controller 18 exchanges information with the center device 20 via the communication device 14. The vehicle information of the autonomous vehicle AC may include, for example, surrounding environment information acquired by the external sensor 11, vehicle state information acquired by the vehicle sensor 12, self-position information acquired by the positioning device 13, and destination information of the autonomous vehicle AC set by a navigation system (not shown) or the like. Furthermore, the control unit 10 receives a vehicle control signal transmitted from the center device 20 and drives the actuator 16 in accordance with the received vehicle control signal, thereby controlling the traveling of the autonomous vehicle AC (i.e., automatically driving the autonomous vehicle AC).

[0018] When the autonomous vehicle AC travels in a section other than an infrastructure cooperation section, the vehicle control controller 18 performs autonomous driving control to drive the actuator 16 so that the autonomous vehicle AC travels along a route to a specified destination based on a high-precision map of the area around the autonomous vehicle AC obtained from the map information database 15, surrounding environment information, vehicle status information, and self-position information. The vehicle controller 18 includes a processor 18a and peripheral components such as a storage device 18b. The processor 18a may be, for example, a central processing unit (CPU) or a micro-processing unit (MPU). The storage device 18b may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The functions of vehicle controller 18 are realized, for example, by processor 18a executing a computer program stored in storage device 18b. Note that vehicle controller 18 may be configured with dedicated hardware (for example, a programmable logic device such as an FPGA (Field-Programmable Gate Array)) for executing information processing for autonomous driving control.

[0019] The central device 20 of the control center includes a communication device 21, a vehicle information database 22, a map information database 23, and a controller 24. The communication device 21 provides a communication function between the center device 20 and the vehicle control device 10 of the autonomously driven vehicle AC. The communication method used by the communication device 21 may be, for example, wireless communication via a public mobile phone network, road-to-vehicle communication, or satellite communication. The communication device 21 receives vehicle information from the vehicle control device 10 of the autonomously driven vehicle AC traveling in an infrastructure cooperation enabled section. The vehicle information database 22 is a database that stores the vehicle information received by the communication device 21. The map information database 23 is a database that stores the above-mentioned high-precision maps.

[0020] The controller 24 is an information processing device (for example, a server device) that executes automatic driving control of an automatically driven vehicle AC traveling in an infrastructure cooperation enabled section, based on the vehicle information stored in the vehicle information database 22 and the high-precision map acquired from the map information database 23. In addition to the vehicle information received from the automatically driven vehicle AC, information acquired by an infrastructure sensor (not shown) installed on the road side (infrastructure sensor information) may also be used for the automatic driving control of the automatically driven vehicle AC. The controller 24 calculates a target driving trajectory and a speed command value for the autonomous vehicle AC traveling in an infrastructure cooperation enabled section based on the vehicle information stored in the vehicle information database 22, the high-precision map in the map information database 23, and infrastructure sensor information, and transmits the calculated values as a vehicle control signal to the vehicle control device 10 of the autonomous vehicle AC. The controller 24 exchanges information with the vehicle control device 10 via the communication device 21. The controller 24 includes a processor 24a and peripheral components such as a storage device 24b. The processor 24a may be, for example, a CPU or an MPU. The storage device 24b may include a semiconductor storage device, a magnetic storage device, an optical storage device, or the like. The functions of the controller 24, which will be described later, are realized by, for example, the processor 24a executing a computer program stored in the storage device 24b.

[0021] Next, an example of a situation in which the driving control method of the embodiment can be applied will be described with reference to Fig. 2. Here, a merging section 30 where a merging lane L1 merges with a main lane L2 will be illustrated as an example of a situation in which the driving control method can be applied. Controller 24 detects vehicle V1 traveling in merging lane L1 using external sensors 11 or infrastructure sensors of automatically driven vehicles AC1 and AC3. Vehicle V1 may be, for example, a manually driven vehicle or an automatically driven vehicle that is not subject to automatic driving control by driving control system 1. The same applies to vehicles V2 to V4, which will be described later.

[0022] The vehicle V1 is a vehicle traveling in the merging lane L1 and changing lanes to the main lane L2 (i.e., crossing the main lane L2). When such a vehicle V1 is detected, the controller 24 assists the vehicle V1 in changing lanes to the main lane L2. Hereinafter, the vehicle V1 may be referred to as the "assisted vehicle V1." When the controller 24 estimates that the assisted vehicle V1 will change lanes into the area Ai between the automatically driven vehicles AC1 and AC3 traveling on the main lane L2, it automatically controls the automatically driven vehicles AC1 and AC3 to secure the area Ai (hereinafter referred to as the "intersection area Ai") into which the assisted vehicle V1 will change lanes. For example, to make it easier for the assistance target vehicle V1 to change lanes to the main lane L2, the speeds of the autonomously driven vehicles AC1 and AC3 may be adjusted as necessary to expand the intersection area Ai. For example, the speed of the autonomously driven vehicle AC1 traveling behind the intersection area Ai may be reduced, and the speed of the autonomously driven vehicle AC3 traveling in front of the intersection area Ai may be increased.

[0023] However, even if the intersection area Ai is secured for the assisted vehicle V1, if another vehicle V2 traveling in the adjacent lane L3 of the main lane L2 on the opposite side of the merging lane L1 enters the intersection area Ai from a direction different from the direction in which the assisted vehicle V1 enters the intersection area Ai, the assisted vehicle V1 will be unable to enter the intersection area Ai. In other words, the assisted vehicle V1 will be prevented from entering the intersection area Ai.

[0024] Therefore, controller 24 controls the automatic driving of automatically driven vehicle AC2 to guide other vehicle V2 so that it does not enter intersection area Ai. For example, automatically driven vehicles AC1 to AC3 form a formation so that automatically driven vehicle AC2 is positioned on a trajectory leading from the current position of other vehicle V2 to intersection area Ai. This makes it possible to prevent another vehicle V2 from entering the intersection area Ai and obstructing the assisted vehicle V1 when the autonomously driven vehicles AC1 and AC3 are controlled to secure an intersection area Ai for the assisted vehicle V1 to intersect with the main lane L2.

[0025] The functions of the controller 24 will be described in detail with reference to Fig. 3. The controller 24 includes an assistance target vehicle detection unit 40, a guide target vehicle detection unit 41, and a vehicle platoon control unit . The assistance target vehicle detection unit 40 detects an assistance target vehicle V1 that is a target for assistance by the driving control system 1. When it is estimated that a vehicle other than the autonomously driven vehicle AC that is automatically driven by the driving control system 1 intends to cross from the first lane L1 in which it is currently traveling to the second lane L2, the assistance target vehicle detection unit 40 detects this vehicle as the assistance target vehicle V1. In the first embodiment, a vehicle that is changing lanes from the merging lane L1 to the main lane L2 is detected as the assistance target vehicle V1.

[0026] When the assisted vehicle V1 is detected, the assisted vehicle detection unit 40 estimates an intersection area Ai where the assisted vehicle V1 crosses into the second lane L2. For example, the assisted vehicle detection unit 40 may estimate the intersection area Ai that changes over time, such as the space between vehicles traveling on the second lane L2. For example, the assisted vehicle detection unit 40 may estimate the intersection area Ai that changes over time by estimating the time when the assisted vehicle V1 crosses into the second lane L2 based on the vehicle speed and acceleration / deceleration of the assisted vehicle V1. Furthermore, for example, as in a fourth embodiment described below, the intersection area Ai may be estimated to be an intersection where the assisted vehicle V1 crosses into an oncoming lane and turns.

[0027] The guided vehicle detection unit 41 detects another vehicle V2 around the intersection area Ai. When the other vehicle V2 is detected, the guided vehicle detection unit 41 estimates the possibility that the other vehicle V2 will enter the intersection area Ai. For example, the guided vehicle detection unit 41 estimates the traveling direction of the other vehicle V2 by tracking changes in the position of the other vehicle V2, and determines whether or not the other vehicle V2 is likely to enter the intersection area Ai based on the vehicle speed and traveling direction of the other vehicle V2. If there is a possibility that the other vehicle V2 will enter the intersection area Ai, the guided vehicle detection unit 41 detects the other vehicle V2 as a guided vehicle.

[0028] When an assisted vehicle V1 is detected and there is a possibility that a guided vehicle V2 will enter an intersection area Ai, the vehicle platoon control unit 42 automatically controls the autonomously driven vehicle AC to secure an intersection area Ai for the assisted vehicle V1 to cross into the second lane L2 and form a vehicle platoon that guides the guided vehicle V2 so that it does not enter the intersection area Ai. For example, the vehicle platoon control unit 42 determines the number of autonomous vehicles AC required to form such a vehicle platoon.

[0029] For example, in the example of the merging section 30 shown in Figure 2, if there is another vehicle V2 on the adjacent lane L3 behind the intersection area Ai that may enter the intersection area Ai, and there is no other vehicle on the adjacent lane L3 behind the intersection area Ai that may enter the intersection area Ai, at least two autonomous vehicles (AC1 and AC2) are required to form a vehicle platoon. Similarly, if there are no other vehicles on the adjacent lane L3 behind the intersection area Ai that may enter the intersection area Ai, and there are other vehicles on the adjacent lane L3 ahead of the intersection area Ai that may enter the intersection area Ai, at least two autonomous vehicles (AC2 and AC3) are required.

[0030] If there are other vehicles both in front of and behind the intersection area Ai that may enter the intersection area Ai, a minimum of four autonomous vehicles are required to form a vehicle platoon. When the number of autonomous vehicles AC required to form a vehicle platoon is present in the vicinity of the intersection area Ai, the vehicle platoon control unit 42 calculates a speed command value and a target driving trajectory for the autonomous vehicles AC to drive so as to form a vehicle platoon.

[0031] An example of control for forming a platoon of autonomously driven vehicles AC will be described with reference to FIGS. 4(a) to 4(d). Assume now that, as shown in FIG. 4(a), an assisted vehicle V1 is traveling in the merging lane L1 of the merging section 30. Based on the speed of the assisted vehicle V1 and the positions and speeds of the autonomously driven vehicles AC1 and AC3 traveling in the main lane L2, the assisted vehicle detection unit 40 estimates that the intersection area Ai where the assisted vehicle V1 crosses into the second lane L2 will be the distance between the autonomously driven vehicles AC1 and AC3. In this case, the vehicle platoon control unit 42 increases the distance between the autonomously driven vehicles AC1 and AC3 as necessary to widen the intersection area Ai. For example, the vehicle platoon control unit 42 increases the speed command value for the autonomously driven vehicle AC3 and / or decreases the speed command value for the autonomously driven vehicle AC1.

[0032] Furthermore, when guided vehicle detection unit 41 detects guided vehicle V2 that may be entering intersection area Ai, as shown in FIG. 4(b), the speed command value for autonomous vehicle AC2 is lowered in coordination with the position of autonomous vehicle AC1, and the speed of autonomous vehicle AC2 is adjusted so that autonomous vehicle AC2 is positioned on a trajectory leading from the current position of autonomous vehicle V2 to intersection area Ai. In this way, guided vehicle V2 is guided so as not to enter intersection area Ai. For example, the speed of autonomous vehicle AC2 is adjusted so that autonomous vehicle AC2 travels parallel to autonomous vehicle AC1 at a position diagonally ahead of autonomous vehicle AC1.

[0033] When it is determined that the assisted vehicle V1 will enter the intersection area Ai, as shown in Figure 4(c), a position adjustment is made to lower the speed command value of autonomous vehicle AC1, making it easier for the assisted vehicle V1 to enter the intersection area Ai. In addition, the speed command value of autonomous vehicle AC2 is lowered in synchronization with autonomous vehicle AC1, thereby guiding the guided vehicle V2 so that it does not enter the intersection area Ai. As shown in FIG. 4(d), when the assistance target vehicle V1 completes the lane change, the speed command values of the autonomously driven vehicles AC2 and AC3 are increased to restore the vehicle speeds of the autonomously driven vehicles AC2 and AC3.

[0034] See Fig. 3. When the guided vehicle detection unit 41 calculates the target driving trajectory and speed command value of the autonomously driven vehicle AC, the communication device 21 transmits the calculated target driving trajectory and speed command value as a vehicle control signal to the vehicle control device 10 of the autonomously driven vehicle AC. Referring to Figure 1, when the vehicle control device 10 receives a vehicle control signal from the controller 24, the vehicle controller 18 controls the traveling of the autonomously driven vehicles AC by driving the actuators 16 in accordance with the received vehicle control signal. This forms a vehicle platoon of autonomously driven vehicles AC that secures an intersection area Ai for the assistance target vehicle V1 to cross into the second lane L2 and guides the guidance target vehicle V2 so that it does not enter the intersection area Ai.

[0035] (operation) FIG. 5 is a flowchart of an example of an operation control method according to the embodiment. In step S1, the controller 24 acquires vehicle information from the vehicle control device 10 of the autonomously driven vehicle AC. In step S2, the assisted vehicle detection unit 40 estimates whether a vehicle other than the autonomously driven vehicle AC intends to cross from the first lane L1 in which it is currently traveling to the second lane L2, and detects the vehicle intending to cross from the first lane L1 to the second lane L2 as the assisted vehicle V1. If the assisted vehicle V1 is detected (step S2: Y), the process proceeds to step S3. If the assisted vehicle V1 is not detected (step S2: N), the process ends.

[0036] In step S3, the assistance target vehicle detection unit 40 estimates an intersection area Ai where the assistance target vehicle V1 intersects with the second lane L2. In step S4, the guided vehicle detection unit 41 detects another vehicle V2 around the intersection area Ai, tracks changes in the position of the other vehicle V2, and estimates the traveling direction of the other vehicle V2. In step S5, the guided vehicle detection unit 41 determines whether there is a possibility that another vehicle V2 will enter the intersection area Ai. If there is a possibility that the other vehicle V2 will enter the intersection area Ai (step S5: Y), the guided vehicle detection unit 41 detects the other vehicle V2 as a guided vehicle. Then, the process proceeds to step S6. If there is no possibility that the other vehicle V2 will enter the intersection area Ai (step S5: N), the process ends.

[0037] In step S6, the vehicle platoon control unit 42 determines whether the number of autonomously driven vehicles AC required to form a vehicle platoon that ensures an intersection area Ai for the assistance-recipient vehicle V1 to cross into the second lane L2 while guiding the guidance-recipient vehicle V2 not to enter the intersection area Ai is present near the intersection area Ai. If the required number of autonomously driven vehicles AC are present (step S6: Y), the process proceeds to step S7. If the required number of autonomously driven vehicles AC are not present (step S6: N), the process ends without forming a vehicle platoon. In step S7, the vehicle platoon control unit 42 calculates target driving trajectories and speed command values for the autonomously driven vehicles AC to drive the autonomously driven vehicles AC so as to form a vehicle platoon. The communication device 21 transmits the calculated target driving trajectories and speed command values to the vehicle control device 10 as vehicle control signals. The vehicle control controller 18 of the vehicle control device 10 controls the driving of the autonomously driven vehicles AC by driving the actuators 16 in accordance with the received vehicle control signals. The process then ends.

[0038] (Variation) In the above explanation, an example has been described in which the autonomous driving of the plurality of autonomous vehicles is controlled by the infrastructure-cooperative driving control system 1. Alternatively, one of the autonomous vehicles AC1 to ACn may be a host vehicle that controls the autonomous driving of the autonomous vehicles other than the host vehicle through vehicle-to-vehicle communication. In this case, the vehicle control controller 18 of the vehicle control device 10 mounted on the host vehicle may implement the same functions as the assistance target vehicle detection unit 40, the guidance target vehicle detection unit 41, and the vehicle platoon control unit 42 described above. This also applies to the second to fourth embodiments described below.

[0039] (Second embodiment) 6(a) to 6(d) are explanatory diagrams of a driving control method according to a second embodiment. In the second embodiment, assistance is provided to a vehicle V1 to be assisted traveling on a main lane L1 to enter a branch road L4 in a branch section 31. The branch road L4 is a branch road that branches off to the opposite side of the main lane L1, with main lanes L2 and L3 in between. The main lane L2 is an adjacent lane to the main lane L1, and the main lane L3 is an adjacent lane to the main lane L2 on the opposite side of the main lane L1. 6(a). When the assisted vehicle detection unit 40 determines that a vehicle V1 other than the autonomously driven vehicle AC, which is automatically driven by the driving control system 1, intends to change lanes from the main lane L1 to the branch lane L4 in the branch section 31, the assisted vehicle detection unit 40 detects the vehicle V1 as a vehicle to be assisted. For example, when the vehicle V1 activates a turn signal for the branch lane L4 in the branch section 31, the assisted vehicle detection unit 40 may determine that the vehicle V1 intends to change lanes to the branch lane L4. The assisted vehicle detection unit 40 estimates an intersection area Ai where the assisted vehicle V1 will change lanes to the main lane L2.

[0040] The guided vehicle detection unit 41 detects another vehicle V2 traveling on the main lane L3 around the intersection area Ai and estimates the possibility that the other vehicle V2 will enter the intersection area Ai. For example, the guided vehicle detection unit 41 may estimate the possibility that the other vehicle V2 will enter the intersection area Ai based on the vehicle speed of the vehicle traveling on the main lane L3. For example, if the speed of the vehicle traveling on the main lane L3 connecting to the branch road L4 is decreasing in the branch section 31, the guided vehicle detection unit 41 may determine that there is a possibility that the other vehicle V2 will enter the intersection area Ai.

[0041] See Figure 6(b). When an assistance target vehicle V1 is detected and there is a possibility that a guide target vehicle V2 will enter the intersection area Ai, the vehicle platoon control unit 42 increases the inter-vehicle distance between autonomously driven vehicles AC1 and AC3 as necessary to widen the intersection area Ai and ensure space in the intersection area Ai to make it easier for the assistance target vehicle V1 to enter. The vehicle platoon control unit 42 also lowers the speed command value for autonomously driven vehicle AC2, which is traveling in main lane L3 in coordination with the position of autonomously driven vehicle AC1, to guide the guide target vehicle V2 so that it does not enter the intersection area Ai. See Figure 6(c). The vehicle platoon control unit 42 adjusts the vehicle spacing between autonomously driven vehicles AC1 to AC3 so that assistance target vehicle V1 can move into the gap in front of autonomously driven vehicle AC2 traveling on main lane L3. For example, the speed command values of autonomously driven vehicles AC1 and AC2 are reduced to increase the distance between the vehicles in front of autonomously driven vehicles AC1 and AC2, thereby widening the intersection area Ai. See Figure 6(d). When the lane change of the assisted vehicle V1 is completed, the speed command values of the autonomous vehicles AC1 and AC3 are increased to restore the vehicle speeds of the autonomous vehicles AC1 and AC3. In addition, the speed command value of the autonomous vehicle AC2 is adjusted to match that of the preceding vehicle to restore the vehicle speed of the autonomous vehicle AC2.

[0042] (Third embodiment) 7(a) to 7(d) are explanatory diagrams of a driving control method according to a third embodiment. In a section 32 ahead of a target vehicle V1 traveling on a main lane L1, the target vehicle V1 is restricted from traveling on the main lane L1 and is prohibited from changing lanes into the main lane L1. The section 32 may be, for example, a High-Occupancy Vehicles (HOV) lane or a carpool lane in North America. In the third embodiment, the target vehicle V1 is assisted in changing lanes from the main lane L1 to an adjacent lane L2 just before the restricted section 32.

[0043] 7(a), when it is determined that a vehicle V1 other than the autonomously driven vehicle AC that is autonomously driven by the driving control system 1 intends to change lanes from the main lane L1 to the main lane L2 in the restricted section 32, the assistance target vehicle detection unit 40 detects the vehicle V1 as an assistance target vehicle. For example, when the vehicle V1 activates a turn signal on the main lane L2 side, it may be determined that the vehicle V1 intends to change lanes to the main lane L2. The assistance target vehicle detection unit 40 estimates an intersection area Ai where the assistance target vehicle V1 changes lanes to the main lane L2. In this case, the vehicle platoon control unit 42 increases the inter-vehicle distance between automatically driven vehicles AC1 and AC3 as needed, thereby widening the intersection area Ai, as shown in FIG. 7(b). Furthermore, when the guided vehicle detection unit 41 detects a guided vehicle V2 that may enter the intersection area Ai, it lowers the speed command value of the autonomously driven vehicle AC2 in cooperation with the position of the autonomously driven vehicle AC1, and guides the guided vehicle V2 so that it does not enter the intersection area Ai.

[0044] When it is determined that the assistance target vehicle V1 will enter the intersection area Ai, a position adjustment is made to lower the speed command value of autonomous vehicle AC1, as shown in Fig. 7(c). Also, the speed command value of autonomous vehicle AC2 is lowered in synchronization with autonomous vehicle AC1. As shown in FIG. 7(d), when the assistance target vehicle V1 completes the lane change, the speed command values of the autonomously driven vehicles AC2 and AC3 are increased to restore the vehicle speeds of the autonomously driven vehicles AC2 and AC3.

[0045] (Fourth embodiment) 8(a) and 8(b) are explanatory diagrams of a driving control method according to a fourth embodiment. In the fourth embodiment, the system assists the assisted vehicle V1 on lane L1 in turning into an intersecting lane L2 by crossing the oncoming lane of lane L1 at an intersection 33. For example, in areas where driving on the left is mandatory, the system assists the assisted vehicle V1 in turning right at the intersection 33. In areas where driving on the right is mandatory, the system assists the assisted vehicle V1 in turning left. For example, such assistance may be provided when the assisted vehicle V1 is an emergency vehicle.

[0046] When the assistance target vehicle detection unit 40 determines that a vehicle V1 other than the autonomously driven vehicle AC that is autonomously driven by the driving control system 1 has an intention to cross the oncoming lane of lane L1 and turn into intersecting lane L2 at the intersection 33, the assistance target vehicle detection unit 40 detects the vehicle V1 as an assistance target vehicle. When the vehicle V1 activates the turn signal for intersecting lane L2 at the intersection 33, it may be determined that the vehicle V1 has an intention to turn into intersecting lane L2. The assisted vehicle detection unit 40 estimates, as the intersection area Ai, an area in which the assisted vehicle V1 turning into the intersecting lane L2 will turn at the intersection 33. For example, the intersection area Ai may be estimated as a rectangular range within the intersection 33 occupied by lanes that the assisted vehicle V1 needs to cross in order to turn at the intersection 33.

[0047] The guided vehicle detection unit 41 detects guided vehicles V2 to V4 that may enter the intersection area Ai. When an assisted vehicle V1 is detected and there is a possibility that guided vehicles V2 to V4 will enter the intersection area Ai, the vehicle platoon control unit 42 automatically controls the autonomously driven vehicles AC to form a vehicle platoon that secures the intersection area Ai for the assisted vehicle V1 to turn into the intersecting lane L2 and guides the guided vehicles V2 to V4 so that they do not enter the intersection area Ai.

[0048] For example, in the example of Figure 8(a), by stopping the autonomous vehicle AC1 at a point closer to the intersection 33 on the oncoming lane L5 of lane L1 in the direction of travel of the oncoming lane L5, the oncoming vehicle of the assisted vehicle V1 is prevented from entering the intersection 33, and an intersection area Ai is secured for the assisted vehicle V1 to turn at the intersection 33. If there is a possibility that the guided vehicle V2 traveling in the adjacent lane L6 of the oncoming lane L5 will enter the intersection area Ai, the self-driving vehicle AC2 may be caused to change lanes to the adjacent lane L6 as shown by arrow 34, and stopped at a point before the intersection 33 on the adjacent lane L6 in the direction of travel of the adjacent lane L6, thereby guiding the guided vehicle V2 not to enter the intersection area Ai. In addition, to prevent other vehicles from entering the intersection area Ai from the oncoming lane L7 of the intersecting lane L2, the autonomous vehicle AC2 may be stopped at a point before the intersection 33 on the oncoming lane L7 in the direction of travel of the oncoming lane L7.

[0049] For example, in the example of Figure 8(b), by stopping the autonomous vehicle AC1 at a point closer to the intersection 33 on the oncoming lane L8 of lane L2 in the direction of travel of the oncoming lane L8, the intersecting vehicle that intersects with the assisted vehicle V1 is prevented from entering the intersection 33, and an intersection area Ai is secured for the assisted vehicle V1 to turn at the intersection 33. If there is a possibility that the guided vehicle V2 traveling in the adjacent lane L9 of the oncoming lane L8 will enter the intersection area Ai, the self-driving vehicle AC2 may be caused to change lanes into the adjacent lane L9 and stop at a point before the intersection 33 on the adjacent lane L9 in the direction of travel of the adjacent lane L9, thereby guiding the guided vehicle V2 so that it does not enter the intersection area Ai.

[0050] In addition, if other vehicles V3 and V4 are present on lane L2 or its adjacent lane L10, the autonomous vehicles AC3 and AC4 may be stopped at a point before the intersection 33 of lane L2 or its adjacent lane L10 in the direction of travel of lane L2, thereby guiding the other vehicles V3 and V4 not to enter the intersection area Ai. In the fourth embodiment, if a pedestrian crossing the planned driving path of the support target vehicle V1 turning at the intersection 33 is detected from vehicle information or infrastructure sensor information, the vehicle platoon control unit 42 does not need to perform automatic driving control to form the above-mentioned vehicle platoon.

[0051] (Effects of the embodiment) (1) In a driving control method for automatically controlling a plurality of automatically driven vehicles AC1 to ACn, a controller estimates the intention of a first other vehicle V1 on a first lane L1 to cross a second lane L2 different from the first lane L1, and by automatically controlling at least a first automatically driven vehicle AC1 of the plurality of automatically driven vehicles AC1 to ACn, secures an intersection area Ai for the first other vehicle V1 to cross the second lane L2, and by automatically controlling a second automatically driven vehicle AC2 of the plurality of automatically driven vehicles AC1 to ACn that is different from the first automatically driven vehicle AC1, guides the second other vehicle V2 so that it does not enter the intersection area Ai from a direction different from the direction in which the first other vehicle V1 enters the intersection area Ai. This makes it possible to prevent the second other vehicle V2 from entering the intersection area Ai and obstructing the first other vehicle V1 when the autonomously driven vehicle AC is controlled to secure an intersection area Ai for the first other vehicle V1 on the first lane L1 to intersect with the second lane L2.

[0052] (2) The controller may form a formation of multiple autonomous vehicles AC in which the first autonomous vehicle AC1 secures the intersection area Ai and the second autonomous vehicle AC2 guides the second other vehicle V2 before the first other vehicle V1 intersects with the second lane L2. This allows for more appropriate assistance to be provided to the first other vehicle V1 that intersects with the second lane L2. (3) The first other vehicle V1 may be, for example, a vehicle changing lanes from the first lane L1 to a second lane L2 adjacent to the first lane L1. The controller may secure the intersection area Ai by controlling the speed of the first autonomous vehicle AC1 traveling in the second lane L2, and may guide the second other vehicle V2 traveling in the third lane L3 not to enter the intersection area Ai by having a second autonomous vehicle AC2 traveling in a third lane L3, which is an adjacent lane to the second lane L2 on the opposite side of the first lane L1, travel parallel to the first autonomous vehicle AC1. This allows assistance to be provided to the first other vehicle V1 changing lanes from the first lane L1 to the second lane L2.

[0053] (4) The controller may cause the second autonomous vehicle AC2 to travel ahead of the first autonomous vehicle AC1. This allows the second other vehicle V2 being guided by the second automatically driven vehicle AC2 to see that the first other vehicle V1 is about to change lanes, making it more likely to accept guidance from the second automatically driven vehicle AC2. (5) After the first other vehicle V1 enters the intersection area Ai, the controller may control the speed of the second autonomous vehicle AC2 to ensure space for the first other vehicle V1 to change lanes from the second lane L2 to the third lane L3. This allows the first other vehicle V1 to be assisted in changing lanes further into the third lane L3.

[0054] (6) The first other vehicle V1 may be a vehicle traveling in the merging section 30 where the first lane L1 and the second lane L2 merge, the branching section 31 where the branching road L4 branches off to the opposite side of the first lane L1 across the second lane L2, or the section immediately before lane changing from the first lane L1 to the second lane L2 is restricted. This makes it possible to assist the first other vehicle V1 in changing lanes while traveling in the merging section 30, the branching section 31, or the section immediately before where lane changing is restricted.

[0055] (7) The first other vehicle V1 may be a vehicle that crosses the oncoming lane of the first lane L1 and turns onto the second lane L2 at the intersection 33 where the first lane L1 and the second lane L2 intersect. For example, the controller may stop the first autonomous vehicle AC1 at a point closer to the intersection 33 on the first oncoming lane, which is the oncoming lane of the first lane L1, in the direction of travel of the first oncoming lane, and may stop the second autonomous vehicle AC2 at at least one of a point closer to the intersection 33 on the adjacent lane of the first oncoming lane, in the direction of travel of the adjacent lane, and a point closer to the intersection 33 on the second oncoming lane, which is the oncoming lane of the second lane L2, in the direction of travel of the second oncoming lane. The controller may stop the first autonomous vehicle AC1 at a point on the oncoming lane of the second lane L2 closer to the intersection 33 in the direction of travel of the oncoming lane, and may stop the second autonomous vehicle AC2 at at least one of a point on the adjacent lane of the oncoming lane closer to the intersection 33 in the direction of travel of the adjacent lane, and a point on the second lane L2 closer to the intersection 33 in the direction of travel of the second lane L2. This makes it possible to assist the first other vehicle V1 in turning across the oncoming lane at the intersection 33.

[0056] (8) A vehicle-infrastructure cooperative driving control system may control the autonomous driving of multiple autonomous vehicles AC1 to ACn. Also, a host vehicle among the multiple autonomous vehicles AC1 to ACn may control the autonomous driving of the autonomous vehicles other than the host vehicle through vehicle-to-vehicle communication. This allows the autonomously driven vehicles AC1 to ACn to cooperate to form a vehicle platoon that supports the first other vehicle V1. [Explanation of symbols]

[0057] 1...driving control system, 10...vehicle control device, 11...external sensor, 12...vehicle sensor, 13...positioning device, 14...communication device, 15...map information database, 16...actuator, 17...human-machine interface, 18...vehicle control controller, 18a...processor, 18b...storage device, 20...center device, 21...communication device, 22...vehicle information database, 23...map information database, 24...controller, 24a...processor, 24b...storage device, AC1 to ACn...autonomous driving vehicle

Claims

1. A driving control method for automatically controlling driving of a plurality of automatically driving vehicles, detecting a first other vehicle traveling on a first lane; When the first other vehicle is detected, a process of estimating an intersection area in a second lane adjacent to the first lane, where the first other vehicle will change lanes; A process of detecting a second other vehicle traveling in a third lane, which is an adjacent lane of the second lane on the opposite side of the first lane; a process of automatically controlling a vehicle speed of a first automatically driven vehicle traveling on the second lane so as to secure the intersection area; When the second other vehicle is detected, a process of automatically controlling the vehicle speed of the second automatically driven vehicle traveling in the third lane so that the second other vehicle does not enter the intersection area from a direction different from the direction in which the first other vehicle enters the intersection area; An operation control method characterized by causing a controller to execute the above.

2. The driving control method described in claim 1, characterized in that a formation of the multiple autonomous vehicles is formed before the first other vehicle intersects with the second lane, in which the first autonomous vehicle secures the intersection area and the second autonomous vehicle guides the second other vehicle.

3. The first other vehicle is a vehicle changing lanes from the first lane to the second lane adjacent to the first lane, securing the intersection area by controlling the vehicle speed of the first autonomous vehicle traveling in the second lane; By making the second autonomous vehicle traveling in a third lane, which is an adjacent lane of the second lane on the opposite side of the first lane, travel parallel to the first autonomous vehicle, guiding the second other vehicle traveling in the third lane not to enter the intersection area.

3. The operation control method according to claim 1 or 2.

4. 4. The driving control method according to claim 3, wherein the second automatically driven vehicle is driven at a position ahead of the first automatically driven vehicle.

5. A driving control method as described in claim 3 or 4, characterized in that after the first other vehicle enters the intersection area, the speed of the second autonomous vehicle is controlled to ensure space for the first other vehicle to change lanes from the second lane to the third lane.

6. The driving control method according to any one of claims 1 to 5, characterized in that the first other vehicle is a vehicle traveling in a merging section where the first lane and the second lane merge, a branching section where a branch road branches off to the opposite side of the first lane across the second lane, or a section immediately before lane changing from the first lane to the second lane is restricted.

7. The driving control method according to any one of claims 1 to 6, characterized in that the plurality of automatically driven vehicles are automatically controlled by an infrastructure cooperative driving control system.

8. A driving control method according to any one of claims 1 to 6, characterized in that one host vehicle among a plurality of automatically driven vehicles controls the automatically driven vehicles other than the host vehicle through vehicle-to-vehicle communication.

9. A driving control system including a controller that controls automatic driving of a plurality of automatic driving vehicles, the controller comprising: detecting a first other vehicle traveling on a first lane; When the first other vehicle is detected, a process of estimating an intersection area in a second lane adjacent to the first lane, where the first other vehicle will change lanes; A process of detecting a second other vehicle traveling in a third lane, which is an adjacent lane of the second lane on the opposite side of the first lane; a process of automatically controlling a vehicle speed of a first automatically driven vehicle traveling on the second lane so as to secure the intersection area; When the second other vehicle is detected, a process of automatically controlling the vehicle speed of the second automatically driven vehicle traveling in the third lane so that the second other vehicle does not enter the intersection area from a direction different from the direction in which the first other vehicle enters the intersection area; An operation control system characterized by executing the above.

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