Vehicle control device, control method, and control program

Abstract

To provide a vehicle control device, a control method, and a control program, each enabling with simple configuration, a vehicle to travel appropriately within an intersection.SOLUTION: A control device 30 comprises: a recognition unit 31 that recognizes a surrounding condition of a vehicle 1; a trajectory generation unit 32 that generates a travel trajectory from an entry position to an exit position of the vehicle at an intersection; and a travel control unit 33 that causes the vehicle 1 to travel on the basis of the travel trajectory generated by the trajectory generation unit 32. When the vehicle 1 proceeds from a travel path to a right road at a four-way intersection where a travel path, a left road, a right road, and an opposite road are connected with each other, the trajectory generation unit 32: identifies a first reference point that is a junction between the travel path and the left road, and a second reference point or an intersection center that is a junction between the right road and the opposite road on the basis of the recognition result of the recognition unit 31; derives a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; and generates a travel trajectory that extends along the derived first boundary line.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a control method, and a control program for controlling a vehicle. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transport systems that take into consideration vulnerable transport participants have been gaining momentum. As part of these efforts, research and development is being conducted on driver assistance technologies and autonomous driving technologies for automobiles and other vehicles in order to further improve road safety and convenience.

[0003] As an example of a driving assistance technology, Patent Document 1 listed below discloses a technology that acquires intersection information, which is information about an intersection that the vehicle is about to enter, acquires data indicating the position and direction of each of multiple arrow markings just before the intersection based on the intersection information, calculates the distance in the lane width direction from the driving trajectory of the vehicle traveling through the intersection to each of the multiple road arrow markings, determines the destination of the driving trajectory of the vehicle based on the direction of a reference road arrow marking, which is a road arrow marking for which the distance is less than a first threshold, generates data indicating a duplicate driving trajectory by translating the driving trajectory to the position of a road arrow marking that is different from the reference road arrow marking and indicates the same direction as the destination of the driving trajectory, and estimates the shape of the road within the intersection based on the data indicating the duplicate driving trajectory. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-160381 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the above-mentioned conventional technology requires information about intersections to be prepared in advance, making it difficult to properly navigate vehicles through intersections using a simple configuration that does not require such information.

[0006] The present invention provides a vehicle control device, a control method, and a control program that enable vehicles to travel appropriately through intersections with a simple configuration, thereby improving traffic safety and contributing to the development of a sustainable transportation system. [Means for solving the problem]

[0007] One aspect of the present invention is A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; a trajectory generation unit that generates a travel trajectory of the vehicle from an entry position to an exit position at the intersection when the recognition unit recognizes an intersection present in the traveling direction of the vehicle; a travel control unit that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The system is configured to be able to refer to map information having road network information that represents each road by a combination of nodes and links connecting the nodes, The trajectory generation unit The intersection is a four-way intersection that connects a first road on which the vehicle is currently traveling, a second road located on one side of the vehicle in the vehicle width direction relative to the vehicle, a third road located on the other side of the vehicle in the vehicle width direction relative to the vehicle, and a fourth road located on the opposite side of the intersection relative to the first road, and The vehicle traveling in the lane on one side of the first road When a vehicle travels from the first road to the third road, Based on the recognition result of the recognition unit, a first reference point that is a junction between the first road and the second road, and a second reference point that is a junction between the third road and the fourth road or an intersection center that is a center of the intersection are identified; deriving a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the travel trajectory along the first boundary line; death, When the second reference point can be identified based on the recognition result of the recognition unit, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the recognition unit, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. do, A vehicle control device.

[0008] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position of the vehicle at the intersection to an exit position of the vehicle is generated; causing the vehicle to travel based on the travel trajectory; Processing is performed, the computer is capable of referencing map information having road network information that represents each road as a combination of nodes and links connecting the nodes; In the process of generating the running trajectory, The intersection is a four-way intersection that connects a first road on which the vehicle is currently traveling, a second road located on one side of the vehicle in the vehicle width direction relative to the vehicle, a third road located on the other side of the vehicle in the vehicle width direction relative to the vehicle, and a fourth road located on the opposite side of the intersection relative to the first road, and The vehicle traveling in the lane on one side of the first road When a vehicle travels from the first road to the third road, Based on the recognition result of the surrounding environment, a first reference point that is a junction between the first road and the second road, and a second reference point that is a junction between the third road and the fourth road or an intersection center that is a center of the intersection are identified; deriving a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the travel trajectory along the first boundary line; death, When the second reference point can be identified based on the recognition result of the surrounding situation, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the surrounding situation, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. do, It is a control method.

[0009] Another aspect of the present invention is The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position of the vehicle at the intersection to an exit position of the vehicle is generated; causing the vehicle to travel based on the travel trajectory; Let the processing take place, the computer is capable of referencing map information having road network information that represents each road as a combination of nodes and links connecting the nodes; In the process of generating the running trajectory, The intersection is a four-way intersection that connects a first road on which the vehicle is currently traveling, a second road located on one side of the vehicle in the vehicle width direction relative to the vehicle, a third road located on the other side of the vehicle in the vehicle width direction relative to the vehicle, and a fourth road located on the opposite side of the intersection relative to the first road, and The vehicle traveling in the lane on one side of the first road When a vehicle travels from the first road to the third road, Based on the recognition result of the surrounding environment, a first reference point that is a junction between the first road and the second road, and a second reference point that is a junction between the third road and the fourth road or an intersection center that is a center of the intersection are identified; deriving a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the travel trajectory along the first boundary line; death, When the second reference point can be identified based on the recognition result of the surrounding situation, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the surrounding situation, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. do, It is a control program. [Effects of the Invention]

[0010] According to the present invention, it is possible to provide a vehicle control device, a control method, and a control program that are simple in configuration and enable a vehicle to travel appropriately within an intersection. [Brief explanation of the drawings]

[0011] [Figure 1] 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30 which is an embodiment of a vehicle control device of the present invention. [Figure 2] FIG. 1 is a diagram illustrating an example of a situation assumed in this embodiment. [Figure 3] FIG. 10 is a diagram showing an example of a travel trajectory that is generated when a vehicle 1 turns right at an intersection CP. [Figure 4] FIG. 10 is a diagram showing an example of a travel trajectory that is generated when a vehicle 1 turns left at an intersection CP. [Figure 5] FIG. 10 is a diagram showing an example of a travel trajectory that is generated when a vehicle 1 travels straight through an intersection CP. [Figure 6] FIG. 10 is a diagram showing another example of a travel trajectory that is generated when the vehicle 1 travels straight through the intersection CP. [Figure 7] 1 is a flowchart (part 1) showing an example of a processing procedure performed by the control device 30. [Figure 8] 10 is a flowchart (part 2) illustrating an example of a processing procedure by the control device 30. [Figure 9] 10 is a flowchart (part 3) illustrating an example of a processing procedure by the control device 30. [Figure 10] 10 is a fourth flowchart illustrating an example of a processing procedure performed by the control device 30. [Figure 11] 10 is a flowchart (part 5) illustrating an example of a processing procedure by the control device 30. [Figure 12] 10 is a flowchart (part 6) illustrating an example of a processing procedure by the control device 30. [Figure 13] 10 is a flowchart (part 7) illustrating an example of a processing procedure by the control device 30. [Figure 14] 8 is a flowchart (part 8) showing an example of a processing procedure by the control device 30. [Figure 15] 10 is a diagram illustrating a modified example of vehicle control by the control device 30. FIG. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, an embodiment of a vehicle control device, a control method, and a control program of the present invention will be described with reference to the drawings. The drawings should be viewed in the direction of the reference symbols. Note that the following embodiment does not limit the present invention, and not all of the elements described in the following embodiment are necessarily essential to the present invention. Furthermore, two or more elements described in the following embodiment may be arbitrarily combined without departing from the spirit of the present invention. Hereinafter, identical or similar elements will be assigned identical or similar reference symbols, and their description may be omitted or simplified.

[0013] In addition, in order to simplify and clarify the explanation in this specification and elsewhere, the front and rear (including the front and back), left and right, and up and down directions will be described according to the direction as seen by the driver, who is an occupant of the vehicle (vehicle 1 described below), and in the drawings, the front of the vehicle is indicated as Fr, the rear as Rr, the left as L, and the right as R.

[0014] In the following embodiments, one side in the vehicle width direction in the present invention is defined as the left side and the other side in the vehicle width direction as the right side, assuming a region where people drive on the left side, such as Japan, but the present invention is not limited to this. For example, when the present invention is applied to a region where people drive on the right side, such as the United States or the People's Republic of China, one side in the vehicle width direction in the present invention may be defined as the right side and the other side in the vehicle width direction as the left side. In this case, "right turn" and "left turn" in the following description may be read as "left turn" and "right turn", respectively, and Figures 2 to 6 may be viewed left and right reversed as necessary.

[0015] [1. Vehicle] Fig. 1 is a block diagram showing a schematic configuration of a vehicle 1 equipped with a control device 30, which is one embodiment of a vehicle control device of the present invention. The vehicle 1 of this embodiment shown in Fig. 1 is an automobile equipped with a drive source (not shown) and wheels (not shown) including drive wheels driven by the power of the drive source and steerable wheels. As an example, the vehicle 1 can be a four-wheeled automobile having a pair of front wheels and a pair of rear wheels on the left and right.

[0016] The drive source of vehicle 1 may be an electric motor, an internal combustion engine such as a gasoline engine or a diesel engine, or a combination of an electric motor and an internal combustion engine. The drive source of vehicle 1 may drive a pair of left and right front wheels, a pair of left and right rear wheels, or a pair of left and right front and rear wheels, i.e., four wheels. Either one of the front wheels or the rear wheels of vehicle 1 may be steerable wheels, or both may be steerable wheels.

[0017] The vehicle 1 is configured to include a sensor group 10, a navigation device 20, a control device 30 which is an example of a vehicle control device of the present invention, an electric power steering (EPS: Electric Power Steering) system 40, a driving force control system 50, a braking force control system 60, a communication unit 70, an operation input unit 80, and an alarm device 90.

[0018] The sensor group 10 is configured to include an external sensor 11 that acquires information about the periphery of the vehicle 1 (hereinafter also referred to as "peripheral information"), and a vehicle sensor 12 that acquires information about the vehicle 1 (hereinafter also referred to as "vehicle information"). The information acquired by each sensor included in the sensor group 10 (in other words, detected values) is output to the control device 30 and is used for controlling the vehicle 1 by the control device 30 (hereinafter also referred to as "vehicle control").

[0019] The external sensor 11 includes, for example, a camera 111, a sonar 112, and a radar 113. The camera 111 is an imaging device that captures an image of the surroundings of the vehicle 1 including the area ahead of the vehicle 1, and outputs image data of the obtained surrounding image to the control device 30. As the camera 111, for example, a digital camera using an imaging element such as a CCD (Charge Coupled Device) or a CMOS (Complementary Metal Oxide Semiconductor) can be used.

[0020] Sonar 112 emits sound waves around vehicle 1 (for example, in front of, behind, and to the sides of vehicle 1) and receives reflected sound from objects around vehicle 1, thereby detecting the distance and direction of the objects. Radar 113 emits radio waves around vehicle 1, including in front of vehicle 1, and receives reflected waves from objects around vehicle 1, thereby detecting the distance and direction of the objects. For example, a millimeter wave radar can be used as radar 113.

[0021] The external sensor 11 may be configured to include a LiDAR (Light Detection and Ranging) instead of or in addition to the sonar 112 or the radar 113. In this case, the LiDAR emits laser light to the periphery of the vehicle 1 including the area ahead of the vehicle 1, and receives reflected light from an object present around the vehicle 1 to detect the distance and direction to the object.

[0022] The vehicle sensor 12 includes, for example, a wheel sensor 121, a vehicle speed sensor 122, an inertial measurement unit (IMU) 123, an occupant camera 124, an operation detection unit 125, and a steering touch sensor 126.

[0023] The wheel sensor 121 detects the rotation angle of one or more of the wheels of the vehicle 1. As an example, the wheel sensor 121 detects the rotation angle of each of the left rear wheel and the right rear wheel. As the wheel sensor 121, for example, an angle sensor or a displacement sensor can be adopted.

[0024] The vehicle speed sensor 122 detects the vehicle speed VP, which is the traveling speed (in other words, the moving speed of the vehicle body) of the vehicle 1. For example, the vehicle speed sensor 122 detects the vehicle speed VP based on the number of rotations of a countershaft (not shown) provided in the vehicle 1.

[0025] The inertial measurement unit 123 detects angular velocities in the pitch, roll, and yaw directions of the vehicle 1, and accelerations in the front-to-rear, left-to-right, and up-to-down directions of the vehicle 1. Note that instead of the inertial measurement unit 123, the vehicle sensor 12 may be configured to include an acceleration sensor that detects acceleration in a predetermined direction of the vehicle 1, or a gyro sensor that detects angular velocity in a predetermined direction of the vehicle 1.

[0026] The occupant camera 124 is a digital camera that captures an image of the interior of the vehicle 1 and outputs image data of the obtained interior image to the control device 30. For example, the occupant camera 124 can be a so-called "driver monitor camera" that is installed so as to be able to capture an image of the head (in other words, the face) of an occupant (hereinafter also referred to as "driver") sitting in the driver's seat of the vehicle 1 from the front. As with the camera 111, the occupant camera 124 can be a digital camera that uses an imaging element such as a CCD or CMOS.

[0027] The operation detection unit 125 detects an operation performed using the operation input unit 80 that is operable by the driver. In this embodiment, the operation input unit 80 may include, for example, an operation button that accepts an operation to switch on (in other words, activated) and off (in other words, not activated) a predetermined driving assistance control, such as steering control by the driving control unit 33, which will be described later. In this case, the operation detection unit 125 can detect an operation to turn on / off the predetermined driving assistance control.

[0028] The steering touch sensor 126 detects whether the steering wheel 46 of the vehicle 1 is being properly gripped. For example, the steering touch sensor 126 is realized by a capacitance sensor or the like. In this case, the capacitance sensor is provided at a portion where the driver touches the steering wheel 46 when the steering wheel 46 is being properly gripped.

[0029] The navigation device 20 includes, for example, a GNSS (Global Navigation Satellite System) receiver 21, a touch panel 22, and a speaker 23. The navigation device 20 also has a storage unit (not shown) configured with a flash memory or the like. The storage unit of the navigation device 20 stores a map information database (DB) 24 as an example of map information.

[0030] The map information database 24 is configured to include road network information. The road network information is information that represents each road as a combination of nodes and links (also called "paths") that connect the nodes. Each node in the road network information represents a characteristic point on a road, such as an intersection, a corner, or a dead end. In the road network information, each node is set with information indicating, for example, the point corresponding to the node (for example, coordinates that can identify a point on a map, such as latitude and longitude). In addition, in the road network information, each link is set with information indicating the nodes at both ends of the link, the road corresponding to the link, the link length, the number of lanes, the direction of travel, the road type, etc.

[0031] The GNSS receiver 21 identifies the current position of the vehicle 1 (for example, the latitude and longitude of the location where the vehicle 1 is located) based on signals received from GNSS satellites. Note that the navigation device 20 may acquire, for example, detection results from vehicle sensors 12 (for example, wheel sensors 121 and vehicle speed sensors 122) via the control device 30, and identify or complement the current position of the vehicle 1 by an INS (Inertial Navigation System) that uses the detection values ​​of the vehicle sensors 12.

[0032] The touch panel 22 is configured by combining a display device such as a liquid crystal display or an OLED (Organic Light Emitting Diode) with a pointing device (e.g., a touchpad). The speaker 23 is configured to be able to output audio to a passenger of the vehicle 1 (e.g., the driver).

[0033] For example, the navigation device 20 searches for a route from the current position of the vehicle 1 to a destination set by the driver using the touch panel 22 by referring to the map information database 24. Then, the navigation device 20 provides route guidance using the touch panel 22 and the speaker 23 based on the searched route. The navigation device 20 may also cause the touch panel 22 to display a predetermined information in accordance with an instruction from the control device 30. Furthermore, the navigation device 20 may output, for example, information indicating the identified current position of the vehicle 1 and predetermined information (for example, information indicating an operation received via the touch panel 22) to the control device 30.

[0034] In this embodiment, the control device 30 is configured to be able to refer to the map information database 24 (i.e., map information) of the navigation device 20. However, the present invention is not limited to this, and map information including road network information similar to that in the map information database 24 may be separately stored in the control device 30 or the like, and the control device 30 may be configured to refer to this map information.

[0035] The control device 30 is a computer that has, for example, a processor that performs various calculations, a storage unit that has a non-transitory storage medium (e.g., a flash memory) that stores various information, an input / output unit that controls input and output of data between the inside and outside of the control device 30, and the like (all not shown), and that performs overall control of the vehicle 1. For example, the control device 30 is realized by one ECU (Electronic Control Unit) or by multiple ECUs working together. Note that specific examples of control by the control device 30 will be described later, so description thereof will be omitted here.

[0036] The EPS system 40 includes, for example, a steering angle sensor 41, a torque sensor 42, an EPS motor 43, a resolver 44, and an EPS ECU 45.

[0037] The steering angle sensor 41 detects the steering angle θst of the steering wheel 46 and outputs information indicating the detected steering angle θst to the EPS ECU 45. The torque sensor 42 detects the steering torque TQ, which is the torque applied to the steering wheel 46 of the vehicle 1, and outputs information indicating the detected steering torque TQ to the EPS ECU 45.

[0038] The EPS motor 43 applies a driving force or a reaction force to a steering column 47 connected to the steering wheel 46 in accordance with instructions from the EPS ECU 45, thereby assisting the driver in operating the steering wheel 46. The resolver 44 detects a rotation angle θm of the EPS motor 43, and outputs information indicating the detected rotation angle θm to the EPS ECU 45.

[0039] The EPS ECU 45 is a computer that controls the EPS system 40 (e.g., the EPS motor 43) and is implemented by one or more ECUs. For example, the EPS ECU 45 has a processor that performs various calculations, a storage unit that has a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the EPS ECU 45 (all of which are not shown). For example, the EPS ECU 45 controls the EPS system 40 (e.g., the EPS motor 43) based on the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. The EPS ECU 45 can also control the EPS system 40 in accordance with instructions from the control device 30.

[0040] Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering angle θst detected by the steering angle sensor 41, the steering torque TQ detected by the torque sensor 42, the rotation angle θm detected by the resolver 44, etc. to the control device 30. Furthermore, the EPS system 40 (for example, the EPS ECU 45) may output information indicating the steering speed ω of the steering wheel 46 to the control device 30. In this case, the steering speed ω can be obtained, for example, by differentiating the steering angle θst with respect to time.

[0041] The driving force control system 50 includes a driving ECU 51 and is configured to be able to control the driving force of the vehicle 1. The driving ECU 51 is a computer that controls the driving force control system 50 and is realized by one or more ECUs, and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the driving ECU 51 (all of which are not shown). For example, the driving ECU 51 controls the power output from a driving source of the vehicle 1 based on operation of an accelerator pedal 52 provided on the vehicle 1. The driving ECU 51 can also control the driving force control system 50 (for example, the driving source) according to instructions from the control device 30.

[0042] The braking force control system 60 includes a braking ECU 61 and is configured to be able to control the braking force of the vehicle 1. The braking ECU 61 is a computer that controls the braking force control system 60 and includes, for example, a processor that performs various calculations, a storage unit having a non-transitory storage medium that stores various information, and an input / output unit that controls input and output of data between the inside and outside of the braking ECU 61 (all of which are not shown), and is realized by one or more ECUs. For example, the braking ECU 61 controls the braking force of the vehicle 1 by controlling a brake device (not shown) provided in the vehicle 1 based on operation of a brake pedal 62 provided in the vehicle 1. Here, the brake device includes, for example, a brake caliper, a cylinder that transmits hydraulic pressure to the brake caliper, and an electric motor that generates hydraulic pressure in the cylinder. The braking ECU 61 controls the electric motor of the brake device so that a braking force corresponding to operation of the brake pedal 62 is generated. The braking ECU 61 can also control the braking force control system 60 (for example, the brake device) according to instructions from the control device 30.

[0043] The communication unit 70 is a communication interface that communicates with the external device 2 under the control of the control device 30. That is, the control device 30 can communicate with the external device 2 via the communication unit 70. Examples of the external device 2 include a driver's terminal device (e.g., a smartphone) and a server device managed by the manufacturer of the vehicle 1. Note that communication between the vehicle 1 and the external device 2 can be performed using, for example, a mobile communication network such as a cellular line, Wi-Fi (registered trademark), or Bluetooth (registered trademark).

[0044] The warning device 90 is a device that issues a warning to the driver under the control of the control device 30. The warning device 90 includes, for example, an MID (Multi-Information Display) 91 and a buzzer 92.

[0045] The MID 91 is configured with a display device such as a liquid crystal display or an OLED, and is provided in a position visible to the driver (for example, in the meter panel of the vehicle 1). For example, the MID 91 displays a predetermined warning image in accordance with an instruction from the control device 30. The MID 91 may be shared with the above-mentioned touch panel 22. That is, the term "MID 91" in the following description may be read as "touch panel 22."

[0046] The buzzer 92 is configured to be able to output a predetermined alarm sound. For example, the buzzer 92 outputs the predetermined alarm sound in accordance with an instruction from the control device 30. The buzzer 92 may be shared with the above-mentioned speaker 23. That is, the "buzzer 92" in the following description may be read as the "speaker 23."

[0047] [2. Control device] Next, a more detailed description will be given of the control device 30. First, for the sake of simplicity and clarity of the following description, each term that may be used in the following description will be explained.

[0048] 2 is a diagram showing an example of a situation assumed in this embodiment. In this embodiment, for example, a situation is assumed in which a vehicle 1 travels through a four-way intersection as shown in FIG.

[0049] (Road Rd1) 2, a road Rd1 is a road on which the vehicle 1 is currently traveling, and is a two-lane road having lanes Ln11 and Ln12. The road Rd1 is an example of the first road in the present invention.

[0050] Lane Ln11 is a lane whose traveling direction is from bottom to top in Figure 2, and can also be called the "own lane" on which vehicle 1 is traveling. Lane boundary Ml11 is a lane boundary that separates lane Ln11 from the outside of travel path Rd1, and more specifically, is a dividing line or curbstone between lane Ln11 and the outside of the left side of travel path Rd1. Extension line Ml11a is an extension of lane boundary Ml11, and more specifically, is a virtual line that extends along lane boundary Ml11.

[0051] The lane Ln12 is a lane whose direction of travel is from top to bottom in Figure 2, and can also be called an "oncoming lane" whose direction of travel is opposite to that of the vehicle's own lane. The lane boundary Ml12 is a lane boundary that separates the lane Ln12 from the outside of the road Rd1, and is specifically a dividing line or curbstone between the lane Ln12 and the outside of the right side of the road Rd1. The extension line Ml12a is an extension of the lane boundary Ml12, and is specifically a virtual line that extends along the lane boundary Ml12.

[0052] (Left road Rd2) The left road Rd2 is a road located on the left side (i.e., one side in the vehicle width direction) of the vehicle 1, and is a two-lane road having lanes Ln21 and Ln22. The left road Rd2 is an example of the second road in the present invention.

[0053] Lane Ln21 is a lane whose direction of travel is from right to left in Figure 2. Lane boundary Ml21 is a lane boundary that separates lane Ln21 from the outside of left-hand road Rd2, and is specifically a dividing line or curbstone between lane Ln21 and the outside of the near side of left-hand road Rd2. Extension line Ml21a is an extension of lane boundary Ml21, and is specifically a virtual line that extends along lane boundary Ml21.

[0054] Lane Ln22 is a lane whose direction of travel is from left to right in Figure 2. Lane boundary Ml22 is a lane boundary that separates lane Ln22 from the outside of left-hand road Rd2, and is specifically a dividing line or curbstone between lane Ln22 and the outside of the far side of left-hand road Rd2. Extension line Ml22a is an extension of lane boundary Ml22, and is specifically a virtual line that extends along lane boundary Ml22.

[0055] (Right side road Rd3) The right road Rd3 is a road located on the right side (i.e., the other side in the vehicle width direction) of the vehicle 1, and is a two-lane road having lanes Ln31 and Ln32. The right road Rd3 is an example of a third road in the present invention.

[0056] Lane Ln31 is a lane whose direction of travel is from left to right in Figure 2. Lane boundary Ml31 is a lane boundary that separates lane Ln31 from the outside of right-hand road Rd3, and is specifically a dividing line or curbstone between lane Ln31 and the outside of the far side of right-hand road Rd3. Extension line Ml31a is an extension of lane boundary Ml31, and is specifically a virtual line that extends along lane boundary Ml31.

[0057] The lane Ln32 is a lane whose direction of travel is from right to left in Figure 2. The lane boundary Ml32 is a lane boundary that separates the lane Ln32 from the outside of the right-hand road Rd3, and is specifically a dividing line or curbstone between the lane Ln32 and the outside of the near side of the right-hand road Rd3. The extension line Ml32a is an extension of the lane boundary Ml32, and is specifically a virtual line that extends along the lane boundary Ml32.

[0058] (Opposite road Rd4) The opposite road Rd4 is a two-lane road having lanes Ln41 and Ln42, located on the opposite side of the intersection CP (described later) with respect to the travel path Rd1. The right road Rd3 is an example of a third road in the present invention.

[0059] Lane Ln41 is a lane whose direction of travel is from bottom to top in Figure 2. Lane boundary Ml41 is a lane boundary that separates lane Ln41 from the outside of opposite road Rd4, and is specifically a dividing line or curbstone between lane Ln41 and the outside of the left side of opposite road Rd4. Extension line Ml41a is an extension of lane boundary Ml41, and is specifically a virtual line that extends along lane boundary Ml41.

[0060] The lane Ln42 is a lane whose direction of travel is from top to bottom in Figure 2. The lane boundary Ml42 is a lane boundary that separates the lane Ln42 from the outside of the opposite road Rd4, and is specifically a dividing line or curbstone between the lane Ln42 and the outside of the right side of the opposite road Rd4. The extension line Ml42a is an extension of the lane boundary Ml42, and is specifically a virtual line that extends along the lane boundary Ml42.

[0061] (Intersection CP) The intersection CP is a four-way intersection where a travel path Rd1, a left road Rd2, a right road Rd3, and an opposite road Rd4 are connected. The intersection center CPc is the center of the intersection CP as controlled by the control device 30. In other words, the intersection center CPc may be different from the actual center of the intersection CP.

[0062] For example, an intersection CP may have a right / left turn method pavement marking Rm at its actual center. Here, the right / left turn method pavement marking Rm is a pavement marking that specifies the section that the vehicle 1 should travel when turning right or left at the intersection CP. The intersection center CPc may be the point where such a right / left turn method pavement marking Rm is provided, or more specifically, may be the center of the right / left turn method pavement marking Rm. The intersection center CPc may also be the intersection of a first boundary line Bd1 and a second boundary line Bd2, which will be described later.

[0063] (1st reference point Rp1) The first reference point Rp1 is the point of contact between the road Rd1 and the left-hand road Rd2 under the control of the control device 30. For example, the first reference point Rp1 can be the intersection of an extension Ml11a of the road boundary Ml11 on the left side of the road Rd1 and an extension Ml21a of the road boundary Ml21 on the near side of the left-hand road Rd2.

[0064] (Second reference point Rp2) The second reference point Rp2 is the point of contact between the right-hand road Rd3 and the opposite road Rd4 under the control of the control device 30. For example, the second reference point Rp2 can be the intersection of an extension Ml31a of the lane boundary Ml31 on the far side of the right-hand road Rd3 and an extension Ml42a of the lane boundary Ml42 on the right side of the opposite road Rd4.

[0065] (Third reference point Rp3) The third reference point Rp3 is the point of contact between the road Rd1 and the right-hand road Rd3 under the control of the control device 30. For example, the third reference point Rp3 can be the intersection of an extension Ml12a of the road boundary Ml12 on the right side of the road Rd1 and an extension Ml32a of the road boundary Ml32 on the near side of the right-hand road Rd3.

[0066] (4th reference point Rp4) The fourth reference point Rp4 is the point of contact between the left-hand road Rd2 and the opposite road Rd4 under the control of the control device 30. For example, the fourth reference point Rp4 can be the intersection of an extension Ml22a of the lane boundary Ml22 on the far side of the left-hand road Rd2 and an extension Ml41a of the lane boundary Ml41 on the left side of the opposite road Rd4.

[0067] (1st boundary line Bd1) The first boundary line Bd1 is a virtual line segment that passes through the first reference point Rp1 and the second reference point Rp2 or the intersection center CPc. That is, the first boundary line Bd1 may be a virtual line segment that passes through the first reference point Rp1 and the second reference point Rp2, or a virtual line segment that passes through the first reference point Rp1 and the intersection CP.

[0068] (Second boundary line Bd2) The second boundary line Bd2 is a virtual line segment that passes through the third reference point Rp3 and the fourth reference point Rp4 or the intersection center CPc. That is, the second boundary line Bd2 may be a virtual line segment that passes through the third reference point Rp3 and the fourth reference point Rp4, or a virtual line segment that passes through the third reference point Rp3 and the intersection center CPc.

[0069] (An example of a process implemented by a functional unit included in a control device) The control device 30 includes, for example, a recognition unit 31, a trajectory generation unit 32, and a travel control unit 33 as functional units realized by a processor executing a program stored in a memory unit of the control device 30.

[0070] The recognition unit 31 recognizes the surrounding situation of the vehicle 1. For example, the recognition unit 31 performs sensor fusion processing on the detection results from some or all of the camera 111, sonar 112, and radar 113 included in the external sensor 11, and recognizes the surrounding situation of the vehicle 1 based on the processing results.

[0071] The recognition unit 31 recognizes the position, type, speed, acceleration, etc. of objects present around the vehicle 1 as the surrounding conditions of the vehicle 1. At this time, the recognition unit 31 recognizes the position of the object as a position on absolute coordinates with a representative point of the vehicle 1 (for example, the center of gravity or the center of the drive shaft) as the origin. This makes it possible to recognize the relative position between the vehicle 1 and the objects present around it. Furthermore, on the above absolute coordinates, the position of the object may be represented using a representative point such as the center of gravity or a corner of the object, or may be represented as an area.

[0072] Examples of objects that can be recognized by the recognition unit 31 include traffic participants such as other vehicles and pedestrians, lane boundaries such as lane markings, curbs, and median strips, road structures such as guardrails and road shoulders, road markings (for example, right and left turn method road markings Rm shown in FIG. 2), road signs, etc. The recognition unit 31 can also recognize other road phenomena such as traffic lights, stop lines, crosswalks, forks, merging points, interchanges, and toll booths on toll roads.

[0073] The recognition unit 31 can recognize road boundaries such as the lane boundary Ml11 of the road Rd1 and the lane boundary Ml21 of the left-hand road Rd2 shown in Fig. 2, as well as road markings such as right- and left-turn direction road markings Rm. Based on the recognition results of the lane boundaries, the recognition unit 31 can recognize the shape of the lane in which the vehicle 1 is traveling and intersections CP located in the traveling direction of the vehicle 1. The recognition unit 31 may also recognize intersections CP located in the traveling direction of the vehicle 1 based on, for example, the current position of the vehicle 1 identified by the navigation device 20 (e.g., the GNSS receiver 21) and map information such as the map information database 24.

[0074] When the recognition unit 31 recognizes an intersection CP that exists in the traveling direction of the vehicle 1, the trajectory generation unit 32 generates a traveling trajectory from an entry position of the vehicle 1 at the intersection CP (hereinafter also referred to as "entrance position PA") to an exit position of the vehicle 1 at the intersection CP (hereinafter also referred to as "exit position PE"). Here, the traveling trajectory is a trajectory along which the vehicle 1 should travel, and can also be called a "target traveling line."

[0075] As will be described in detail later, when the vehicle 1 travels from the travel path Rd1 to the right-hand road Rd3 at an intersection CP located in its traveling direction (in other words, when the vehicle 1 turns right at the intersection CP), the trajectory generation unit 32 identifies a first reference point Rp1, which is the junction between the travel path Rd1 and the left-hand road Rd2, and a second reference point Rp2, which is the junction between the right-hand road Rd3 and the opposite road Rd4, or an intersection center CPc, which is the center of the intersection CP, based on the recognition result of the recognition unit 31. Then, the trajectory generation unit 32 derives a first boundary line Bd1, which is a line segment passing through the identified first reference point Rp1 and the second reference point Rp2 or the intersection center CPc, and generates a traveling trajectory along the derived first boundary line Bd1 (see, for example, the traveling trajectory Ob1 in FIG. 3 ).

[0076] The trajectory generation unit 32 can geometrically identify each reference point shown in FIG. 2, such as the first reference point Rp1 and the second reference point Rp2, based on the lane boundary recognition results by the recognition unit 31. For example, as described above, the first reference point Rp1 can be identified as the intersection of the extension line Ml11a of the lane boundary Ml11 of the road Rd1 and the extension line Ml21a of the lane boundary Ml21 of the left-hand road Rd2. The trajectory generation unit 32 can also identify the intersection center CPc based on the recognition results of the right / left turn method pavement marking Rm by the recognition unit 31 or the identified reference points. The trajectory generation unit 32 can then geometrically derive the first boundary line Bd1 based on the identified reference points and the intersection center CPc.

[0077] It should be noted that which road (i.e., which direction) the vehicle 1 intends to travel at the intersection CP can be determined based on, for example, route guidance provided by the navigation device 20 or the lighting state of a turn signal (not shown) provided on the vehicle 1. Furthermore, if the vehicle 1 is an autonomously driven vehicle, it may be possible to determine which road the vehicle 1 intends to travel at the intersection CP based on a driving plan generated based on the route to the destination.

[0078] However, for example, if an intersection CP exists in the traveling direction of the vehicle 1 but the vehicle 1 has not yet entered the intersection CP (in other words, if the vehicle 1 is still away from the intersection CP), the recognition unit 31 may not be able to recognize the lane boundary Ml31 on the far side of the right-hand road Rd3 or the lane boundary Ml42 on the right side of the opposite road Rd4. In such a case, the trajectory generation unit 32 will not be able to identify the second reference point Rp2, which is the junction between the right-hand road Rd3 and the opposite road Rd4, based on the recognition result of the recognition unit 31.

[0079] Therefore, when the second reference point Rp2 can be identified based on the recognition result of the recognition unit 31, the trajectory generation unit 32 may derive a line segment passing through the first reference point Rp1 and the second reference point Rp2 as the first boundary line Bd1, as described above. On the other hand, when the second reference point Rp2 cannot be identified based on the recognition result of the recognition unit 31, the trajectory generation unit 32 may determine a point indicated by a node corresponding to the intersection CP in map information such as the map information database 24 as the intersection center CPc, and derive a line segment passing through the first reference point Rp1 and the intersection center CPc as the first boundary line Bd1. When the point indicated by the node corresponding to the intersection CP is determined as the intersection center CPc, the trajectory generation unit 32 may set the intersection center CPc based on, for example, the positional relationship between the current position of the vehicle 1 identified by the navigation device 20 (e.g., the GNSS receiver 21) and the point indicated by the node corresponding to the intersection CP.

[0080] Furthermore, for example, when the vehicle 1 enters an intersection CP, the recognition unit 31 may be able to recognize a right / left turn method pavement marking Rm provided at the intersection CP. In this way, when the right / left turn method pavement marking Rm is recognized by the recognition unit 31, the trajectory generation unit 32 may determine the point where the right / left turn method pavement marking Rm is provided as the intersection center CPc, and generate a driving trajectory using the intersection center CPc. This allows the intersection center CPc to be determined to be a point that approximately coincides with the actual center of the intersection CP, making it possible to generate an appropriate driving trajectory.

[0081] In this embodiment, when the vehicle 1 makes a right turn at an intersection CP, if the recognition unit 31 recognizes a right / left turn method pavement marking Rm, the trajectory generation unit 32 determines the point where the right / left turn method pavement marking Rm is provided as the intersection center CPc, and derives a first boundary line Bd1 that passes through a first reference point Rp1 and the intersection center CPc. Also, if the recognition unit 31 does not recognize the right / left turn method pavement marking Rm, but is able to identify a second reference point Rp2 based on the recognition result of the recognition unit 31, the trajectory generation unit 32 derives a first boundary line Bd1 that passes through the first reference point Rp1 and the identified second reference point Rp2. If the second reference point Rp2 cannot be identified based on the recognition result of the recognition unit 31, the trajectory generation unit 32 determines the point indicated by the node corresponding to the intersection CP in map information such as the map information database 24 to be the intersection center CPc, and derives the first boundary line Bd1 that passes through the first reference point Rp1 and the intersection center CPc.

[0082] Incidentally, for example, depending on the route to the destination, the vehicle 1 may travel from the travel path Rd1 to the opposite road Rd4 at an intersection CP located in the traveling direction (in other words, the vehicle 1 may travel straight through the intersection CP). In this way, when the vehicle 1 travels from the travel path Rd1 to the opposite road Rd4 at the intersection CP located in the traveling direction, the trajectory generating unit 32 may generate a travel trajectory (for example, see the travel trajectory Ob3 in FIG. 5 and the travel trajectory Ob4 in FIG. 6) that travels from the entry position PA to the exit position PE without interfering with the intersection center CPc.

[0083] Similarly, there is also a case where the vehicle 1 travels from the travel path Rd1 to the left road Rd2 at an intersection CP located in its traveling direction (in other words, the vehicle 1 turns left at the intersection CP). In this way, when the vehicle 1 travels from the travel path Rd1 to the left road Rd2 at the intersection CP located in its traveling direction, the trajectory generating unit 32 may generate a travel trajectory (see, for example, the travel trajectory Ob2 in FIG. 4) that travels from the entry position PA to the exit position PE along the travel path boundary Ml11, which is the travel path boundary on the left road Rd2 side of the travel path Rd1, without interfering with the intersection center CPc.

[0084] The driving control unit 33 causes the vehicle 1 to travel based on the travel trajectory generated by the trajectory generation unit 32. Specifically, the driving control unit 33 controls the steering of the vehicle 1 via the EPS system 40 so that the vehicle 1 travels while tracing the travel trajectory (in other words, the target travel line) generated by the trajectory generation unit 32. In addition, at this time, the driving control unit 33 may control the driving force of the vehicle 1 via the driving force control system 50, or may control the braking force of the vehicle 1 via the braking force control system 60.

[0085] [3. Example of driving trajectory generated by the control device] Next, specific examples of travel trajectories generated by the control device 30 using the function of the trajectory generation unit 32 will be described with reference to Figures 3 to 6. In each of Figures 3 to 6, the vehicle 1 is traveling on the travel path Rd1 toward the intersection CP, as in the example shown in Figure 2, and the intersection CP is located in the traveling direction (i.e., ahead) of the vehicle 1.

[0086] (Trajectory generated when a vehicle turns right at an intersection) Fig. 3 is a diagram showing an example of a travel trajectory generated when the vehicle 1 turns right at an intersection CP. In the example shown in Fig. 3, the vehicle 1 is about to turn right at the intersection CP and proceed onto a right-hand road Rd3. In this case, the trajectory generation unit 32 identifies a first reference point Rp1 and a second reference point Rp2 or an intersection center CPc based on the recognition result of the recognition unit 31. Then, the trajectory generation unit 32 derives a first boundary line Bd1 that passes through the first reference point Rp1 and the second reference point Rp2 or the intersection center CPc, and generates a travel trajectory Ob1 that follows the first boundary line Bd1.

[0087] In this way, when the vehicle 1 turns right at the intersection CP, the first boundary line Bd1 is derived based on the recognition result of the recognition unit 31, and a driving trajectory Ob1 is generated along the first boundary line Bd1. This makes it possible to make the vehicle 1, which is attempting to proceed from the driving path Rd1 to the right road Rd3 at the four-way intersection CP where four roads including the driving path Rd1 and the right road Rd3 are connected, travel around the intersection CP based on an appropriate driving trajectory Ob1 that does not make a tight or wide detour.

[0088] Furthermore, when the vehicle 1 turns right at the intersection CP, the trajectory generation unit 32 generates a travel trajectory Ob1 that includes, for example, a first trajectory Ob1a that travels straight from the entry position PA to a predetermined distance before the first boundary line Bd1, and a second trajectory Ob1b that curves from the end of the first trajectory Ob1a along the first boundary line Bd1. This allows the vehicle 1, which is moving from the travel path Rd1 to the right-hand road Rd3, to travel based on the travel trajectory Ob1 in the same way as when the vehicle 1 is driven by an occupant.

[0089] In this example, the entry position PA can be, for example, a position to the right of the intersection CP side end of the lane boundary Ml11 of the lane Ln11 (i.e., the "R" side shown in FIG. 3) and in the widthwise center of the lane Ln11. The exit position PE can be, for example, a position behind the intersection CP side end of the lane boundary Ml31 of the lane Ln31 to which the vehicle is turning right (i.e., the "Rr" side shown in FIG. 3) and in the widthwise center of the lane Ln31.

[0090] Furthermore, as described above, when the vehicle 1 makes a right turn at an intersection CP, if the recognition unit 31 recognizes the right / left turn method pavement marking Rm, the trajectory generation unit 32 may determine the point where the right / left turn method pavement marking Rm is provided as the intersection center CPc, and derive a first boundary line Bd1 that passes through the first reference point Rp1 and the intersection center CPc. Furthermore, if the recognition unit 31 does not recognize the right / left turn method pavement marking Rm, but the recognition unit 31 is able to identify a second reference point Rp2 based on the recognition result, the trajectory generation unit 32 may derive a first boundary line Bd1 that passes through the first reference point Rp1 and the identified second reference point Rp2. If the recognition unit 31 is also unable to identify the second reference point Rp2 based on the recognition result, the trajectory generation unit 32 may determine the point indicated by a node corresponding to the intersection CP in map information, such as the map information database 24, as the intersection center CPc, and derive a first boundary line Bd1 that passes through the first reference point Rp1 and the intersection center CPc.

[0091] (Trajectory generated when a vehicle turns left at an intersection) Fig. 4 is a diagram showing an example of a travel trajectory generated when the vehicle 1 turns left at an intersection CP. In the example shown in Fig. 4, the vehicle 1 is about to turn left at the intersection CP and proceed onto the left-hand road Rd2. In this case, the trajectory generation unit 32 generates a travel trajectory Ob2 that travels from an entry position PA to an exit position PE along the left-hand road boundary Ml11 of the road Rd1, based on the recognition result of the recognition unit 31.

[0092] In this example, the entry position PA can be, for example, a position to the right of the intersection CP side end of the lane boundary Ml11 of the lane Ln11, which is the lane the vehicle is traveling in (i.e., on the "R" side shown in FIG. 4), and in the widthwise center of the lane Ln11. The exit position PE can be, for example, a position behind the intersection CP side end of the lane boundary Ml21 of the lane Ln21 to which the vehicle is turning left (i.e., on the "Rr" side shown in FIG. 4), and in the widthwise center of the lane Ln21.

[0093] In addition, when vehicle 1 turns left at intersection CP and vehicle 1 has already entered intersection CP, trajectory generation unit 32 may generate a driving trajectory Ob2 that heads from the current position of vehicle 1 to the exit position PE (in other words, from the current position of vehicle 1 to the entrance of lane Ln21) based on the recognition result of recognition unit 31.

[0094] In this way, when the vehicle 1 turns left at the intersection CP, a driving trajectory Ob2 that follows the lane boundary Ml11 on the left side of the driving path Rd1 is generated based on the recognition result of the recognition unit 31. This makes it possible for the vehicle 1, which is attempting to proceed from the driving path Rd1 to the left road Rd2 at the intersection CP, a four-way intersection where four roads including the driving path Rd1 and the left road Rd2 are connected, to travel based on an appropriate driving trajectory Ob2 that does not make a tight or wide detour around the intersection CP, without having to prepare information about the intersection CP in advance.

[0095] (Trajectory generated when a vehicle goes straight through an intersection) Fig. 5 is a diagram showing an example of a travel trajectory generated when the vehicle 1 travels straight through an intersection CP. In the example shown in Fig. 5, the vehicle 1 is about to travel from a travel path Rd1 to an opposite road Rd4. In this example, the exit position PE of the vehicle 1 at the intersection CP is offset to the left (i.e., to one side in the vehicle width direction) with respect to the entry position PA.

[0096] 5, the trajectory generation unit 32 identifies the intersection center CPc and generates a travel trajectory Ob3 that travels from the entry position PA to the exit position PE without interfering with the intersection center CPc. As a result, even if information about the intersection CP is not prepared in advance, the vehicle 1 that attempts to travel from the travel path Rd1 to the opposite road Rd4 at the four-way intersection CP, where four roads including the travel path Rd1 and the opposite road Rd4 are connected, can travel based on an appropriate travel trajectory Ob3 that takes into consideration other vehicles traveling at the intersection CP (for example, other vehicles that attempt to travel from the opposite road Rd4 to the travel path Rd1).

[0097] In this example, the entry position PA can be, for example, a position to the right of the intersection CP side end of the lane boundary Ml11 of the lane Ln11, which is the lane the vehicle is traveling in (i.e., on the "R" side shown in FIG. 5), and in the widthwise center of the lane Ln11. The exit position PE can be, for example, a position behind the intersection CP side end of the lane boundary Ml41 of the lane Ln41, the lane the vehicle is traveling straight ahead in (i.e., on the "Rr" side shown in FIG. 4), and in the widthwise center of the lane Ln41.

[0098] 5, the trajectory generation unit 32 determines that the exit position PE is offset to the left with respect to the entry position PA, based on the recognition result of the recognition unit 31. The trajectory generation unit 32 also identifies a first reference point Rp1 and a second reference point Rp2 or an intersection center CPc, based on the recognition result of the recognition unit 31, etc. Then, the trajectory generation unit 32 derives a first boundary line Bd1 that passes through the first reference point Rp1 and the second reference point Rp2 or the intersection center CPc.

[0099] After deriving the first boundary line Bd1 in this manner, the trajectory generation unit 32 generates a traveling trajectory Ob3 that is on the first boundary line Bd1 and passes through a first point P1 that is a first predetermined distance d11 away from the first reference point Rp1. Here, the first predetermined distance d11 is smaller than the distance d12 from the first reference point Rp1 to the intersection center CPc. This makes it possible to generate a traveling trajectory Ob3 that does not interfere with the intersection center CPc.

[0100] Furthermore, the first point P1 may be an inflection point of the travel trajectory Ob3. The travel trajectory Ob3 may have a portion that is point-symmetric with respect to the first point P1. In this way, as shown in FIG. 5, it is possible to generate a travel trajectory Ob3 that smoothly curves within the intersection CP while heading from the entry position PA to the exit position PE (i.e., heading from the travel path Rd1 to the opposite road Rd4). Therefore, even if the exit position PE at the intersection CP is offset to the left from the entry position PA, the vehicle 1 traveling from the travel path Rd1 to the opposite road Rd4 can travel based on an appropriate travel trajectory Ob3 that takes into consideration other vehicles traveling at the intersection CP.

[0101] Furthermore, the traveling trajectory Ob3 may be set a predetermined distance away from the fourth reference point Rp4, which is the intersection of the left-side road Rd2 and the opposite road Rd4. This makes it possible to prevent the traveling trajectory Ob3 from getting too close to the fourth reference point Rp4 (in other words, the lane boundary Ml22 of the left-side road Rd2 or the lane boundary Ml41 of the opposite road Rd4).

[0102] FIG. 6 is a diagram showing another example of a driving trajectory generated when the vehicle 1 travels straight through the intersection CP. In the example shown in FIG. 6, the vehicle 1 is about to travel from the driving path Rd1 to the opposite road Rd4. In this example, the exit position PE of the vehicle 1 at the intersection CP is offset to the right (i.e., the other side in the vehicle width direction) with respect to the entry position PA. The following description will focus on differences from the example shown in FIG. 5, and descriptions of similar parts to the example shown in FIG. 5 will be omitted or simplified as appropriate.

[0103] In the case shown in FIG. 6, the trajectory generating unit 32 identifies the intersection center CPc and generates a traveling trajectory Ob4 that travels from the entrance position PA to the exit position PE without interfering with the intersection center CPc.

[0104] 6, the trajectory generation unit 32 determines that the exit position PE is offset to the right with respect to the entry position PA, based on the recognition result of the recognition unit 31. The trajectory generation unit 32 also identifies a third reference point Rp3 and a fourth reference point Rp4 or the intersection center CPc, based on the recognition result of the recognition unit 31, etc. Then, the trajectory generation unit 32 derives a second boundary line Bd2 that passes through the third reference point Rp3 and the fourth reference point Rp4 or the intersection center CPc.

[0105] After deriving the second boundary line Bd2 in this manner, the trajectory generation unit 32 generates a traveling trajectory Ob4 that is on the second boundary line Bd2 and passes through a second point P2 that is a second predetermined distance d21 away from the third reference point Rp3. Here, the second predetermined distance d21 is greater than the distance d22 from the third reference point Rp3 to the intersection center CPc. This makes it possible to generate a traveling trajectory Ob4 that does not interfere with the intersection center CPc.

[0106] Furthermore, the second point P2 may be an inflection point of the travel trajectory Ob4. The travel trajectory Ob2 may have a portion that is point-symmetric with respect to the second point P2. In this way, as shown in FIG. 6, it is possible to generate a travel trajectory Ob4 that smoothly curves within the intersection CP while heading from the entry position PA to the exit position PE (i.e., heading from the travel path Rd1 to the opposite road Rd4). Therefore, even if the exit position PE at the intersection CP is offset to the right from the entry position PA, the vehicle 1 traveling from the travel path Rd1 to the opposite road Rd4 can travel based on an appropriate travel trajectory Ob4 that takes into consideration other vehicles traveling at the intersection CP.

[0107] Furthermore, the traveling trajectory Ob4 may be set a predetermined distance away from the fourth reference point Rp4, which is the intersection of the left-side road Rd2 and the opposite road Rd4. In this way, it is possible to prevent the traveling trajectory Ob4 from getting too close to the fourth reference point Rp4 (in other words, the lane boundary Ml22 of the left-side road Rd2 or the lane boundary Ml41 of the opposite road Rd4).

[0108] [4. Example of processing procedure by the control device] Next, an example of the processing procedure performed by the control device 30 will be described. Figures 7 to 14 are flowcharts (part 1) to (part 8) showing an example of the processing procedure performed by the control device 30. For example, when the ignition power supply of the vehicle 1 is on, the control device 30 executes the series of processing shown in Figures 7 to 14 at a predetermined interval.

[0109] As shown in Fig. 7, first, the control device 30 determines whether or not an intersection CP is present within a predetermined distance (e.g., 30 m) in the traveling direction of the vehicle 1 (step Sp1). If it is determined that such an intersection CP is present (step Sp1: YES), the control device 30 determines whether or not the vehicle 1 will turn right at the intersection CP (step Sp2). If it is determined that the vehicle 1 will turn right at the intersection CP (step Sp2: YES), the control device 30 executes a right turn process (step Sp3) to be described later, and ends the series of processes shown in Figs. 7 to 14.

[0110] On the other hand, if it is determined that the vehicle 1 will not turn right at the intersection CP (step Sp2: NO), the control device 30 determines whether or not the vehicle 1 will turn left at the intersection CP (step Sp4).If it is determined that the vehicle 1 will turn left at the intersection CP (step Sp4: YES), the control device 30 executes a left turn process (step Sp5) to end the series of processes shown in FIGS. 7 to 14.

[0111] Furthermore, if it is determined that the vehicle 1 will not turn left at the intersection CP, i.e., will go straight (step Sp4: NO), the control device 30 executes a straight-ahead process, which will be described later (step Sp6), and ends the series of processes shown in FIGS. 7 to 14.

[0112] (Right turn processing) 8, in the right turn processing of Sp3, the control device 30 first determines whether the vehicle 1 has already entered the intersection CP (step Sp11). If it is determined that the vehicle 1 has not already entered the intersection CP (step Sp11: NO), the control device 30 identifies the intersection center CPc based on map information such as the map information database 24 (step Sp12).

[0113] Next, the control device 30 identifies the first reference point Rp1, which is the intersection between the road Rd1 and the left-side road Rd2, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml21 of the left-side road Rd2 (step Sp13).

[0114] Next, the control device 30 derives, as a first boundary line Bd1, a line segment passing through the first reference point Rp1 identified by the processing in step Sp13 and the intersection center CPc identified by the processing in step Sp11 (step Sp14).

[0115] Next, the control device 30 generates a traveling trajectory Ob1 along the first boundary line Bd1 derived by the processing of step Sp14 (step Sp15). Then, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory Ob1 (step Sp16), and ends the current right turn processing.

[0116] On the other hand, if it is determined in the processing of step Sp11 in FIG. 8 that the vehicle 1 has already entered the intersection CP (step Sp11: YES), the control device 30 proceeds to the processing of step Sp21 in FIG. 9 and determines whether or not the right / left turn method pavement marking Rm has been recognized (step Sp21).

[0117] If it is determined that the right / left turn method road marking Rm has been recognized (step Sp21: YES), the control device 30 identifies the intersection center CPc based on the recognized right / left turn method road marking Rm (step Sp22).

[0118] Next, the control device 30 identifies the first reference point Rp1, which is the intersection between the road Rd1 and the left-side road Rd2, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml21 of the left-side road Rd2 (step Sp23).

[0119] Next, the control device 30 derives the line segment passing through the first reference point Rp1 identified by the processing of step Sp23 and the intersection center CPc identified by the processing of step Sp21 as the first boundary line Bd1 (step Sp24), and proceeds to the processing of step Sp28.

[0120] On the other hand, if it is determined in the processing of step Sp21 that the right / left turn method pavement marking Rm could not be recognized (step Sp21: NO), the control device 30 identifies the second reference point Rp2, which is the junction between the opposite road Rd4 and the right road Rd3, based on the lane boundary Ml42 of the opposite road Rd4 and the lane boundary Ml31 of the right road Rd3 (step Sp25).

[0121] Next, the control device 30 identifies the first reference point Rp1, which is the intersection between the road Rd1 and the left-hand road Rd2, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml21 of the left-hand road Rd2 (step Sp26).

[0122] Next, the control device 30 derives the line segment passing through the first reference point Rp1 identified by the processing of step Sp26 and the second reference point Rp2 identified by the processing of step Sp25 as the first boundary line Bd1 (step Sp27), and proceeds to the processing of step Sp28.

[0123] In the process of step Sp28, the control device 30 generates a traveling trajectory Ob1 along the first boundary line Bd1 derived by the process of step Sp24 or step Sp27 (step Sp28). Then, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory Ob1 generated by the process of step Sp28 (step Sp29), and ends the current right turn process.

[0124] (Left turn processing) 10, in the left turn processing of Sp5, the control device 30 first determines whether the vehicle 1 has entered the intersection CP (step Sp31). If it is determined that the vehicle 1 has not entered the intersection CP (step Sp31: NO), the control device 30 generates a traveling trajectory Ob2 that follows the left lane boundary Ml11 of the lane boundaries Ml11 and Ml12 of the traveling path Rd1 on which the vehicle 1 is currently traveling (step Sp32), and proceeds to the processing of step Sp34.

[0125] On the other hand, if it is determined that the vehicle 1 has already entered the intersection CP (step Sp31: YES), the control device 30 generates a traveling trajectory Ob2 from the current position of the vehicle 1 toward the exit position PE (step Sp33), and proceeds to the processing of step Sp34.

[0126] In the process of step Sp34, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory Ob2 generated in the process of step Sp32 or step Sp33, and ends the current left turn process.

[0127] (Straight processing) 11, in the straight-ahead processing of Sp6, the control device 30 first determines whether the vehicle 1 has already entered the intersection CP (step Sp41). If it is determined that the vehicle 1 has not already entered the intersection CP (step Sp41: NO), the control device 30 determines whether the intersection CP is an offset intersection, that is, whether the exit position PE of the vehicle 1 at the intersection CP is offset to the left (in other words, one side in the vehicle width direction) or right (in other words, the other side in the vehicle width direction) with respect to the entry position PA (step Sp42).

[0128] If it is determined that the intersection is not an offset intersection (step Sp42: NO), the control device 30 generates a travel trajectory from the entry position PA to the exit position PE (step Sp43) and proceeds to the processing of step Sp49. In this case, the control device 30 may generate, for example, a travel trajectory that continues straight from the entry position PA to the exit position PE.

[0129] On the other hand, if it is determined that the intersection is an offset intersection (step Sp42: YES), the control device 30 determines whether the exit position PE is offset to the right with respect to the entry position PA as shown in FIG. 6 (step Sp44).

[0130] If it is determined that the exit position PE is offset to the right from the entry position PA (step Sp44: YES), the control device 30 identifies the intersection center CPc based on map information from the map information database 24 or the like (step Sp45).

[0131] Next, the control device 30 identifies the third reference point Rp3, which is the intersection between the road Rd1 and the right-hand road Rd3, based on the road boundary Ml12 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml32 of the right-hand road Rd3 (step Sp46).

[0132] Next, the control device 30 derives, as a second boundary line Bd2, a line segment passing through the third reference point Rp3 identified by the processing in step Sp46 and the intersection center CPc identified by the processing in step Sp45 (step Sp47).

[0133] Next, the control device 30 generates a driving trajectory Ob4 (see, for example, Figure 6) that runs from the entry position PA through the second point P2, which is on the second boundary line Bd2 and a second predetermined distance d21 away from the third reference point Rp3, toward the exit position PE (step Sp48), and proceeds to processing of step Sp49.

[0134] In the process of step Sp49, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory generated in the process of step Sp43 or step Sp48, and ends the current straight running process.

[0135] Furthermore, if it is determined in the processing of step Sp44 that the exit position PE is not offset to the right relative to the entry position PA, that is, if it is determined that the exit position PE is offset to the left relative to the entry position PA as shown in Figure 5 (step Sp44: NO), the control device 30 proceeds to the processing of step Sp51 in Figure 12 and identifies the intersection center CPc based on map information such as the map information database 24 (step Sp51).

[0136] Next, the control device 30 identifies the first reference point Rp1, which is the intersection between the road Rd1 and the left-side road Rd3, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml21 of the left-side road Rd3 (step Sp52).

[0137] Next, the control device 30 derives, as a first boundary line Bd1, a line segment passing through the first reference point Rp1 identified by the processing in step Sp52 and the intersection center CPc identified by the processing in step Sp51 (step Sp53).

[0138] Next, the control device 30 generates a traveling trajectory Ob3 (see, for example, FIG. 5) that travels from the entry position PA through a first point P1 that is on the first boundary line Bd1 and is a first predetermined distance d11 away from the first reference point Rp1 toward the exit position PE (step Sp54).The control device 30 then controls the steering of the vehicle 1 based on the traveling trajectory Ob3 generated by the processing of step Sp54 (step Sp55), and ends the current straight-ahead processing.

[0139] Also, in step Sp41 shown in Figure 11, if it is determined that the vehicle 1 has already entered the intersection CP (step Sp41: YES), the control device 30 proceeds to processing step Sp61 in Figure 13, and determines whether the intersection CP is an offset intersection (step Sp61), similar to the processing of step Sp42.

[0140] If it is determined that the intersection is not an offset intersection (step Sp61: NO), the control device 30 generates a travel trajectory from the entry position PA to the exit position PE (step Sp62), similar to the processing of step Sp43, and proceeds to the processing of step Sp72.

[0141] On the other hand, if it is determined that the intersection CP is an offset intersection (step Sp61: YES), the control device 30 determines whether the exit position PE is offset to the right with respect to the entry position PA (step Sp63), similar to the process in step Sp44.

[0142] If it is determined that the exit position PE is offset to the right with respect to the entry position PA (step Sp63: YES), the control device 30 determines whether or not the right / left turn method pavement marking Rm has been recognized (step Sp64).

[0143] If it is determined that the right / left turn method road marking Rm has been recognized (step Sp64: YES), the control device 30 identifies the intersection center CPc based on the recognized right / left turn method road marking Rm (step Sp65).

[0144] Next, the control device 30 identifies the third reference point Rp3, which is the intersection between the road Rd1 and the right-hand road Rd3, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml32 of the right-hand road Rd3 (step Sp66).

[0145] Next, the control device 30 derives the line segment passing through the third reference point Rp3 identified by the processing of step Sp66 and the intersection center CPc identified by the processing of step Sp65 as the second boundary line Bd2 (step Sp67), and proceeds to the processing of step Sp71.

[0146] On the other hand, if it is determined in the processing of step Sp64 that the right / left turn method pavement marking Rm could not be recognized (step Sp64: NO), the control device 30 identifies the fourth reference point Rp4, which is the junction between the opposite road Rd4 and the left road Rd2, based on the lane boundary Ml41 of the opposite road Rd4 and the lane boundary Ml22 of the left road Rd2 (step Sp68).

[0147] Next, the control device 30 identifies the third reference point Rp3, which is the intersection between the road Rd1 and the right-hand road Rd3, based on the road boundary Ml12 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml32 of the right-hand road Rd3 (step Sp69).

[0148] Next, the control device 30 derives the line segment passing through the third reference point Rp3 identified by the processing of step Sp69 and the fourth reference point Rp4 identified by the processing of step Sp68 as the second boundary line Bd2 (step Sp70), and proceeds to the processing of step Sp71.

[0149] In the processing of step Sp71, the control device 30 generates a traveling trajectory Ob4 (see, for example, FIG. 6) that travels from the entry position PA through a second point P2 that is on the second boundary line Bd2 and away from the third reference point Rp3 by a second predetermined distance d21, toward the exit position PE (step Sp71). Then, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory Ob4 generated by the processing of step Sp71 (step Sp72), and ends the current straight-ahead processing.

[0150] Furthermore, in the processing of step Sp63 in FIG. 13, if it is determined that the exit position PE is not offset to the right from the entry position PA, that is, if it is determined that the exit position PE is offset to the left from the entry position PA (step Sp63: NO), the control device 30 proceeds to the processing of step Sp81 in FIG. 14 and determines whether or not the right / left turn method pavement marking Rm has been recognized.

[0151] If it is determined that the right / left turn method road marking Rm has been recognized (step Sp81: YES), the control device 30 identifies the intersection center CPc based on the recognized right / left turn method road marking Rm (step Sp82).

[0152] Next, the control device 30 identifies the first reference point Rp1, which is the junction between the road Rd1 and the left-hand road Rd2, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml21 of the left-hand road Rd2 (step Sp83).

[0153] Next, the control device 30 derives the line segment passing through the first reference point Rp1 identified by the processing of step Sp83 and the intersection center CPc identified by the processing of step Sp82 as the first boundary line Bd1 (step Sp84), and proceeds to the processing of step Sp88.

[0154] On the other hand, if it is determined that the right / left turn method pavement marking Rm could not be recognized (step Sp81: NO), the control device 30 identifies the second reference point Rp2, which is the junction between the opposite road Rd4 and the right road Rd3, based on the lane boundary Ml42 of the opposite road Rd4 and the lane boundary Ml31 of the right road Rd3 (step Sp85).

[0155] Next, the control device 30 identifies the first reference point Rp1, which is the intersection between the road Rd1 and the left-hand road Rd2, based on the road boundary Ml11 of the road Rd1 on which the vehicle 1 is currently traveling and the road boundary Ml21 of the left-hand road Rd2 (step Sp86).

[0156] Next, the control device 30 derives the line segment passing through the first reference point Rp1 identified by the processing of step Sp86 and the second reference point Rp2 identified by the processing of step Sp85 as the first boundary line Bd1 (step Sp87), and proceeds to the processing of step Sp88.

[0157] In the processing of step Sp88, the control device 30 generates a traveling trajectory Ob3 (see, for example, FIG. 5) that travels from the entry position PA through a first point P1 that is on the first boundary line Bd1 and is a first predetermined distance d11 away from the first reference point Rp1 toward the exit position PE (step Sp88). Then, the control device 30 controls the steering of the vehicle 1 based on the traveling trajectory Ob3 generated by the processing of step Sp88 (step Sp89), and ends the current straight-ahead processing.

[0158] As described above, when the vehicle 1 makes a right turn at an intersection CP, the control device 30 derives the first boundary line Bd1 based on the recognition result of the recognition unit 31, generates a travel trajectory Ob1 that follows the derived first boundary line Bd1, and controls the steering of the vehicle 1 based on the generated travel trajectory Ob1 (see, for example, FIGS. 8 and 9). As a result, even if information about the intersection CP is not prepared in advance, the vehicle 1 attempting to make a right turn at the intersection CP can be made to travel based on an appropriate travel trajectory Ob1 that does not make a tight or wide detour around the intersection CP, and turn right at the intersection CP.

[0159] Furthermore, when the vehicle 1 turns left at an intersection CP, the control device 30 generates a travel trajectory Ob2 along the lane boundary Ml11 of the travel path Rd1 on which the vehicle 1 is currently traveling, or a travel trajectory Ob2 heading from the current position of the vehicle 1 toward the exit position PE, based on the recognition result of the recognition unit 31, and can control the steering of the vehicle 1 based on the generated travel trajectory Ob2 (see, for example, FIG. 10, etc.). As a result, even if information about the intersection CP is not prepared in advance, the vehicle 1 attempting to turn left at the intersection CP can be made to travel based on an appropriate travel trajectory Ob2 that does not make a tight or wide detour around the intersection CP, and turn left at the intersection CP.

[0160] Furthermore, when the vehicle 1 travels straight through the intersection CP, the control device 30 can generate travel trajectories Ob3 and Ob4 from the entry position PA to the exit position PE based on the recognition result of the recognition unit 31, and control the steering of the vehicle 1 based on the generated travel trajectories Ob3 and Ob4. As a result, even if information about the intersection CP is not prepared in advance, the vehicle 1 that intends to travel straight through the intersection CP can be made to travel based on appropriate travel trajectories Ob3 and Ob4 that take into consideration other vehicles traveling at the intersection CP (for example, other vehicles that intend to proceed from the opposite road Rd4 to the travel path Rd1), and can travel straight through the intersection CP.

[0161] Furthermore, according to the control device 30, even if the intersection CP at which the vehicle 1 is going to go straight is an offset intersection such as those shown in Figures 5 and 6, the vehicle 1 can be made to travel based on appropriate travel trajectories Ob3 and Ob4 and go straight through the intersection CP.

[0162] [5. Modified Vehicle Control] Next, a modified example of vehicle control by the control device 30 (e.g., the trajectory generation unit 32) will be described. FIG. 15 is a diagram showing a modified example of vehicle control by the control device 30. In the example shown in FIG. 15, at the intersection CP, the opposite road Rd4 is shifted significantly to the left (i.e., to one side in the vehicle width direction) with respect to the travel path Rd1. Therefore, the first reference point Rp1, which is the junction between the travel path Rd1 and the left road Rd2, and the second reference point Rp2, which is the junction between the right road Rd3 and the opposite road Rd4, are both located on the left side of the vehicle 1. Furthermore, in the example shown in FIG. 15, the vehicle 1 is about to turn right at the intersection CP and proceed from the travel path Rd1 to the right road Rd3.

[0163] In this way, when the vehicle 1 travels from the travel path Rd1 to the right-hand road Rd3 and the first reference point Rp1 and the second reference point Rp2 are both on the left side of the vehicle 1 (i.e., on one side in the vehicle width direction), the control device 30 may generate a travel trajectory Ob1 that heads from the entry position PA to the exit position PE without following the first boundary line Bd1, unlike the example shown in Fig. 3. In this way, even when the first reference point Rp1 and the second reference point Rp2 are both on the left side of the vehicle 1, it is possible to cause the vehicle 1 to travel appropriately from the travel path Rd1 to the right-hand road Rd3 at the intersection CP (i.e., to turn right at the intersection CP).

[0164] The control method described in this embodiment can be realized by executing a prepared program (control program) on a computer. The control program is, for example, stored in a computer-readable storage medium and executed by being read from the storage medium. The control program may be provided in a form stored in a non-volatile (non-transient) storage medium such as a flash memory, or may be provided via a network such as the Internet. In this embodiment, the computer that executes the control program is the control device 30 (e.g., the processor of the control device 30), but this is not limited thereto. For example, the computer that executes the control program may be included in the vehicle 1, or may be included in an external device 2 that can communicate with the vehicle 1.

[0165] Although one embodiment of the present invention has been described above, it goes without saying that the present invention is not limited to the above-described embodiment. It is clear that a person skilled in the art can conceive of various modifications or alterations within the scope of the claims, and it is understood that these also naturally fall within the technical scope of the present invention.

[0166] This specification and the like describe at least the following items. Note that the components in parentheses correspond to those in the above-described embodiments, but are not limited to these.

[0167] (1) A vehicle control device (control device 30) for controlling a vehicle (vehicle 1), a recognition unit (recognition unit 31) that recognizes the surrounding situation of the vehicle; a trajectory generation unit (trajectory generation unit 32) that generates a travel trajectory from an entry position (entry position PA) of the vehicle at the intersection to an exit position (exit position PE) when an intersection (intersection CP) present in the traveling direction of the vehicle is recognized by the recognition unit; a travel control unit (travel control unit 33) that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The trajectory generation unit When the intersection is a four-way intersection connecting a first road (traveling path Rd1) on which the vehicle is currently traveling, a second road (left road Rd2) on one side of the vehicle in the vehicle width direction based on the vehicle, a third road (right road Rd3) on the other side of the vehicle in the vehicle width direction based on the vehicle, and a fourth road (opposite road Rd4) on the opposite side of the intersection from the first road, and the vehicle is traveling from the first road to the third road, Based on the recognition result of the recognition unit, a first reference point (first reference point Rp1) that is a junction between the first road and the second road, a second reference point (second reference point Rp2) that is a junction between the third road and the fourth road, or an intersection center (intersection center CPc) that is the center of the intersection is identified; deriving a first boundary line (first boundary line Bd1) that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the traveling trajectory (traveling trajectory Ob1) along the first boundary line; Vehicle control device.

[0168] According to (1), even if information about the intersection is not prepared in advance, a vehicle attempting to move from Road 1 to Road 3 at a four-way intersection where four roads, including Road 1 and Road 3, are connected can be controlled to travel based on an appropriate travel trajectory that does not require a tight or wide turn around the intersection. This makes it possible to provide a vehicle control device that allows a vehicle to travel appropriately within an intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0169] (2) The vehicle control device according to (1), The vehicle control device includes: The map information database 24 is configured to be able to reference map information having road network information that represents each road by a combination of nodes and links connecting the nodes, The trajectory generation unit When the second reference point can be identified based on the recognition result of the recognition unit, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the recognition unit, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. Vehicle control device.

[0170] According to (2), even if the second reference point cannot be identified based on the recognition results of the recognition unit due to some factor, the intersection center can be identified based on map information having general road network information, and an appropriate driving trajectory can be generated using the intersection center.

[0171] (3) The vehicle control device according to (1) or (2), The trajectory generation unit When the intersection is the four-way intersection and the vehicle travels from the first road to the third road, generating the travel trajectory including a first trajectory (first trajectory Ob1a) that travels straight from the entry position to a predetermined distance before the first boundary line, and a second trajectory (second trajectory Ob1b) that curves from an end of the first trajectory along the first boundary line; Vehicle control device.

[0172] According to (3), a vehicle traveling from the first road to the third road can be made to travel based on the same travel trajectory as when the vehicle's occupant is driving.

[0173] (4) A vehicle control device according to any one of (1) to (3), The trajectory generation unit When the intersection is the four-way intersection and the vehicle travels from the first road to the fourth road, Generate the traveling trajectory (traveling trajectories Ob3, Ob4) that travels from the entry position to the exit position without interfering with the intersection center. Vehicle control device.

[0174] According to (4), even if information about the intersection is not prepared in advance, a vehicle attempting to move from Road 1 to Road 4 at a four-way intersection where four roads, including Road 1 and Road 4, are connected, can be made to move based on an appropriate driving trajectory that takes into consideration other vehicles traveling at the intersection (for example, other vehicles attempting to move from Road 4 to Road 1).

[0175] (5) The vehicle control device according to (4), The trajectory generation unit When the intersection is a four-way intersection and the vehicle is traveling from the first road to the fourth road, determining whether the exit position is offset to one side or the other side in the vehicle width direction with respect to the entry position; When it is determined that the offset is to one side, Identifying the first reference point and the intersection center based on the recognition result of the recognition unit; deriving the first boundary line that passes through the first reference point and the intersection center; The traveling trajectory is generated so as to pass through a first point (first point P1) on the first boundary line and at a first predetermined distance (first predetermined distance d11) from the first reference point, When it is determined that the offset is to the other side, Based on the recognition result of the recognition unit, a third reference point (third reference point Rp3) which is a junction between the first road and the third road, and the center of the intersection are identified; A second boundary line (second boundary line Bd2) is derived, which is a line segment passing through the third reference point and the intersection center; generating the traveling trajectory that passes through a second point (second point P2) on the second boundary line and that is a second predetermined distance (second predetermined distance d21) away from the third reference point; The first predetermined distance is smaller than the distance (distance d12) from the first reference point to the center of the intersection, The second predetermined distance is greater than the distance (distance d22) from the third reference point to the center of the intersection. Vehicle control device.

[0176] According to (5), even at an intersection where the exit position is offset to one side or the other in the vehicle width direction from the entry position, it is possible to generate an appropriate driving trajectory that does not interfere with the center of the intersection. Therefore, at such an intersection, a vehicle attempting to proceed from the first road to the fourth road can travel based on an appropriate driving trajectory that takes into consideration other vehicles traveling at the intersection.

[0177] (6) The vehicle control device according to (5), The trajectory generation unit When it is determined that the vehicle is offset to the one side (left side), the travel trajectory is generated so that the travel trajectory passes through the first point and the first point is an inflection point; When it is determined that the vehicle is offset to the other side (right side), the travel trajectory is generated so that the travel trajectory passes through the second point and the second point is an inflection point. Vehicle control device.

[0178] According to (6), it is possible to generate a driving trajectory that smoothly curves within the intersection from the entry position to the exit position while taking into consideration other vehicles traveling through the intersection.

[0179] (7) The vehicle control device according to (6), The trajectory generation unit When it is determined that the vehicle is offset to one side, the vehicle travel trajectory is generated to have a portion that is point-symmetric with respect to the first point; When it is determined that the vehicle is offset to the other side, the vehicle generates the traveling trajectory having a portion that is point-symmetric with respect to the second point. Vehicle control device.

[0180] According to (7), it is possible to generate a driving trajectory that smoothly curves within the intersection from the entry position to the exit position while taking into consideration other vehicles traveling through the intersection.

[0181] (8) A vehicle control device according to any one of (1) to (7), The trajectory generation unit When the vehicle travels from the first road to the third road and the first reference point and the second reference point are both on one side of the vehicle, the travel trajectory is generated to travel from the entry position to the exit position without following the first boundary line. Vehicle control device.

[0182] According to (8), even if the first reference point and the second reference point are both on one side of the vehicle, it is possible to drive the vehicle appropriately so that it proceeds from the first road to the third road at the intersection.

[0183] (9) A vehicle control device according to any one of (1) to (8), The trajectory generation unit When a road marking (right / left turn method road marking Rm) that specifies the section to be traveled when turning right or left at the intersection is recognized by the recognition unit, the point where the road marking is provided is set as the intersection center, and the driving trajectory is generated using the intersection center. Vehicle control device.

[0184] According to (9), the intersection center can be set to a point that is approximately the same as the actual center of the intersection, making it possible to generate an appropriate driving trajectory.

[0185] (10) A computer (control device 30) that controls a vehicle (vehicle 1) Recognizing the surrounding situation of the vehicle; When an intersection (intersection CP) existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position (entrance position PA) of the vehicle at the intersection to an exit position (exit position PE) is generated; causing the vehicle to travel based on the travel trajectory; Processing is performed, In the process of generating the running trajectory, When the intersection is a four-way intersection connecting a first road (traveling path Rd1) on which the vehicle is currently traveling, a second road (left road Rd2) on one side of the vehicle in the vehicle width direction based on the vehicle, a third road (right road Rd3) on the other side of the vehicle in the vehicle width direction based on the vehicle, and a fourth road (opposite road Rd4) on the opposite side of the intersection from the first road, and the vehicle is traveling from the first road to the third road, Based on the recognition result of the surrounding situation, a first reference point (first reference point Rp1) which is a junction between the first road and the second road, a second reference point (second reference point Rp2) which is a junction between the third road and the fourth road, or an intersection center (intersection center CPc) which is the center of the intersection is identified; deriving a first boundary line (first boundary line Bd1) that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the traveling trajectory (traveling trajectory Ob1) along the first boundary line; Control method.

[0186] According to (10), even if information about the intersection is not prepared in advance, a vehicle attempting to move from Road 1 to Road 3 at a four-way intersection where four roads, including Road 1 and Road 3, are connected can be made to travel based on an appropriate travel trajectory that does not require a tight or wide turn around the intersection. This makes it possible to make vehicles travel appropriately within the intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system.

[0187] (11) A computer (control device 30) that controls a vehicle (vehicle 1) Recognizing the surrounding situation of the vehicle; When an intersection (intersection CP) existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position (entrance position PA) of the vehicle at the intersection to an exit position (exit position PE) is generated; causing the vehicle to travel based on the travel trajectory; Let the processing take place, In the process of generating the running trajectory, When the intersection is a four-way intersection connecting a first road (traveling path Rd1) on which the vehicle is currently traveling, a second road (left road Rd2) on one side of the vehicle in the vehicle width direction based on the vehicle, a third road (right road Rd3) on the other side of the vehicle in the vehicle width direction based on the vehicle, and a fourth road (opposite road Rd4) on the opposite side of the intersection from the first road, and the vehicle is traveling from the first road to the third road, Based on the recognition result of the surrounding situation, a first reference point (first reference point Rp1) which is a junction between the first road and the second road, a second reference point (second reference point Rp2) which is a junction between the third road and the fourth road, or an intersection center (intersection center CPc) which is the center of the intersection is identified; deriving a first boundary line (first boundary line Bd1) that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the traveling trajectory (traveling trajectory Ob1) along the first boundary line; Control program.

[0188] According to (11), even if information about the intersection is not prepared in advance, a vehicle attempting to move from Road 1 to Road 3 at a four-way intersection where four roads, including Road 1 and Road 3, are connected can be made to travel based on an appropriate travel trajectory that does not require a tight or wide turn around the intersection. This makes it possible to make vehicles travel appropriately within the intersection with a simple configuration. This in turn improves traffic safety and contributes to the development of a sustainable transportation system. [Explanation of symbols]

[0189] 1 vehicle 30 Control device (vehicle control device) 31 Recognition part 32 Trajectory generation part 33 Travel control unit Bd1 1st border Bd2 2nd border CP intersection CPC Intersection Center d11 The first determined distance d21 The second determined distance d12 Distance d22 distance Ob1 running track Ob1a Track 1 Ob1b, Track 2 Ob3 travel track Ob4 travel track P1 No. 1 location P2, Location 2 PA enters position PE Exit Position Rd1 walking road (1st road) Rd2 Left-hand road (Road 2) Rd3 right-hand road (Road 3) Rd4 Opposite side road (Road 4) Rp1 First reference point Rp2 Second reference point Rp3 Third reference point

Claims

1. A vehicle control device that controls a vehicle, a recognition unit that recognizes a surrounding situation of the vehicle; a trajectory generation unit that generates a travel trajectory of the vehicle from an entry position to an exit position at the intersection when the recognition unit recognizes an intersection present in the traveling direction of the vehicle; a travel control unit that causes the vehicle to travel based on the travel trajectory generated by the trajectory generation unit; Equipped with The system is configured to be able to refer to map information having road network information that represents each road by a combination of nodes and links connecting the nodes, The trajectory generation unit When the intersection is a four-way intersection connecting a first road on which the vehicle is currently traveling, a second road located on one side of the vehicle in the vehicle width direction relative to the vehicle, a third road located on the other side of the vehicle in the vehicle width direction relative to the vehicle, and a fourth road located on the opposite side of the intersection with respect to the first road, and the vehicle traveling in the lane on one side of the first road proceeds from the first road to the third road, based on the recognition result of the recognition unit, identifying a first reference point that is a junction between the first road and the second road, and a second reference point that is a junction between the third road and the fourth road or an intersection center that is a center of the intersection; deriving a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the travel trajectory along the first boundary line; When the second reference point can be identified based on the recognition result of the recognition unit, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the recognition unit, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. Vehicle control device.

2. The vehicle control device according to claim 1, The trajectory generation unit When the intersection is a four-way intersection and the vehicle traveling in the lane on one side of the first road proceeds from the first road to the third road, generating the travel trajectory including a first trajectory that travels straight from the entry position to a predetermined distance before the first boundary line, and a second trajectory that curves from an end of the first trajectory along the first boundary line; Vehicle control device.

3. The vehicle control device according to claim 1, The trajectory generation unit When the intersection is the four-way intersection and the vehicle travels from the first road to the fourth road, Identifying the intersection center based on the recognition result of the recognition unit; generating the travel trajectory from the entry position to the exit position without interfering with the intersection center; Vehicle control device.

4. The vehicle control device according to claim 3, The trajectory generation unit When the intersection is a four-way intersection and the vehicle is traveling from the first road to the fourth road, determining whether the exit position is offset to one side or the other side in the vehicle width direction with respect to the entry position; When it is determined that the offset is to one side, Identifying the first reference point and the intersection center based on the recognition result of the recognition unit; deriving the first boundary line passing through the first reference point and the intersection center; generating the travel trajectory that passes through a first point on the first boundary line and that is a first predetermined distance away from the first reference point; When it is determined that the offset is to the other side, Identifying a third reference point, which is a point of contact between the first road and the third road, and a center of the intersection based on the recognition result of the recognition unit; deriving a second boundary line that is a line segment passing through the third reference point and the intersection center; generating the traveling trajectory that passes through a second point on the second boundary line and that is a second predetermined distance away from the third reference point; the first predetermined distance is smaller than the distance from the first reference point to the center of the intersection, the second predetermined distance is greater than the distance from the third reference point to the center of the intersection; Vehicle control device.

5. The vehicle control device according to claim 4, The trajectory generation unit When it is determined that the vehicle is offset to one side, the travel trajectory is generated so that the travel trajectory passes through the first point and the first point is an inflection point; When it is determined that the vehicle is offset to the other side, the travel trajectory is generated so that the travel trajectory passes through the second point and the second point is an inflection point. Vehicle control device.

6. The vehicle control device according to claim 5, The trajectory generation unit When it is determined that the vehicle is offset to one side, the vehicle travel trajectory is generated to have a portion that is point-symmetric with respect to the first point; When it is determined that the vehicle is offset to the other side, the vehicle trajectory is generated to have a portion that is point-symmetric with respect to the second point. Vehicle control device.

7. 7. A vehicle control device according to claim 1, The trajectory generation unit When the vehicle traveling on the lane on one side of the first road advances from the first road to the third road, and when both the first reference point and the second reference point are on one side of the vehicle, the travel trajectory heading from the entry position to the exit position is generated based on the entry position and the exit position without following the first boundary line. Vehicle control device.

8. 7. A vehicle control device according to claim 1, The trajectory generation unit When the recognition unit recognizes a road marking that specifies a section to be traveled when turning right or left at the intersection, the point where the road marking is provided is set as the center of the intersection, and the driving trajectory is generated using the intersection center. Vehicle control device.

9. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position of the vehicle at the intersection to an exit position of the vehicle is generated; causing the vehicle to travel based on the travel trajectory; Processing is performed, the computer is capable of referencing map information having road network information that represents each road as a combination of nodes and links connecting the nodes; In the process of generating the running trajectory, When the intersection is a four-way intersection connecting a first road on which the vehicle is currently traveling, a second road located on one side of the vehicle in the vehicle width direction relative to the vehicle, a third road located on the other side of the vehicle in the vehicle width direction relative to the vehicle, and a fourth road located on the opposite side of the intersection with respect to the first road, and the vehicle traveling in the lane on one side of the first road proceeds from the first road to the third road, based on the recognition result of the surrounding environment, identifying a first reference point that is a junction between the first road and the second road, and a second reference point that is a junction between the third road and the fourth road or an intersection center that is a center of the intersection; deriving a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the travel trajectory along the first boundary line; When the second reference point can be identified based on the recognition result of the surrounding situation, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the surrounding situation, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. Control method.

10. The computer that controls the vehicle Recognizing the surrounding situation of the vehicle; When an intersection existing in the traveling direction of the vehicle is recognized, a travel trajectory from an entry position of the vehicle at the intersection to an exit position of the vehicle is generated; causing the vehicle to travel based on the travel trajectory; Let the processing take place, the computer is capable of referencing map information having road network information that represents each road as a combination of nodes and links connecting the nodes; In the process of generating the running trajectory, When the intersection is a four-way intersection connecting a first road on which the vehicle is currently traveling, a second road located on one side of the vehicle in the vehicle width direction relative to the vehicle, a third road located on the other side of the vehicle in the vehicle width direction relative to the vehicle, and a fourth road located on the opposite side of the intersection with respect to the first road, and the vehicle traveling in the lane on one side of the first road proceeds from the first road to the third road, based on the recognition result of the surrounding environment, identifying a first reference point that is a junction between the first road and the second road, and a second reference point that is a junction between the third road and the fourth road or an intersection center that is a center of the intersection; deriving a first boundary line that is a line segment passing through the first reference point and the second reference point or the intersection center; generating the travel trajectory along the first boundary line; When the second reference point can be identified based on the recognition result of the surrounding situation, a line segment passing through the first reference point and the second reference point is set as the first boundary line; If the second reference point cannot be identified based on the recognition result of the surrounding situation, a point indicated by a node corresponding to the intersection in the map information is set as the intersection center, and a line segment passing through the first reference point and the intersection center is set as the first boundary line. Control program.

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