Vehicle driving control device and vehicle driving control method

Abstract

To provide a vehicle driving control device capable of appropriately avoiding collisions by considering the driving states of other vehicles.SOLUTION: A vehicle driving control device includes: an acquisition unit that acquires position information and speed information of an own vehicle and position information and speed information of surrounding vehicles existing around the own vehicle; a target vehicle determination unit that determines a target vehicle that is driving at the destination of the own vehicle and may collide with it, based on the position information and the speed information of the own vehicle and the position information and the speed information of the surrounding vehicles; a virtual vehicle generation unit that sets a collision estimation position for colliding with the target vehicle and continuously generates a virtual vehicle that drives at a virtual speed and reaches the collision estimation position when the target vehicle reaches the collision estimation position from before the own vehicle reaches the collision estimation position; and a vehicle control unit that issues a command to control an interval between the own vehicle and the virtual vehicle.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] This disclosure relates to a vehicle driving control device and a vehicle driving control method. [Background technology]

[0002] In recent years, autonomous driving technologies that automatically control the vehicle's position, speed, and other parameters along its route to its destination have been under consideration. Furthermore, control technologies that avoid collisions with other vehicles when changing lanes or merging from a branch road onto a main road are also being studied. For example, Patent Document 1 discloses a vehicle control system that allows a vehicle to smoothly merge onto a main highway from a branch line by controlling the acceleration and deceleration of its own vehicle toward a merging target position determined by considering the position and speed of other vehicles traveling on the main highway. [Prior art documents] [Patent Documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2017-165197 [Overview of the Initiative] [Problems that the invention aims to solve]

[0004] However, conventional vehicle control systems control the acceleration and deceleration of the vehicle in order to reach a predetermined merging target position. Therefore, it was sometimes difficult to control acceleration and deceleration depending on the driving conditions of other vehicles, such as when the speed of other vehicles exceeds the speed limit.

[0005] This disclosure is made to solve the above-mentioned problems and aims to provide a vehicle driving control device that can appropriately avoid collisions by taking into account the driving conditions of other vehicles. [Means for solving the problem]

[0006] The vehicle driving control device relating to this disclosure includes an acquisition unit that acquires the position information and speed information of its own vehicle, and the position information and speed information of surrounding vehicles present around its own vehicle, and a target vehicle determination unit that determines a target vehicle traveling at the destination of its own vehicle that may collide with it, based on the position information and speed information of its own vehicle and the position information and speed information of surrounding vehicles. My vehicle and Target vehicles and but A hypothetical collision location is set, and the vehicle travels at a virtual speed. When the target vehicle reaches the hypothetical collision location, the virtual vehicle that reaches the hypothetical collision location is shown before the vehicle reaches the hypothetical collision location. This occurs when the target vehicle is identified and control begins. It includes a virtual vehicle generation unit that continuously generates vehicles, and a vehicle control unit that issues commands to control the distance between the own vehicle and the virtual vehicle.

[0007] Furthermore, the vehicle driving control method relating to this disclosure includes the steps of acquiring the position information and speed information of the own vehicle, and the position information and speed information of surrounding vehicles present around the own vehicle, and determining a target vehicle that is traveling at the destination of the own vehicle and is likely to collide with the vehicle, based on the position information and speed information of the own vehicle and the position information and speed information of surrounding vehicles. My vehicle and Target vehicles and but The system sets a hypothetical collision location, drives at a virtual speed, and when the target vehicle reaches the hypothetical collision location, it shows the virtual vehicle that reaches the hypothetical collision location before the user's vehicle reaches the hypothetical collision location. The control start time when the target vehicle is determined. The system includes the steps of generating data continuously from the previous step and issuing commands to control the distance between the local vehicle and the virtual vehicle. [Effects of the Invention]

[0008] According to this disclosure, when a vehicle that may collide with another vehicle reaches the predicted collision position, a virtual vehicle traveling at a virtual speed to reach the predicted collision position is continuously generated from before the vehicle reaches the predicted collision position, and by controlling the distance between the vehicle and the virtual vehicle, appropriate collision avoidance control can be performed that takes into account the driving state of the vehicle that may collide with another vehicle. [Brief explanation of the drawing]

[0009] [Figure 1]This is a schematic block diagram showing the vehicle driving control device and peripheral equipment installed in the vehicle according to Embodiment 1. [Figure 2] This is a schematic diagram showing a road merging section in which the vehicle driving control device according to Embodiment 1 is used. [Figure 3] This is a schematic diagram illustrating the processing of the virtual vehicle generation unit at the start of merging control and during merging control according to Embodiment 1. [Figure 4] This is a schematic diagram illustrating the processing of the virtual vehicle generation unit at the start of merging control and during merging control according to Embodiment 1. [Figure 5] This is a schematic diagram illustrating the processing of the virtual vehicle generation unit at the start of merging control and during merging control according to Embodiment 1. [Figure 6] This is a flowchart showing the processing flow executed by the vehicle driving control device according to Embodiment 1. [Figure 7] This is a schematic diagram showing an example of a processing circuit that realizes each function of the vehicle driving control device according to Embodiment 1. [Figure 8] This is a schematic diagram illustrating the processing of the virtual vehicle generation unit at the start of lane change control and during lane change control according to Embodiment 1. [Figure 9] This is a schematic block diagram showing the vehicle driving control device and peripheral equipment that are mounted separately on the vehicle and the roadside unit in the acquisition unit according to Embodiment 2. [Figure 10] This is a schematic diagram showing a road merging section in which the vehicle driving control device according to Embodiment 2 is used. [Figure 11] This is a schematic diagram showing an example of a processing circuit that realizes each function of the roadside driving control unit according to Embodiment 2. [Figure 12] This is a schematic diagram showing the state of an intersection on a road where the vehicle driving control device according to Embodiment 3 is used. [Figure 13] This is a schematic diagram illustrating the processing of the virtual vehicle generation unit during control initiation and control according to Embodiment 3. [Modes for carrying out the invention]

[0010] Embodiment 1. The vehicle control device 100 according to Embodiment 1 will be described with reference to the drawings. Figure 1 is a schematic block diagram showing the vehicle driving control device 100 and peripheral equipment mounted on the vehicle VS. The vehicle VS is equipped with peripheral equipment including a position receiver 11, a speed sensor 12, a surrounding sensor 13, a map storage unit 14, and a drive control device 15, and the vehicle driving control device 100 is mounted to process this information.

[0011] Here, the position receiver 11 receives the position information of the vehicle VS, for example, from GPS (Global Positioning System) signals from satellites. The speed sensor 12 detects the speed information of the vehicle VS. The surrounding sensor 13 detects surrounding vehicles present around the vehicle VS and also detects the position information and speed information of those surrounding vehicles. The map storage unit 14 stores road information, including road information such as the main road L1 and branch road L2 described later.

[0012] The vehicle driving control device 100 includes an acquisition unit 101, a target vehicle determination unit 102, a virtual vehicle generation unit 103, and a vehicle control unit 104. The acquisition unit 101 acquires the position and speed information of the own vehicle VS, and the position and speed information of surrounding vehicles present around the own vehicle VS. The target vehicle determination unit 102 determines a target vehicle VT that is traveling in the same direction as the own vehicle VS and is likely to collide with it, based on the position and speed information of the own vehicle VS and the position and speed information of surrounding vehicles acquired by the acquisition unit 101. It then acquires the position and speed information of the determined target vehicle VT. The virtual vehicle generation unit 103 sets a collision assumption position Ps where the target vehicle VT is likely to collide with the own vehicle VS, and sets a virtual speed V I The system drives the vehicle and generates a virtual vehicle VI that reaches the predicted collision position Ps when the target vehicle VS reaches the predicted collision position Ps. The virtual vehicle VI is generated on the main line L1, which the target vehicle VT continues to travel on, from before the vehicle VS reaches the predicted collision position Ps.

[0013] The vehicle control unit 104 issues a command to control the distance between the vehicle VS and the virtual vehicle VI. By ensuring a sufficient distance between the vehicle VS and the generated virtual vehicle VI, it outputs a command to the drive control device 15 for the vehicle VS to merge at an appropriate speed that allows it to avoid the target vehicle VT. Based on the command from the vehicle control unit 104 of the vehicle running control device 100, the drive control device 15 controls the acceleration and deceleration of the vehicle VS by controlling the drive and braking systems (not shown) within the vehicle VS.

[0014] The functions of the vehicle driving control device 100 will be explained in detail using Figures 1 to 8. Figure 2 is a schematic diagram of a road merging section where the vehicle driving control device 100 is used, viewed from above. At the road merging section, the main lane L1 and the branch lane L2 are connected, and the vehicle VS is attempting to move from the branch lane L2 to the merging main lane L1. The target vehicle VT is a vehicle traveling on the main lane L1. Upon entering the merging section, the vehicle VS moves while accelerating and decelerating to avoid the target vehicle VT and merge onto the main lane L1. Figure 2 shows an example where the main lane L1 and the branch lane L2 are provided parallel to each other, but they do not necessarily have to be parallel.

[0015] Based on the position of the vehicle VS and the road information of the merging section, the starting point for initiating merging control on branch line L2 is set to L2s, and the target endpoint for completing merging control is set to L2e. The section from the starting point L2s to the target endpoint L2e is defined as the merging control section. The length of the merging control section set within the merging section is XL, which connects the starting point L2s and the target endpoint L2e. The starting point L2s and the target endpoint L2e are located within the merging lane LM of the merging section. When accelerating to merge in front of the target vehicle VT, the target endpoint L2e is set just before the end of the merging lane LM.

[0016] The acquisition unit 101 acquires road information from the map storage unit 14 and the position information of the vehicle VS from the position receiver 11. It also acquires the speed information of the vehicle VS from the speed sensor 12 and acquires the position information and speed information of surrounding vehicles, including the target vehicle VT, from the surrounding sensor 13. The target vehicle determination unit 102 determines the target vehicle VT to be avoided based on the information transmitted from the acquisition unit 101, and acquires the position information and speed information of the determined target vehicle VT from the acquisition unit 101.

[0017] More specifically, the target vehicle determination unit 102 acquires position information of surrounding vehicles from the surrounding sensor 13 and determines from the acquired surrounding vehicles which are potential target vehicles VT that could collide with the local vehicle VS and are located on the main line L1, which is the destination of the local vehicle VS. For example, in the example in Figure 2, the target vehicle VT is determined from among the vehicles located on the main line L1. Although other vehicles traveling on the main line L1 are not shown in Figure 2, if multiple vehicles are traveling on the main line L1, the target vehicle VT will be one of the vehicles determined to be the target. The target vehicle determination unit 102 then outputs the position information of the target vehicle VT acquired from the acquisition unit 101 and the speed information of the target vehicle VT to the virtual vehicle generation unit 103. If there are no vehicles that could potentially collide with the local vehicle VS at the merging point of the main line L1, the target vehicle VT is not determined.

[0018] The virtual vehicle generation unit 103 generates a virtual vehicle VI that travels on the main line L1 based on the position information of the target vehicle VT, the speed information of the target vehicle VT, the position information of the own vehicle VS, and the speed information of the own vehicle VS obtained from the speed sensor 12. It then outputs the position information and speed information of the virtual vehicle VI to the vehicle control unit 104.

[0019] An example of generating a virtual vehicle VI will be explained. Figure 3 is a schematic diagram illustrating the processing of the virtual vehicle generation unit 103 at the start of (a) merging control and (b) during merging control. Merging control is started when the vehicle VS passes the starting point L2s of the merging control section (Figure 3(a)), and the assumed collision position Ps is set at the target endpoint L2e of the merging control section, and the target distance d *An example is given of a state in which confluence control for ensuring [the situation] is performed (Fig. 3(b)). In Fig. 3, the target vehicle VT is a vehicle traveling on the main line L1, and is a vehicle determined by the target vehicle determination unit 102 as having a possibility of colliding with the host vehicle VS. Here, let the relative distance between the target vehicle VT and the host vehicle VS be d, and the initial value at the start of confluence control be d0. The relative distance d is positive in front of the host vehicle VS, and when the target vehicle VT travels behind as shown in Fig. 3(a), d < 0. The speed of the host vehicle VS is V S , and the speed of the target vehicle VT is V T .

[0020] The target vehicle VT travels a distance (XL - d0) at speed V T . Therefore, the time T required to travel to the target end point L2e of the confluence control section is given by Equation (1).

[0021]

Equation

[0022] In the virtual vehicle generation unit 103, a virtual vehicle VI is generated in which the relative distance d I from the host vehicle VS is d I0 at the start of confluence control. The time T required for the virtual vehicle VI to travel the distance (XL - d I ) to the target end point L2e of the confluence control section at the virtual speed V IO is given by Equation (2).

[0023]

Equation

[0024] If it is assumed that the target vehicle VT and the virtual vehicle VI arrive at the target end point L2e at the same time Ts, the initial value d I of the relative distance d of the virtual vehicle VI I0 is represented by Equation (3).

[0025]

Equation

[0026] In other words, the target endpoint L2e of the merging control section shown in Figure 3(b) is the assumed collision position Ps where the positions of the target vehicle VT and the virtual vehicle VI coincide. In this way, the assumed collision position Ps where the target vehicle VT may collide with the own vehicle VS can be set from the position information of the own vehicle VS, the position information of the target vehicle VT, and the speed information.

[0027] Virtual Vehicle VI Virtual Speed ​​V I For example, the speed V of your own vehicle VS. S The speed limit V of the main road L1 is obtained from the road information in the map storage unit 14. LIM Speed ​​limit V LIM This could be a target speed based on the references provided, or a speed pre-set by the driver, in-vehicle equipment, etc.

[0028] (Case 1) Here, the speed V of the target vehicle VT T The virtual speed V of the virtual vehicle VI I It exceeds (V T >V I ) In this case, when a virtual vehicle VI is generated that travels in front of the target vehicle VT, (in Figure 3(a), d I0 >d0), after the virtual vehicle VI travels ahead of the target vehicle VT, at a predetermined time Ts, it is overtaken by the target vehicle VT at the target endpoint L2e of the merging control section shown in Figure 3(b), and the positions of the virtual vehicle VI and the target vehicle VT coincide. Therefore, the target endpoint L2e of the merging control section becomes the assumed collision position Ps.

[0029] In this case, as shown in Figure 3(b), the distance between the vehicle VS on the branch line L2 and the virtual vehicle VI on the main line L1 is the target distance d before the time Ts when the target vehicle VT passes the target endpoint L2e of the merging control section. * To ensure the necessary distance is maintained, decelerate so that the virtual vehicle VI moves behind the vehicle on branch line L2. Then, move to the target distance d. * Once the target is secured, your vehicle (VS) will move onto the main line L1 and merge with it.

[0030] (Case 2) On the one hand, the speed V of the target vehicle VT T does not exceed the virtual speed V of the virtual vehicle VI I (V T < V I ), a virtual vehicle VI traveling behind the target vehicle VT is generated (in Fig. 4(a), d I0 < d0). The virtual vehicle VI travels behind the target vehicle VT and catches up with the target vehicle VT at the target end point L2e of the merging control section at a predetermined time Ts, and the positions of the virtual vehicle VI and the target vehicle VT coincide. Therefore, the target end point L2e of the merging control section becomes the assumed collision position Ps.

[0031] In this case, before the time Ts when the target vehicle VT passes through the target end point L2e of the merging control section, the distance between the host vehicle VS on the branch line L2 and the virtual vehicle VI on the main line L1 is the target distance d * is ensured, and the host vehicle VS accelerates to move, for example, forward of the virtual vehicle VI on the branch line L2. Then, when the target distance d * is ensured, the host vehicle VS moves onto the main line L1 and merges (Fig. 4(b)). During the merging control shown in Fig.  4(b), control may be performed to decelerate so as to move behind the virtual vehicle VI on the branch line L2.

[0032] (Case 3) Also, the speed V of the target vehicle VT T and the virtual speed V of the virtual vehicle VI I are equal (V T = V I ), the virtual vehicle VI is generated at the position of the target vehicle VT (in Fig. 5(a), d I0 = d0). In this case, from the start of control, the positions of the virtual vehicle VI and the target vehicle VT coincide, and the coincident position becomes the assumed collision position Ps.

[0033] In this case, from the start of control, the distance between the host vehicle VS and the virtual vehicle VI is the target distance d * is ensured, and the host vehicle VS accelerates or decelerates to ensure the target distance d * and then the host vehicle VS moves onto the main line L1 and merges (Fig. 5(b)).

[0034] And the target distance d * Acceleration command a to ensure ref This is calculated by the following equation (4). Here, d * is the target distance from your vehicle VS to the virtual vehicle VI, and d * If >0, decelerate to move behind the virtual vehicle VI, d * If <0, accelerate to move forward of the virtual vehicle VI. In equation (4), K dp ,K dd These represent the proportional gain and differential gain for controlling the distance between vehicles, respectively.

[0035]

number

[0036] The vehicle control unit 104 issues an acceleration command a based on the position information and speed information of the virtual vehicle VI and the speed information of its own vehicle VS. ref The calculation is performed. Then, the calculated acceleration command a ref The acceleration command a is output to the drive control device 15. ref The system controls the acceleration and deceleration of the vehicle's VS accordingly.

[0037] Thus, whether the target vehicle VT is moving at a high speed (Case 1) or at a low speed (Case 2), appropriate collision avoidance control can be performed, taking into account the driving conditions of the target vehicle VT. In other words, the distance X from the target vehicle VS to the assumed collision position Ps. T The distance X from the virtual vehicle VI to the assumed collision position. I , the speed of the target vehicle VT V T Virtual speed V I When we take this, then equation (5) is as follows:

[0038]

number

[0039] Furthermore, after avoiding a collision with the target vehicle VT, the speed of your own vehicle VS is V S Set speed V SET For example, set speed V SET The speed limit V of the main line L1 is obtained from the road information in the map storage unit 14. LIM Set speed V SET Therefore, the speed limit on the main line L1 can be observed. Speed ​​limit V LIM The target speed set by referring to the set speed V SET This can be used as the speed set by the driver, or it can be set as the speed specified by the driver.

[0040] Figure 6 is a flowchart showing the processing flow executed by the vehicle driving control device 100. In the processing flow, when control is started, the acquisition unit 101 acquires the position information and speed information of the own vehicle VS, and the position information and speed information of surrounding vehicles (step S101).

[0041] Next, the target vehicle determination unit 102, based on the information acquired by the acquisition unit 101, checks whether there are any vehicles in the surrounding area traveling at the destination that could potentially collide with the local vehicle VS when the local vehicle VS merges from the branch line L2 to the main line L1. If there are vehicles that could potentially collide, the unit determines that vehicle to be the target vehicle VT and acquires the position information and speed information of the target vehicle VT from the acquisition unit 101 (step S102).

[0042] Next, the virtual vehicle generation unit 103 sets the assumed collision position Ps where the target vehicle VT will collide, and sets the virtual speed V IAs the vehicle VS drives, it continuously generates a virtual vehicle VI that reaches the assumed collision position Ps when the target vehicle VT reaches the assumed collision position Ps, even before the vehicle VS reaches the assumed collision position Ps (step S103).

[0043] Next, the vehicle control unit 104 issues a command to control the distance between its own vehicle VS and the virtual vehicle VI (step S104). Then, when the distance reaches the target distance d * Therefore, a notification will be sent indicating that movement, such as merging, is feasible.

[0044] Here, each function of the vehicle driving control device 100 is realized by a processing circuit. Figure 7 is a configuration diagram showing an example of a processing circuit that realizes each function of the vehicle driving control device 100. The vehicle driving control device 100 includes an arithmetic processing unit 80, a plurality of storage devices 81, a communication device 82, and an in-vehicle network 83.

[0045] The arithmetic processing unit 80 is, for example, a CPU (Central Processing Unit). Multiple storage devices 81 transmit and receive data to and from the arithmetic processing unit 80 and store the data. The communication device 82 communicates with the in-vehicle network 83. The communication device 82 communicates with external devices, namely the map storage unit 14, the position receiver 11, and the surrounding sensors 13, via the in-vehicle network 83.

[0046] Furthermore, the arithmetic processing unit 80 may include, for example, logic circuits using ASICs (Application Specific Integrated Circuits), ICs (Integrated Circuits), DSPs (Digital Signal Processors), FPGAs (Field Programmable Gate Arrays), and various signal processing circuits. Also, by providing multiple arithmetic processing units 80 of the same or different types, each process may be divided and executed by multiple arithmetic processing units.

[0047] The multiple storage devices 81 include, for example, RAM (Random Access Memory) configured to allow reading and writing of data from the arithmetic processing unit 80, and ROM (Read Only Memory) configured to allow reading of data from the arithmetic processing unit 80.

[0048] Each function of the vehicle driving control device 100 is realized by the arithmetic processing unit 80 executing software or programs stored in multiple storage devices 81 and cooperating with hardware. For example, it may also cooperate with other hardware such as a communication device 82. The setting data to be set in the vehicle driving control device 100 may be stored in the multiple storage devices 81 as part of the software or program, or it may be made available for user input.

[0049] Thus, in this embodiment, when the vehicle VS traveling on the branch line L2 merges onto the main line L1, the vehicle driving control device 100 determines the target vehicle VT traveling on the main line L1, and when the target vehicle VT that may collide reaches the assumed collision position Ps, sets the virtual speed V I By continuously generating a virtual vehicle VI that travels to the anticipated collision position Ps even before the target vehicle VT reaches the anticipated collision position Ps, and issuing commands to control the distance between the own vehicle VS and the virtual vehicle VI, the system can appropriately avoid collisions and control the movement of the own vehicle VS while considering the driving state of the target vehicle VT.

[0050] Furthermore, even if the target vehicle VT exceeds or is too slow to reach the speed limit, the system controls the acceleration and deceleration of the own vehicle VS relative to the virtual vehicle VI, preventing excessive acceleration and deceleration and enabling proper driving.

[0051] Furthermore, the distance between your vehicle VS and the virtual vehicle VI is the target distance d. * Once secured and after performing movements such as merging, if an acceleration command is output to reach the set speed, the vehicle can continue driving appropriately at the desired speed. LIM Even if your vehicle exceeds the speed limit, you are still subject to the speed limit V. LIMIt can adhere to the rules and, if you want to drive at a desired speed, you can drive at that desired speed.

[0052] In this embodiment, an example of acquiring road information from the map storage unit 14 has been described. However, for example, road information such as merging points may be obtained using the surrounding sensor 13, and this may be done without using the map storage unit 14. Furthermore, while we have described an example of merging onto the main line L1 from a branch line L2, this method can also be applied to roads with multiple lanes, as shown in Figure 8, when moving to another lane. In other words, if branch line L2 is the source lane L4 and main line L1 is the destination lane L3, similar control is possible. In other words, if the destination of the vehicle VS is the lane L3 on which the target vehicle VT is traveling, and the vehicle VS is a vehicle that changes lanes from the source lane L4 to the destination lane L3, the virtual vehicle generation unit 103 sets a collision assumption position Ps within the lane change assumption section where the lane change will take place, and continues to generate a virtual vehicle VI on the destination lane L3 until the vehicle VS reaches the collision assumption position Ps. In the case of merging as described above, the source lane L4 is a branch line and the destination lane L3 is the main line. The vehicle VS is the vehicle merging from the branch line to the main line, and the target vehicle VT is the vehicle traveling on the main line. In this case, the merging control section where the vehicle VS merges is designated as the lane change assumption section, a collision assumption position Ps is set within the lane change assumption section, and a virtual vehicle VI is continuously generated on the main line until the vehicle VS reaches the collision assumption position Ps. Furthermore, although an example was described in which the acquisition unit 101 acquires information from the map storage unit 14, the position receiver 11, and the surrounding sensors 13, and the target vehicle determination unit 102 determines the target vehicle VT, the acquisition may also be performed by the target vehicle determination unit 102. Vehicle speed V S Initial value and merging time T v Alternatively, the length XL of the merging control section may be determined from the product of these values. The merging control section can be set without using road information. The same effect can be achieved in this way as well.

[0053] Embodiment 2. A vehicle control device 200 according to Embodiment 2 will be described with reference to the drawings. Figure 9 is a schematic block diagram showing the vehicle driving control device 200 and peripheral equipment, in which the acquisition unit 101 is divided and mounted as a first acquisition unit 201a and a second acquisition unit 201b on the vehicle VS and the roadside unit RSU. The vehicle driving control device 200 according to Embodiment 2 differs from Embodiment 1 in that it is composed of a vehicle-side driving control unit 100A mounted on the vehicle VS and a roadside driving control unit 100B mounted on the roadside unit RSU, and that it acquires information on surrounding vehicles and road information at the roadside unit RSU and transmits the acquired information to the vehicle VS, but is otherwise the same as Embodiment 1.

[0054] As shown in Figure 9, the vehicle VS is equipped with a position receiver 11, a speed sensor 12, and a drive control device 15, which function in the same manner as in Embodiment 1. The vehicle VS is also equipped with a vehicle-side driving control unit 100A.

[0055] Furthermore, a roadside RSU is installed at the merging point where the branch line L2 merges with the main line L1, as shown in Figure 10. The roadside RSU is equipped with a roadside sensor 21 for detecting objects on the road, a map storage unit 14 for storing road information including information on lanes L1 and L2, and a roadside driving control unit 100B.

[0056] The vehicle's VS and the roadside RSU are equipped with communication units 16a and 16b, respectively, and communicate with each other.

[0057] The vehicle-side driving control unit 100A mounted on the vehicle VS is equipped with a first acquisition unit 201a that acquires the position information of the vehicle VS from the position receiver 11. The communication unit 16a receives road information from the roadside unit RSU, including the position information and speed information of the target vehicle VT, and information on the main line L1 and branch line L2. The virtual vehicle generation unit 203 generates a virtual speed V based on the information acquired from the first acquisition unit 201a and the communication unit 16a. I At time Ts, a virtual vehicle VI is generated on the main line L1, whose position matches that of the target vehicle VT. Based on the information of the virtual vehicle VI and the vehicle VS, the vehicle control unit 204 controls the relative distance with acceleration command a. refThe calculation is performed. The specific functions of the first acquisition unit 201a, the virtual vehicle generation unit 203, and the vehicle control unit 204 are the same as the functions of the vehicle driving control device 100 according to Embodiment 1, so a detailed explanation is omitted.

[0058] The roadside driving control unit 100B mounted on the roadside unit RSU is equipped with a second acquisition unit 201b that acquires road information including the position and speed information of surrounding vehicles at the merging point from the roadside sensor 21, and information on lanes L1 and L2 from the map storage unit 14. Furthermore, it is equipped with a target vehicle determination unit 202 that determines the target vehicle VT from surrounding vehicles based on the information from the second acquisition unit 201b and transmits the position and speed information of the target vehicle VT to the communication unit 16b. The communication unit 16b then transmits the location information and speed information of the target vehicle VT to the communication unit 16a installed in its own vehicle VS.

[0059] The information received by the communication unit 16a is processed as described above by the vehicle-side driving control unit 100A mounted on the vehicle VS, and the drive control device 15 controls the drive and braking systems of the vehicle VS based on commands obtained from the vehicle control unit 204 in the same manner as in Embodiment 1, thereby controlling the acceleration and deceleration of the vehicle VS.

[0060] Figure 11 is a configuration diagram showing an example of a processing circuit that realizes the functions of the roadside driving control unit 100B shown in Figure 9. The roadside driving control unit 100B includes an arithmetic processing unit 90, a plurality of storage devices 91, a communication device 92, and an internal network 93.

[0061] For example, a CPU is used in the arithmetic processing unit 90. Multiple storage devices 91 send and receive data to and from the arithmetic processing unit 90 and store the data. The communication device 92 communicates with the internal network 93. The communication device 92 communicates with the roadside sensor 21 and the map storage unit 14, which are external devices, via the internal network 93.

[0062] Furthermore, the arithmetic processing unit 90 may include, for example, an ASIC, IC, DSP, FPGA, various logic circuits, and various signal processing circuits. Also, multiple arithmetic processing units 90 of the same or different types may be provided so that each process is divided and executed by multiple arithmetic processing units. Multiple storage devices 91 may include, for example, RAM configured to allow reading and writing of data from the arithmetic processing unit 90 and ROM configured to allow reading of data from the arithmetic processing unit 90.

[0063] The functions of the roadside driving control unit 100B are realized by the arithmetic processing unit 90 executing software or programs stored in multiple storage devices 91 and cooperating with other hardware of the roadside unit RSU, such as the multiple storage devices 91 and the communication device 92. The setting data used by each function of the roadside driving control unit 100B is stored in the multiple storage devices 91 as part of the software or programs.

[0064] As described above, the vehicle driving control device 200 according to this embodiment has a second acquisition unit 201b and a target vehicle determination unit 202 in the roadside driving control unit 100B within the roadside unit RSU, and a first acquisition unit 201a, a virtual vehicle generation unit 203, and a vehicle control unit 204 in the vehicle-side driving control unit 100A within the vehicle-side driving control unit 100A within the vehicle-side vehicle VS. When the vehicle-side vehicle VS traveling on the branch line L2 merges with the main line L1, it determines the target vehicle VT traveling on the main line L1, sets a collision assumption position Ps where the vehicle-side vehicle VT will collide with the target vehicle VT, generates a virtual vehicle VI that will reach the collision assumption position Ps when the target vehicle VT reaches the collision assumption position Ps, before the vehicle-side vehicle VS reaches the collision assumption position Ps, and issues a command to control the distance between the vehicle-side vehicle VS and the virtual vehicle VI. In this way, the vehicle-side vehicle can control its driving in an appropriate manner to avoid a collision, taking into account the driving state of the target vehicle.

[0065] Furthermore, even if the target vehicle VT is traveling at a speed exceeding the speed limit, a collision with the target vehicle VT can be avoided, and movement is possible with appropriate acceleration and deceleration control. In addition, because the acceleration and deceleration of the own vehicle VS is controlled in relation to the virtual vehicle VI, excessive acceleration and deceleration are not generated, enabling proper driving.

[0066] Also, the distance between your vehicle VS and the virtual vehicle VI is the target distance d. * Once secured and after performing movements such as merging, if an acceleration command is output to reach the set speed, the vehicle can continue driving appropriately at the desired speed. LIM Even if your vehicle exceeds the speed limit, you are still subject to the speed limit V. LIM It can adhere to the rules and, if you want to drive at a desired speed, you can drive at that desired speed.

[0067] Furthermore, even if the target vehicle VT is located in the blind spot of the surrounding sensor 13 of the own vehicle VS, the position information and speed information of the target vehicle VT traveling on the main line L1 can be acquired.

[0068] In this embodiment, an example was described in which road information is acquired from a map storage unit 14 mounted on the roadside unit RSU, but it may also be acquired by a roadside sensor 21 mounted on the roadside unit RSU. Although an example was described in which the map storage unit 14 is not provided in the vehicle's VS, the vehicle's VS may be equipped with a map storage unit 14 to acquire road information. A merging control section may also be set without using road information. Furthermore, although an example has been described in which a first acquisition unit 201a and a second acquisition unit 201b are provided in the vehicle-side driving control unit 100A and the roadside driving control unit 100B, the first acquisition unit 201a may be provided in the virtual vehicle generation unit 203 and the second acquisition unit 201b may be provided in the target vehicle determination unit 202. Alternatively, the communication unit 16a may be provided within the vehicle-side driving control unit 100A, and the communication unit 16b may be provided within the roadside driving control unit. Alternatively, the second acquisition unit 201b may be provided in the roadside driving control unit 100B, and the target vehicle determination unit 202 may be provided in the vehicle-side driving control unit 100A, so that the information acquired by the second acquisition unit 201b is received via the communication units 16b and 16a and processed by the vehicle-side driving control unit 100A installed in the vehicle's VS. The same effect can be achieved in this way as well.

[0069] Embodiment 3. Embodiment 3 will be described with reference to the drawings. The vehicle driving control device 200 is configured in the same way as in Embodiment 2. In Embodiment 3, the vehicle VS is a vehicle entering the intersection, and the target vehicle VT is a vehicle entering the intersection from a different lane than the vehicle VS. Since the vehicle VS does not change its driving lane, it is checked whether there are any vehicles that could potentially collide with it at the intersection. Therefore, the destination is the same lane at the intersection, but the control process is the same as in Embodiments 1 and 2.

[0070] Figure 12 is a schematic diagram showing the state of an intersection on a road where the vehicle driving control device 200 is used. Lane L5 and lane L6, on which the vehicle VS is traveling, intersect, and both the vehicle VS and the target vehicle VT traveling in lane L5 are approaching the intersection. A roadside RSU is installed at the intersection. An example of an intersection where lanes L5 and L6 intersect at right angles is shown, but they do not necessarily have to intersect at right angles.

[0071] Here, if your vehicle VS and the target vehicle VT were to enter the intersection at the same time, there is a risk of collision between your vehicle VS and the target vehicle VT. The example shown is that the target vehicle VT moves from top to bottom in lane L5, and your vehicle VS moves from left to right in lane L6, but the direction of movement does not matter.

[0072] The roadside RSU includes a roadside sensor 21, a map storage unit 14, a communication unit 16b, and a roadside driving control unit 100B. The roadside sensor 21 detects vehicles on intersections. The map storage unit 14 stores road information, including lane L5 and L6 information. The communication unit 16b transmits signals from the roadside driving control unit 100B to the communication unit 16a of the vehicle VS.

[0073] The roadside driving control unit 100B includes a second acquisition unit 201b and a target vehicle determination unit 202. The second acquisition unit 201b acquires location information and speed information of surrounding vehicles from the roadside sensor 21 and road information from the map storage unit 14. The target vehicle determination unit 202 then compares the location information and speed information of surrounding vehicles with the road information and determines the target vehicle VT from among the surrounding vehicles that are located on lane L5. The location information and speed information of the target vehicle VT are output to the communication unit 16b, and transmitted from the communication unit 16b to the communication unit 16a of the vehicle VS.

[0074] The vehicle-side driving control unit 100A includes a first acquisition unit 201a, a virtual vehicle generation unit 203, and a vehicle control unit 204. The first acquisition unit 201a acquires the position information of the vehicle VS from the position receiver 11. The virtual vehicle generation unit 203 acquires the position information and speed information of the target vehicle VT from the communication unit 16a and generates a virtual vehicle VI that travels in lane L6, which is the current lane in which the own vehicle VS is traveling and which will be the lane to be moved in. The unit then outputs the position information and speed information of the virtual vehicle VI to the vehicle control unit 104.

[0075] Figure 13 is a schematic diagram illustrating the processing of the virtual vehicle generation unit 203 at the start of control and during control. Figure 13(a) shows that at the start of control, the vehicle VS is at a distance x from the intersection. so The vehicle VT is traveling in a separate lane L6, and is at a distance x from the intersection. T0 This indicates that the vehicles are traveling in separate lanes (L5) and are about to enter an intersection. The initial speed of the vehicle VS is V S0 The speed of the target vehicle VT is V T Figure 13(b) shows the state in which the vehicle's VS is controlled when passing through an intersection.

[0076] Here, the target vehicle VT maintains a speed V from the start of control until it reaches the intersection. T Distance x T0 The vehicle travels along this route. Therefore, the time T required for travel from (a) the start of control to (b) arrival at the intersection is given by equation (6).

[0077]

number

[0078] My vehicle's VS is at an initial speed of V S0 If the vehicle maintains this position and travels for time T, the distance from the intersection will be given by equation (7). If this distance is less than the length of the vehicle, a collision will occur with the target vehicle VT.

[0079]

number

[0080] Therefore, the virtual vehicle generation unit 203 generates lane L6 at a virtual speed V I A virtual vehicle VI is generated that travels along a certain path and passes through an intersection after time T has elapsed. At the start of control, the virtual vehicle VI is located at a distance X from the intersection, as shown in Figure 13(a). I0 It travels to the position closest to the viewer. Distance x I0 , and the relative distance d between your vehicle VS and the virtual vehicle VI I0 This is given by equations (8) and (9) below.

[0081]

number

[0082]

number

[0083] The vehicle control unit 204, similar to Embodiments 1 and 2, sets the relative distance between its own vehicle VS and the virtual vehicle VI to a target distance d * The system controls acceleration and deceleration to achieve this, thereby avoiding collisions with the target vehicle VT at intersections.

[0084] Here, the virtual speed V of the virtual vehicle VI. I For example, the speed limit V for lane L6 obtained from road information. LIM Let's assume that the vehicle's speed limit is V. LIMWhen driving, the distance X from the intersection at the start of control I0 The virtual vehicle VI, which was in the front position, reaches the distance x so at the time of reaching the intersection and is in the same position as the target vehicle VT. Then, the vehicle control unit 204 commands deceleration to ensure the target distance d * between the host vehicle VS and the virtual vehicle VI, and commands acceleration to the virtual speed V I (= the restricted speed V LIM ) after passing through the intersection.

[0085] That is, the host vehicle VS is a vehicle entering the intersection, and the target vehicle VT is a vehicle entering the intersection from a lane different from the host vehicle VS. In this case, the virtual vehicle generation unit 103 continuously generates the virtual vehicle VI on the lane in which the host vehicle VS travels until the host vehicle VS reaches the assumed collision position Ps, with the intersection as the assumed collision position Ps. Then, the vehicle control unit 104 issues a command to control the interval between the host vehicle VS and the virtual vehicle VI to be the target distance d * .

[0086] The virtual speed V of the virtual vehicle VI I may be determined from, for example, the position information and speed information of the target vehicle VT and the position information and speed information of the host vehicle VS. (a) Considering the state at the start of control, the host vehicle VS decelerates with a constant acceleration a (<0), and after the time T has elapsed, reaches the virtual speed V I of the virtual vehicle VI, and travels while ensuring the target distance d * between the virtual vehicle VI. At this time, the relationships between time, speed, and distance are expressed by equations (10) and (11).

[0087]

Equation

[0088]

Equation

[0089] When the equations are arranged, the virtual speed V of the virtual vehicle VI IIt is as shown in the following formula (12). By arbitrarily setting the acceleration a, the virtual speed V of the virtual vehicle VI can be changed based on the position information and speed information of the target vehicle VT and the position information and speed information of the host vehicle VS. I can be changed.

[0090]

Number

[0091] In the above description, the distance from the host vehicle VS to the intersection, the distance from the target vehicle VT to the intersection, and the speed of the host vehicle VS are respectively used as the initial values at the start of control. However, until the host vehicle VS reaches the assumed collision position Ps, if the distance x from the host vehicle VS to the intersection, the distance x from the target vehicle VT to the intersection, and the speed V of the host vehicle VS are used, the virtual vehicle VI can be continuously generated. S 、the distance x from the target vehicle VT to the intersection [[ID=十七]] T 、the speed V of the host vehicle VS s are used, the virtual vehicle VI can be continuously generated. That is, when the distance X from the target vehicle VS to the assumed collision position Ps, the distance X from the virtual vehicle VI to the assumed collision position, the speed V of the target vehicle VT, and the virtual speed V are used, as long as the virtual vehicle VT is generated until the host vehicle VS reaches the assumed collision position Ps so as to satisfy the following formula (13), T [[ID=2Four]]、the distance X from the virtual vehicle VI to the assumed collision position I 、the speed V of the target vehicle VT T 、the virtual speed V I the virtual vehicle VI can be generated in consideration of the driving state of the target vehicle VT, and appropriate collision avoidance control can be performed.

[0092]

Number

[0093] As described above, the vehicle driving control device 200 according to this embodiment, when the vehicle driving control unit 100A of the vehicle side driving control unit 100A enters an intersection where the vehicle itself driving in lane L6 intersects with lane L5, determines the target vehicle VT driving in lane L5, sets a collision assumption position Ps where the vehicle will collide with the target vehicle VT, generates a virtual vehicle VI that will reach the collision assumption position Ps when the target vehicle VT reaches the collision assumption position Ps, before the vehicle itself reaches the collision assumption position Ps, and issues a command to control the distance between the vehicle itself and the virtual vehicle VI, thereby appropriately avoiding a collision and controlling the driving of the vehicle itself, taking into account the driving state of the target vehicle.

[0094] Furthermore, even if the target vehicle VT is traveling at a speed exceeding the speed limit, a collision with the target vehicle VT can be avoided, and movement is possible with appropriate acceleration and deceleration control. In addition, because the acceleration and deceleration of the own vehicle VS is controlled in relation to the virtual vehicle VI, excessive acceleration and deceleration are not generated, enabling proper driving.

[0095] Also, the distance between your vehicle VS and the virtual vehicle VI is the target distance d. * Once secured and after performing movements such as merging, if an acceleration command is output to reach the set speed, the vehicle can continue driving appropriately at the desired speed. LIM Even if your vehicle exceeds the speed limit, you are still subject to the speed limit V. LIM It can adhere to the rules and, if you want to drive at a desired speed, you can drive at that desired speed.

[0096] Although the reference point in position information was not mentioned in embodiments 1 to 3 above, it goes without saying that a reference point must be determined in order to determine the distance. For example, the reference point for the position of the vehicle VS can be determined appropriately, such as by taking half the length of the vehicle. The assumed collision position Ps was defined as the point where the positions of the virtual vehicle VI and the target vehicle VT coincide, but this includes not only the position where their reference points, centers, etc., coincide, but also the position considering the collision with the target vehicle VT. Target distance d * It goes without saying that the position required to ensure this is a distance at which the vehicle body will not make contact and a collision will be avoided.

[0097] While this disclosure describes various exemplary embodiments and examples, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but are applicable individually or in various combinations to the embodiments. Accordingly, countless variations not illustrated are envisioned within the scope of the art disclosed herein. For example, these include modifying, adding or omitting at least one component, or even extracting at least one component and combining it with a component from another embodiment. [Explanation of symbols]

[0098] 11 Position receiver, 12 Speed ​​sensor, 13 Surroundings sensor, 14 Map storage unit, 15 Drive control device, 21 Roadside sensor, 16a, 16b Communication unit, 100, 200 Vehicle driving control device, 100A Vehicle-side driving control unit, 100B Roadside driving control unit, 101, 201a, 201b Acquisition unit, 102, 202 Target vehicle determination unit, 103, 203 Virtual vehicle generation unit, 104 Vehicle control unit, L1~L6 Lane, VS Own vehicle, VT Target vehicle, VI Virtual vehicle, RSU Roadside unit, Ps Collision assumption position

Claims

1. An acquisition unit that acquires the location information and speed information of the vehicle itself, and the location information and speed information of surrounding vehicles present in the vicinity of the vehicle, A target vehicle determination unit determines a target vehicle that is traveling in the same direction as the self-vehicle and has the potential to collide with it, based on the position information and speed information of the self-vehicle and the position information and speed information of surrounding vehicles. A virtual vehicle generation unit sets a hypothetical collision position where the self-vehicle and the target vehicle collide, drives at a virtual speed, and generates a virtual vehicle that reaches the hypothetical collision position when the target vehicle reaches the hypothetical collision position, continuously from the start of control when the target vehicle is determined, before the self-vehicle reaches the hypothetical collision position. A vehicle control unit that issues commands to control the distance between the vehicle itself and the virtual vehicle. A vehicle driving control device equipped with the following features.

2. The virtual vehicle generation unit, The distance from the target vehicle to the assumed collision position is X. T The distance from the virtual vehicle to the assumed collision position is X. I The speed of the aforementioned vehicle is V T , the virtual speed is V I When we let , then the following equation (1) X T / V T =X I / V I (1) A vehicle driving control device according to claim 1, which generates the virtual vehicle in such a manner as to satisfy the following conditions.

3. The acquisition unit acquires the speed limit of the destination of the vehicle, The vehicle driving control device according to claim 1, wherein the virtual vehicle generation unit sets at least one of the following as the virtual speed: the speed of the vehicle itself, the speed limit of the destination to which the vehicle is moving, and a preset speed.

4. The virtual vehicle generation unit, When the destination of the vehicle is the lane the target vehicle is traveling in, and the vehicle is changing lanes from the source lane to the destination lane, The vehicle driving control device according to claim 1, wherein the assumed collision position is set within the lane change assumed section in which a lane change is to be performed, and the virtual vehicle is continuously generated on the destination lane until the own vehicle reaches the assumed collision position.

5. When the lane from which the change is to be made is a branch line and the lane to which the change is to be made is a main line, and the vehicle in question is a vehicle merging from the branch line to the main line, and the target vehicle is a vehicle traveling on the main line, The vehicle driving control device according to claim 4, wherein the merging control section in which the vehicle merges is defined as the lane change assumption section, the collision assumption position is set within the lane change assumption section, and the virtual vehicle is continuously generated on the main line until the vehicle reaches the collision assumption position.

6. The virtual vehicle generation unit, Let the speed of the target vehicle be V T and the virtual speed be V I when taking them, V T >V I In this case, the virtual vehicle is generated in front of the target vehicle, V T <V I In this case, the virtual vehicle is generated behind the target vehicle, V T = V I In this case, the virtual vehicle is generated at the location of the target vehicle. The vehicle driving control device according to claim 4.

7. The virtual vehicle generation unit, If the destination of the vehicle is an intersection into which the vehicle is entering, and the target vehicle is a vehicle entering the intersection from a different lane than the vehicle, The vehicle driving control device according to claim 1, wherein the intersection is designated as the assumed collision location, and the virtual vehicle is continuously generated on the lane in which the vehicle is traveling until the vehicle reaches the assumed collision location.

8. The system has multiple acquisition units, The vehicle driving control device according to claim 1, wherein the first acquisition unit is provided on the vehicle itself and acquires the location information and speed information of the vehicle itself, and the second acquisition unit is provided on a roadside unit installed on the roadside and acquires the location information and speed information of surrounding vehicles.

9. The vehicle control unit, A vehicle driving control device according to any one of claims 1 to 8, which outputs an acceleration command that results in a set speed after the vehicle has reached the assumed collision position.

10. The vehicle control unit outputs an acceleration command as the set speed obtained from the acquisition unit, which is the speed limit of the destination of the vehicle or a predetermined speed, according to claim 9.

11. The steps include acquiring the location information and speed information of the vehicle itself, and the location information and speed information of surrounding vehicles present in the vicinity of the vehicle, The steps include: determining a target vehicle that is traveling in the same direction as the vehicle and is likely to collide with the vehicle, based on the location and speed information of the vehicle itself and the location and speed information of surrounding vehicles; setting a hypothetical collision position in which the vehicle itself and the target vehicle will collide, and generating a virtual vehicle that travels at a virtual speed and reaches the hypothetical collision position when the target vehicle reaches the hypothetical collision position, continuously from the start of control when the target vehicle is determined, before the vehicle itself reaches the hypothetical collision position; The steps include issuing a command to control the distance between the vehicle itself and the virtual vehicle. A vehicle driving control method comprising the following:

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