Travel control method and travel control device

Abstract

According to the present invention: a first position where a host vehicle (V1) parks or stops and a second position where the host vehicle (V1) can park or stop without obstructing the passage of another vehicle (V2) passing through the first position, are set in advance; and the host vehicle (V1) is made to travel from the first position to the second position when it is determined that the host vehicle (V1) is obstructing the passage of the other vehicle (V2) when the host vehicle (V1) is parked or stopped at the first position.

Description

Driving control method and driving control device

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

[0002] A vehicle control method is known in which, when the vehicle is in temporary parking mode in which the engine is in sleep mode and the detection sensor is in on mode, if it is determined that the vehicle is on the driving path of another vehicle, a temporary parking position is set in which the vehicle can be accommodated and the accommodated vehicle does not obstruct the passage of the other vehicle, and the vehicle is moved to the temporary parking position (Patent Document 1).

[0003] Japanese Patent Application Laid-Open No. 2020-511353

[0004] In the above-described conventional technology, a temporary parking position is set only after it is determined that the vehicle is obstructing the passage of other vehicles, which causes a problem that it takes time for the vehicle to move to the temporary parking position.

[0005] The problem to be solved by the present invention is to provide a cruise control method and cruise control device that can reduce the time it takes for a vehicle to move to a position where it does not obstruct the passage of other vehicles.

[0006] The present invention solves the above problem by presetting a first position where the vehicle is parked or stopped and a second position where the vehicle can be parked or stopped without obstructing the passage of other vehicles passing through the first position, and when the vehicle is parked or stopped at the first position and it is determined that the vehicle is obstructing the passage of other vehicles, the vehicle is driven from the first position to the second position.

[0007] According to the present invention, it is possible to reduce the time required for the host vehicle to move to a position where it does not obstruct the passage of other vehicles.

[0008] FIG. 1 is a block diagram showing an example of an embodiment of a cruise control system according to the present invention. FIG. 2 is a plan view (part 1) showing an example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. FIG. 3 is a plan view (part 3) showing an example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. FIG. 4 is a plan view (part 5) showing an example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. FIG. 1 is a plan view (part 1) showing another example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. FIG. 2 is a plan view (part 2) showing another example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. FIG. 3 is a plan view (part 3) showing another example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. FIG. 4 is a plan view (part 4) showing an example of a driving scene in which autonomous cruise control is performed by the cruise control system of FIG. 1. 10 is a flowchart showing yet another example of the processing procedure in the cruise control system of FIG. 1 .

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] [Configuration of Cruise Control System] Fig. 1 is a block diagram showing an example of an embodiment of a cruise control system according to the present invention. The cruise control system is an in-vehicle system that drives a vehicle to a destination set by a vehicle occupant through autonomous cruise control.

[0011] Autonomous driving control is the autonomous control of a vehicle's driving operations, which include all driving operations such as acceleration, deceleration, starting, stopping, and steering. The autonomous control of driving operations is performed by a driving control device installed in the vehicle using the vehicle's devices. The driving control device controls driving operations within a predetermined range. Driving operations that are not controlled by the driving control device are manually operated by the driver. When the vehicle is driven manually by the driver without relying on autonomous driving control, the driving control device does not perform autonomous control of driving operations, and the vehicle's driving operations are controlled by the driver's operation. Details of the driving control device will be described later.

[0012] 1, a cruise control system 10 includes a camera 11, an on-board sensor 12, a map database 13, an actuator 14, and a cruise control device 15. These devices are connected via a Controller Area Network (CAN) or other on-board LAN, and can exchange information with each other.

[0013] The camera 11 is equipped with an imaging element such as a CCD, and captures images of objects around the vehicle to obtain images including the objects. The camera 11 may be an infrared camera, a stereo camera, or the like. In order to reduce blind spots where the object cannot be captured, multiple cameras 11 are provided on the front grille, side mirrors, rear bumper, etc. of the vehicle.

[0014] The on-board sensors 12 detect the traveling state of the vehicle. The on-board sensors 12 include a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering angle sensor, etc. The on-board sensors 12 also include a distance measuring device such as a millimeter-wave radar or a LiDAR (light detection and ranging) unit that detects the relative distance and relative speed between the vehicle and an object. These sensors are appropriately positioned within a range where they can appropriately detect the traveling state of the vehicle and objects around the vehicle.

[0015] The objects detected by the camera 11 and the on-board sensor 12 are objects that exist on the road and its surroundings, including lane boundaries, center lines, road markings, medians, guardrails, curbs, road signs, traffic lights, crosswalks, etc. The objects also include obstacles that may affect the travel of the vehicle, such as other automobiles, motorcycles, bicycles, and pedestrians.

[0016] The detection results of the camera 11 and the on-board sensor 12 are acquired by the cruise control device 15 at predetermined time intervals (for example, every 0.1 to 1 millisecond) as needed. The cruise control device 15 recognizes objects around the vehicle and the driving environment from the acquired detection results. The driving environment is information for specifying the range in which the vehicle can travel, including the positions of objects around the vehicle, the relative positions and relative speeds of the objects with respect to the vehicle, and the conditions of the roads around the vehicle. The cruise control device 15 may also integrate or synthesize the detection results of the camera 11 and the on-board sensor 12 (so-called sensor fusion).

[0017] The map database 13 is a storage medium that stores map information and is provided inside or outside the vehicle. The cruise control device 15 acquires map information from the map database 13 as needed. The map information includes information on nodes corresponding to specific points on roads (such as intersections) where the vehicle's direction of travel changes, and links corresponding to road sections connecting the nodes. Examples of node information include location information and information on entering and exiting intersections, and examples of link information include road width, road curvature radius, road shoulder structures, road traffic regulations, etc. The map information may be high-precision map information that can grasp the movement trajectory for each lane.

[0018] The actuator 14 is a device that converts an electrical control signal input from the cruise control device 15 into mechanical work, and includes a servo motor, a hydraulic motor, a hydraulic cylinder, etc. The actuator 14 operates the drive device and steering device of the vehicle.

[0019] The cruise control device 15 is a device that controls and cooperates with the devices that make up the cruise control system 10 to perform autonomous cruise control of the vehicle. The cruise control device 15 is, for example, a computer, and includes a CPU (Central Processing Unit) that is a processor, a ROM (Read Only Memory) that stores programs, and a RAM (Random Access Memory) that functions as an accessible storage device. The CPU is an operating circuit that executes the programs stored in the ROM and realizes the functions of the cruise control device 15.

[0020] [Functions of the Driving Control Device] A program for autonomous driving control of the vehicle is stored in the ROM of the driving control device 15, and autonomous driving control is performed by the CPU of the driving control device 15 executing the program. For convenience, Fig. 1 shows a setting unit 21, a determination unit 22, and a driving unit 23 as functional blocks for performing autonomous driving control.

[0021] The setting unit 21 sets a position (hereinafter also referred to as a first position) where a vehicle traveling under autonomous travel control will park or stop. The setting unit 21 sets the first position, for example, when the vehicle stops in front of a destination, when parking in a parking lot, when yielding to an oncoming vehicle, etc. Note that "parked" means that the position of the vehicle does not change for a while (for example, 5 minutes to 1 hour or more), and "stopped" means that the position of the vehicle does not change temporarily (for example, less than 5 minutes).

[0022] The setting unit 21 searches for a space where the vehicle can be parked or stopped without any obstacles, based on the information of the image acquired by the camera 11 and the detection results of the on-board sensor 12. If the space is detected, the setting unit 21 sets the first position to the detected space. On the other hand, if the space is not detected, the setting unit 21 widens the search range and searches again for a space where the vehicle can be parked or stopped.

[0023] The determination unit 22 makes various determinations to allow the driving unit 23 to drive the vehicle appropriately. The details of the determinations made by the determination unit 22 will be described later.

[0024] The driving unit 23 drives the vehicle by autonomous driving control. Specifically, the driving unit 23 generates a driving route for the vehicle to travel from the current position to the destination based on the image information acquired by the camera 11 and the detection results of the on-board sensor 12, and generates a control signal to be output to the actuator 14 so that the vehicle travels along the generated driving route.

[0025] 2A to 2E are a series of plan views illustrating an example of a driving scene in which autonomous driving control is performed by the driving control system 10 of FIG. 1. In the driving scene shown in FIG. 2A, a road A1 extends left to right on the drawing, and a road A2 extends up to down on the drawing. A vehicle traveling on road A1 travels from left to right on the drawing (positive direction of the X-axis) or from right to left on the drawing (negative direction of the X-axis), and a vehicle traveling on road A2 travels from bottom to top on the drawing (positive direction of the Y-axis) or from top to bottom on the drawing (negative direction of the Y-axis).

[0026] The widths of roads A1 and A2 shown in Figure 2A are not wide enough for two vehicles to travel side by side, so oncoming vehicles traveling in opposite directions cannot pass each other or overtake a preceding vehicle traveling in the same direction on roads A1 and A2. Therefore, road A1 is provided with a waiting area B so that one vehicle can avoid the other when oncoming vehicles pass each other or when overtaking a preceding vehicle. In addition, the portion of road A1 to the right of intersection C where roads A1 and A2 intersect is a dead end D.

[0027] In the driving scene shown in Figure 2A, the host vehicle V1 equipped with the driving control system 10 is traveling in the positive direction of the X axis at position P1 on road A1. The destination of the host vehicle V1 is set to building E in Figure 2A, and the setting unit 21 has set position P2, a stopping position, in front of building E. In this case, the driving unit 23 generates a driving route T1 for traveling from position P1 to position P2, generates a control signal for causing the host vehicle V1 to travel along the driving route T1, and outputs the generated control signal to the actuator 14. The actuator 14 operates the drive device and steering device of the host vehicle V1 in accordance with the received control signal, causing the host vehicle V1 to travel from position P1 to position P2.

[0028] After traveling to position P2, the host vehicle V1 stops at position P2, as shown in Fig. 2B. Fig. 2B is a plan view showing a traveling scene after the host vehicle V1 stops at position P2, in which another vehicle V2 is traveling in the positive direction of the Y axis on position Q1 of road A2. In this traveling scene, when the other vehicle V2 travels along traveling path U1 from position Q1 on road A2 to position Q2 on road A1, the other vehicle V2, which attempts to travel in the negative direction of the X axis, is unable to avoid the host vehicle V1, which is stopped at position P2, and ends up stopping at position Q2.

[0029] As long as the host vehicle V1 is stopped at position P2, the other vehicle V2 cannot avoid the host vehicle V1. Therefore, the driving unit 23 drives the host vehicle V1 to a stopping position where the other vehicle V2 can avoid the host vehicle V1, so that the other vehicle V2 can avoid the host vehicle V1 and resume driving. However, if the other vehicle V2 were to stop at position Q2 and then search for a new stopping position, it would take time for the host vehicle V1 to move to the new stopping position, which would result in blocking the passage of the other vehicle V2 for a long period of time.

[0030] Therefore, the setting unit 21 sets the first position and also sets in advance a second position where the host vehicle V1 can park or stop without interfering with the passage of other vehicles V2 passing through the first position. That is, the setting unit 21 sets in advance a parking position or stopping position for the host vehicle V1 that does not interfer with the passage of other vehicles V2 passing through the first position. The timing at which the setting unit 21 sets the second position may be before the host vehicle V1 reaches the first position or before the host vehicle V1 is parked or stopped at the first position. Furthermore, the setting unit 21 may set the first position and the second position simultaneously.

[0031] The subject vehicle V1 obstructing the passage of the other vehicle V2 includes a case where there is no space (driving range) for the other vehicle V2 to avoid the subject vehicle V1 and the other vehicle V2 cannot avoid the subject vehicle V1, and a case where there is space for the other vehicle V2 to avoid the subject vehicle V1 but the other vehicle V2 has difficulty avoiding the subject vehicle V1. The case where the other vehicle V2 has difficulty avoiding the subject vehicle V1 means, for example, that the subject vehicle V1 can be avoided under manual driving but cannot be avoided under autonomous driving control, and that the inter-vehicle distance when the other vehicle V2 avoids the subject vehicle V1 is shorter than the inter-vehicle distance allowed under autonomous driving control (for example, 20 cm to 1 m).

[0032] The setting unit 21 sets the second position based on image information acquired by the camera 11 and the detection results of the on-board sensor 12. For example, while the host vehicle V1 travels from its current position to the first position, the setting unit 21 generates map information about the surroundings of the host vehicle V1 (or position information about objects around the host vehicle V1) based on images acquired by the camera 11 and distances to objects acquired by the distance measuring device, and searches for a space from the generated map information where the host vehicle V1 can be parked or stopped without any obstacles. Then, the setting unit 21 detects a space from the searched spaces where the host vehicle V1 can be parked or stopped without obstructing the passage of another vehicle V2 passing through the first position, and sets the second position in the detected space. Alternatively or additionally, the setting unit 21 may set the second position based on map information acquired from the map database 13.

[0033] After the second position is set by the setting unit 21, when the host vehicle V1 is parked or stopped at the first position, if another vehicle V2 traveling around the host vehicle V1 is detected from the image acquired by the camera 11 and / or the detection result of the on-board sensor 12, the determination unit 22 determines whether the host vehicle V1 is obstructing the passage of the other vehicle V2. The determination unit 22 determines whether the host vehicle V1 is obstructing the passage of the other vehicle V2, for example, based on the overall width of the host vehicle V1, the overall width of the other vehicle V2, and the width of the road. As an example, if the sum of the overall width of the host vehicle V1 and the overall width of the other vehicle V2 is longer than the width of the road at the first position, the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2. As another example, if the sum of the overall width of the subject vehicle V1 and the overall width of the other vehicle V2 is shorter than the width of the road at the first position by more than the inter-vehicle distance allowed in autonomous driving control, the judgment unit 22 determines that the subject vehicle V1 is not obstructing the passage of the other vehicle V2.

[0034] The overall width of the other vehicle V2 is calculated by the determination unit 22 based on, for example, at least one of the image acquired by the camera 11 and the positions of the left and right ends of the other vehicle V2 acquired by the distance measuring device (on-board sensor 12). On the other hand, the road width is calculated by the determination unit 22 from, for example, map information acquired from the map database 13. Alternatively, the determination unit 22 may calculate the road width from the image acquired by the camera 11.

[0035] If the determination unit 22 determines that the host vehicle V1 is obstructing the passage of other vehicles, the driving unit 23 causes the host vehicle V1 to drive from the first position to the second position. On the other hand, if the determination unit 22 determines that the host vehicle V1 is not obstructing the passage of other vehicles, the driving unit 23 maintains the state of the host vehicle V1 parked or stopped at the first position. In other words, the driving unit 23 continues to park or stop the host vehicle V1 at the first position.

[0036] 2A , while traveling along the travel route T1, the setting unit 21 detects a turnout B from an image acquired by the camera 11, and confirms from the detection result of the distance measuring device (on-board sensor 12) that no obstacles such as vehicles exist at the turnout B. Then, while the host vehicle V1 travels to position P2 by the travel unit 23, the setting unit 21 sets the second position at the turnout B.

[0037] After the host vehicle V1 travels along the travel path T1 to a position P2 and stops, if another vehicle V2 traveling in the negative direction of the X-axis stops in front of the host vehicle V1 as shown in Fig. 2B, the determination unit 22 determines whether the host vehicle V1 is obstructing the passage of the other vehicle V2. Because the road A1 shown in Fig. 2B does not have a width sufficient for the host vehicle V1 traveling in the positive direction of the X-axis and the other vehicle V2 traveling in the negative direction of the X-axis to pass each other, the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2.

[0038] Because the determination unit 22 determines that the host vehicle V1 is obstructing the passage of another vehicle, the driving unit 23 causes the host vehicle V1 to travel from position P2 (first position) to position P3 (second position) of a preset waiting area B. As shown in FIG. 2C , the driving unit 23 causes the host vehicle V1 to travel along the generated travel route T2 to position P3 and stop the host vehicle V1 at position P3. This allows the other vehicle V2 to avoid the host vehicle V1 and resume traveling. That is, as shown in FIG. 2D , the other vehicle V2 travels from position Q2 to position Q3 along the travel route U2 and passes the host vehicle V1. Note that while the driving unit 23 causes the host vehicle V1 to travel from position P2 to position P3, an occupant may or may not be present in the host vehicle V1.

[0039] If the host vehicle V1 is parked or stopped at the second position and another vehicle V2 passes the first position, the driving unit 23 may drive the host vehicle V1 from the second position to the first position. For example, in the driving scene shown in FIG. 2E , the host vehicle V1 is stopped at position P3 in the waiting area B, and another vehicle V2, which has avoided the host vehicle V1, is driving through position Q3 in the negative direction of the X axis. In this case, the driving unit 23 generates a driving route T3 for driving from position P3 to position P2, and drives the host vehicle V1 from position P3 to position P2 along the driving route T3. After the host vehicle V1 reaches position P2, the driving unit 23 again stops the host vehicle V1 at position P2.

[0040] When the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2, the setting unit 21 may recognize the current driving environment around the host vehicle V1 from the detection results of the sensor of the host vehicle V1 and, based on the recognized driving environment, search for a third position different from the second position where the host vehicle V1 can park or stop without obstructing the passage of the other vehicle V2. For example, the third position is a position closer to the first position than the second position. When the third position is found, the host vehicle V1 can move to the third position as a temporary stopping position without moving farther away from the first position. The third position may also be a temporary stopping area that is larger than the second position. When the setting unit 21 detects the third position, the driving unit 23 causes the host vehicle V1 to travel from the first position to the third position. On the other hand, when the setting unit 21 does not detect the third position, the driving unit 23 causes the host vehicle V1 to travel from the first position to the second position or to continue parking or stopping the host vehicle V1 at the first position.

[0041] Furthermore, if an obstacle is present at the second position (or on a driving route toward the second position) that prevents the host vehicle V1 from parking or stopping at the second position, and the host vehicle V1 cannot park or stop at the second position, the setting unit 21 may recognize the current driving environment around the host vehicle V1 from the detection results of the sensor of the host vehicle V1, and based on the recognized driving environment, search for a sixth position that is farther away from the first position than the second position and where the host vehicle V1 can park or stop without obstructing the passage of other vehicles V2. If the setting unit 21 detects the sixth position, the driving unit 23 causes the host vehicle V1 to drive from the first position to the sixth position. On the other hand, if the setting unit 21 does not detect the sixth position, the driving unit 23 causes the host vehicle V1 to drive from the first position to the second position or keeps the host vehicle V1 parked or stopped at the first position.

[0042] 3A is a plan view showing a driving scene similar to that shown in FIG. 2B except for the position of the other vehicle V2. In the driving scene shown in FIG. 3A, the other vehicle V2 is traveling in the positive direction of the X axis at position Q4 on road A1. In this driving scene, after traveling from position Q4 to position Q5 along driving path U3, the other vehicle V2 is unable to avoid the host vehicle V1, which is stopped at position P2, and ends up stopping at position Q5 behind the host vehicle V1.

[0043] In this case, the determination unit 22 determines whether the host vehicle V1 is obstructing the passage of the other vehicle V2. The road A1 shown in Fig. 3A does not have a width necessary for the other vehicle V2 traveling in the positive direction of the X-axis to overtake the host vehicle V1 parked at the first position, so the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2.

[0044] The determination unit 22 determines that the host vehicle V1 is obstructing the passage of another vehicle, but the other vehicle V2 parked at position Q5 is an obstacle, and the host vehicle V1 cannot travel to the second position of the turnout B. Therefore, the setting unit 21 searches for a third position (or a sixth position other than the second position) different from the second position where the host vehicle V1 can park or stop without obstructing the passage of the other vehicle V2. In the traveling scene shown in FIG. 3A , the setting unit 21 detects, from the image acquired by the camera 11, a space at the dead end D ahead of the host vehicle V1 where there is no obstacle, the host vehicle V1 can park or stop, and the other vehicle V2 can avoid the host vehicle V1 and resume traveling.

[0045] When the above-described space is detected at dead end D, the setting unit 21 sets position P4, which is a third position (a sixth position different from the second position), in the space at dead end D, as shown in FIG. 3B. The driving unit 23 drives the host vehicle V1 along driving path T4 from position P2 to position P4 and stops the host vehicle V1 at position P4. Then, as shown in FIG. 3C, the other vehicle V2 drives along driving path U2 from position Q5 on road A1 to position Q6 on road A2, avoiding the host vehicle V1.

[0046] The setting unit 21 may set the second position at a position farther away from the center in the width direction of the road on which the host vehicle V1 is traveling than the first position. For example, as shown in FIG. 2C , a position P3 (second position) set at the turnout B is set at a position farther away from the center in the width direction of the road A1 than the position P2 (first position).

[0047] The setting unit 21 may detect, as candidates for the second position, a fourth position that is farther away from the center of the width of the road on which the host vehicle V1 is traveling than the first position, and a fifth position at which the other vehicle V2 can pass the first position without performing an avoidance operation. As an example, position P3 set at a turnout B shown in FIG. 2C is a stopping position farther away from the center of the width of the road A1 than position P2 (first position) and corresponds to the fourth position. Also, position P4 set at a dead end D shown in FIG. 3C is a stopping position at which the other vehicle V2 can pass position P2 without performing an avoidance operation such as steering, and corresponds to the fifth position.

[0048] Furthermore, the setting unit 21 sets either the fourth position or the fifth position as the second position depending on the overall width of the host vehicle V1, the overall width of the other vehicle V2, and the width of the road. For example, in the traveling scene shown in Fig. 3A, if the other vehicle V2 is a large vehicle with a large overall width, the setting unit 21 sets position P4 (fifth position) as the stopping position (second position).

[0049] When the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2, the determination unit 22 may further determine whether the type of the other vehicle V2 is a specific type. The type of the other vehicle V2 is an attribute of the other vehicle V2 corresponding to the function, purpose of use, etc. of the other vehicle V2. The other vehicle V2 being a specific type means that the attribute (purpose of use) of the other vehicle V2 is to provide public services, transport goods or personnel, provide services in response to user requests, etc. As examples, other vehicles V2 that provide public services include police vehicles, ambulances, and fire engines.

[0050] When the determination unit 22 determines that the type of the other vehicle V2 is a specific type, the driving unit 23 causes the host vehicle V1 to drive from the first position to the second position. On the other hand, when the determination unit 22 determines that the type of the other vehicle V2 is not a specific type, the driving unit 23 keeps the host vehicle V1 parked or stopped at the first position (maintaining the parked or stopped state). This makes it possible to prevent obstruction of the passage of specific types of vehicles.

[0051] When the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2, the determination unit 22 may determine whether the other vehicle V2 is a pre-registered vehicle. A registered vehicle is, for example, a vehicle whose destination is in the vicinity of a first position and which cannot reach the destination without passing through the first position. As an example, a vehicle owned by a resident of a house located between building E and intersection C shown in FIG. 2A is a registered vehicle that cannot reach the house without passing through the first position. The determination unit 22 registers information identifying the registered vehicle (for example, information on the vehicle registration plate number) in a storage medium (not shown) of the driving control device 15 before starting driving under autonomous driving control (or before parking or stopping at the first position).

[0052] When the determination unit 22 determines that the other vehicle V2 is a registered vehicle, the driving unit 23 causes the host vehicle V1 to drive from the first position to the second position. On the other hand, when the determination unit 22 determines that the other vehicle V2 is not a registered vehicle, the driving unit 23 causes the host vehicle V1 to continue to park or stop at the first position. This makes it possible to prevent the host vehicle V1 from obstructing the passage of registered vehicles.

[0053] When the determination unit 22 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2, the determination unit 22 may determine whether the other vehicle V2 is an emergency vehicle. An emergency vehicle is a vehicle that is specified or designated by law and is used for emergency purposes, and examples of such vehicles include a fire engine, an ambulance, a police vehicle, and a military vehicle.

[0054] When the determination unit 22 determines that the other vehicle V2 is an emergency vehicle, the driving unit 23 causes the host vehicle V1 to drive from the first position to the second position. On the other hand, when the determination unit 22 determines that the other vehicle V2 is not an emergency vehicle, the driving unit 23 keeps the host vehicle V1 parked or stopped at the first position. This makes it possible to prevent the host vehicle V1 from obstructing the passage of emergency vehicles.

[0055] 4 to 7, the procedure for processing information by the cruise control device 15 will be described. The process described below is executed by a processor (CPU) included in the cruise control device 15 at predetermined time intervals (for example, every 0.1 to 1 millisecond).

[0056] FIG. 4 is a flowchart showing an example of a processing procedure executed in the cruise control system 10.

[0057] First, in step S1, the setting unit 21 sets a first position, and then in the following step S2, the setting unit 23 sets a second position. In step S3, the driving unit 23 parks or stops the host vehicle V1 at the first position. In step S4, the determination unit 22 determines whether the host vehicle V1 will obstruct the passage of another vehicle V2 detected from the image acquired by the camera 11 and / or the detection result of the on-board sensor 12. If it is determined that the host vehicle V1 will not obstruct the passage of the other vehicle V2, the process proceeds to step S5, in which the driving unit 23 maintains the parked or stopped state of the host vehicle V1. On the other hand, if it is determined that the host vehicle V1 will obstruct the passage of the other vehicle V2, the process proceeds to step S6, in which the driving unit 23 drives the host vehicle V1 from the first position to the second position.

[0058] 5 is a flowchart showing another example of the processing procedure executed in the cruise control system 10. Note that a description of steps S1 to S5 will be omitted to avoid redundancy.

[0059] If it is determined in step S4 that the host vehicle V1 will obstruct the passage of the other vehicle V2, the process proceeds to step S11, where the setting unit 21 recognizes the current driving environment of the host vehicle V1, and then in step S12, searches for a third position. In step S13, the determination unit 22 determines whether the third position has been detected. If it is determined that the third position has not been detected (the third position does not exist), the process proceeds to step S14, where the driving unit 23 drives the host vehicle V1 from the first position to the second position. On the other hand, if it is determined that the third position has been detected (the third position exists), the process proceeds to step S15, where the driving unit 23 drives the host vehicle V1 from the first position to the third position.

[0060] 6 is a flowchart showing another example of the processing procedure executed in the cruise control system 10. Note that a description of steps S1 to S5 will be omitted to avoid redundancy.

[0061] If it is determined in step S4 that the host vehicle V1 will obstruct the passage of the other vehicle V2, the process proceeds to step S21, where the determination unit 22 determines whether the type of the other vehicle V2 is a specific type. If it is determined that the type of the other vehicle V2 is a specific type, the process proceeds to step S24, where the driving unit 23 causes the host vehicle V1 to drive from the first position to the third position. On the other hand, if it is determined that the type of the other vehicle V2 is not a specific type, the process proceeds to step S22, where the determination unit 22 determines whether the other vehicle V2 is a registered vehicle. If it is determined that the other vehicle V2 is a registered vehicle, the process proceeds to step S24. On the other hand, if it is determined that the other vehicle V2 is not a registered vehicle, the process proceeds to step S23, where the determination unit 22 determines whether the other vehicle V2 is an emergency vehicle. If it is determined that the other vehicle V2 is an emergency vehicle, the process proceeds to step S24. On the other hand, if it is determined that the other vehicle V2 is not an emergency vehicle, the process proceeds to step S5.

[0062] If the process proceeds to step S24, the process proceeds to step S25, where the determination unit 22 determines whether the other vehicle V2 has passed the first position. If it is determined that the other vehicle V2 has not passed the first position, the process proceeds to step S27, where the driving unit 23 maintains the parked or stopped state of the host vehicle V1. On the other hand, if it is determined that the other vehicle V2 has passed the first position, the process proceeds to step S26, where the driving unit 23 drives the host vehicle V1 from the second position to the first position.

[0063] 7 is a flowchart showing another example of the processing procedure executed in the cruise control system 10. Note that a description of steps S1 to S5 will be omitted to avoid redundancy.

[0064] If it is determined in step S4 that the host vehicle V1 will obstruct the passage of the other vehicle V2, the process proceeds to step S31, where the determination unit 22 determines whether the host vehicle V1 can be parked or stopped at the second position. If it is determined that the host vehicle V1 can be parked or stopped at the second position, the process proceeds to step S32, where the driving unit 23 drives the host vehicle V1 from the first position to the second position. On the other hand, if it is determined that the host vehicle V1 cannot be parked or stopped at the second position, the process proceeds to step S33, where the setting unit 21 searches for a sixth position. In the subsequent step S34, the determination unit 22 determines whether the sixth position has been detected. If it is determined that the sixth position has not been detected (the sixth position does not exist), the process proceeds to step S5. On the other hand, if it is determined that the sixth position has been detected (the sixth position exists), the process proceeds to step S35, where the driving unit 23 drives the host vehicle V1 from the first position to the sixth position.

[0065] According to this embodiment, in a cruise control method executed by a cruise control device 15 of a host vehicle V1, the cruise control device 15 presets a first position where the host vehicle V1 is parked or stopped and a second position where the host vehicle V1 can be parked or stopped without obstructing the passage of another vehicle V2 passing through the first position, and when the host vehicle V1 is parked or stopped at the first position and it is determined that the host vehicle V1 is obstructing the passage of the other vehicle V2, the cruise control device 15 causes the host vehicle V1 to travel from the first position to the second position. As a result, when it is determined that the host vehicle V1 is obstructing the passage of the other vehicle V2, the host vehicle V1 can quickly start moving to the second position.

[0066] In the cruise control method of this embodiment, when it is determined that the host vehicle V1 is obstructing the passage of the other vehicle V2, the cruise control device 15 recognizes the current driving environment around the host vehicle V1 from the detection results of the sensor of the host vehicle V1, and based on the driving environment, searches for a third position that is closer to the first position than the second position and where the host vehicle V1 can park or stop without obstructing the passage of the other vehicle V2. If the third position is not detected, the host vehicle V1 is caused to drive from the first position to the second position, and if the third position is detected, the host vehicle V1 is caused to drive from the first position to the third position. In this way, a waiting position closer than a preset waiting position can be set and the host vehicle V1 can move to the waiting position.

[0067] In the cruise control method of this embodiment, when the cruise control device 15 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2, it determines whether the type of the other vehicle V2 is a specific type, and if it determines that the type is the specific type, it causes the host vehicle V1 to travel from the first position to the second position, and if it determines that the type is not the specific type, it keeps the host vehicle V1 parked or stopped at the first position. This makes it possible to prevent obstruction of the passage of specific types of vehicles that need to reach their destination as quickly as possible.

[0068] In the driving control method of this embodiment, the second position is a position that is farther away from the center of the road in the width direction on which the host vehicle V1 is traveling than the first position, which makes it easier for the other vehicle V2 to avoid the host vehicle V1.

[0069] In the cruise control method of this embodiment, when the cruise control device 15 determines that the host vehicle V1 is obstructing the passage of the other vehicle V2, it determines whether the other vehicle V2 is a registered vehicle that has been registered in advance, and when it determines that the other vehicle V2 is the registered vehicle, it causes the host vehicle V1 to travel from the first position to the second position, and when it determines that the other vehicle V2 is not the registered vehicle, it causes the host vehicle V1 to continue to park or stop at the first position. This makes it possible to prevent obstruction of the passage of registered vehicles that need to pass through the first position to reach their destination.

[0070] In the cruise control method of this embodiment, when the host vehicle V1 is parked or stopped at the second position and the other vehicle V2 passes the first position, the cruise control device 15 causes the host vehicle V1 to travel from the second position to the first position, thereby returning the host vehicle V1 to the first position where it was originally parked or stopped, thereby improving convenience for the occupants of the host vehicle V1 that are in the vicinity of the first position.

[0071] In the cruise control method of this embodiment, the cruise control device 15 detects, as candidates for the second position, a fourth position that is farther away from the center of the road on which the host vehicle V1 is traveling than the first position, and a fifth position at which the other vehicle V2 can pass the first position without performing an avoidance operation, and sets either the fourth position or the fifth position as the second position depending on the overall width of the host vehicle V1, the overall width of the other vehicle V2, and the width of the road. This makes it possible to prevent the other vehicle V2 from performing unnecessary avoidance operations.

[0072] In the cruise control method of this embodiment, when an obstacle that prevents the host vehicle V1 from parking or stopping at the second position exists and the host vehicle V1 cannot park or stop at the second position, the cruise control device 15 recognizes the current driving environment around the host vehicle V1 from the detection results of the sensor of the host vehicle V1, and based on the driving environment, searches for a sixth position other than the second position where the host vehicle V1 can park or stop without obstructing the passage of the other vehicle V2. If the sixth position is detected, the cruise control device 15 causes the host vehicle V1 to travel from the first position to the sixth position. This makes it possible to prevent the host vehicle V1 from obstructing the passage of the other vehicle V2 even when the host vehicle V1 cannot park or stop at the second position due to an obstacle.

[0073] Furthermore, according to this embodiment, there is provided a driving control device 15 including: a setting unit 21 that sets in advance a first position where the host vehicle V1 is parked or stopped and a second position where the host vehicle V1 can be parked or stopped without obstructing the passage of another vehicle V2 passing through the first position; and a driving unit 23 that, when the host vehicle V1 is parked or stopped at the first position and it is determined that the host vehicle V1 is obstructing the passage of the other vehicle V2, causes the host vehicle V1 to drive from the first position to the second position. As a result, when it is determined that the host vehicle V1 is obstructing the passage of the other vehicle V2, the host vehicle V1 can quickly start moving to the second position.

[0074] 10...cruising control system, 11...camera, 12...on-board sensor, 13...map database, 14...actuator, 15...cruising control device, 21...setting unit, 22...determination unit, 23...driving unit, A1, A2...road, B...refuge, C...intersection, D...dead end, E...building, P1, P2, P3, P4, Q1, Q2, Q3, Q4, Q5, Q6...position, T1, T2, T3, T4, U1, U2, U3, U4...driving route, V1...own vehicle, V2...other vehicle

Claims

1. A driving control method executed by a driving control device of a vehicle, wherein the driving control device pre-sets a first position where the vehicle is parked or stopped, and a second position where the vehicle can be parked or stopped without obstructing the passage of other vehicles passing through the first position, and when the vehicle is parked or stopped at the first position and it is determined that the vehicle is obstructing the passage of the other vehicles, the driving control device drives the vehicle from the first position to the second position.

2. The driving control method according to claim 1, wherein, when it is determined that the host vehicle is obstructing the passage of the other vehicle, the driving control device recognizes the current driving environment around the host vehicle from the detection results of the host vehicle's sensor, searches for a third position that is closer to the first position than the second position and where the host vehicle can be parked or stopped without obstructing the passage of the other vehicle based on the driving environment, and if the third position is not detected, causes the host vehicle to drive from the first position to the second position, and if the third position is detected, causes the host vehicle to drive from the first position to the third position.

3. The driving control method according to claim 1 or 2, wherein, when it is determined that the host vehicle is obstructing the passage of the other vehicle, the driving control device determines whether the type of the other vehicle is a specific type, and if it is determined that the type is the specific type, causes the host vehicle to drive from the first position to the second position, and if it is determined that the type is not the specific type, causes the host vehicle to continue to park or stop at the first position.

4. A driving control method according to any one of claims 1 to 3, wherein the second position is a position further away from the center of the width of the road on which the vehicle is traveling than the first position.

5. A driving control method according to any one of claims 1 to 4, wherein the driving control device, when it determines that the host vehicle is obstructing the passage of the other vehicle, determines whether the other vehicle is a registered vehicle that has been registered in advance, causes the host vehicle to drive from the first position to the second position if it determines that the other vehicle is a registered vehicle, and keeps the host vehicle parked or stopped at the first position if it determines that the other vehicle is not a registered vehicle.

6. A cruise control method according to any one of claims 1 to 5, wherein the cruise control device causes the host vehicle to travel from the second position to the first position if the other vehicle passes the first position after the host vehicle has been parked or stopped at the second position.

7. A driving control method according to any one of claims 1 to 6, wherein the driving control device detects, as candidates for the second position, a fourth position that is farther away from the center position in the width direction of the road on which the host vehicle is traveling than the first position, and a fifth position at which the other vehicle can pass the first position without performing an evasive action, and sets either the fourth position or the fifth position as the second position depending on the overall width of the host vehicle, the overall width of the other vehicle, and the width of the road.

8. A driving control method according to any one of claims 1 to 7, wherein the driving control device, if there is an obstacle at the second position that prevents the host vehicle from parking or stopping and the host vehicle cannot park or stop at the second position, recognizes the current driving environment around the host vehicle from the detection results of the host vehicle's sensor, searches for a sixth position different from the second position based on the driving environment where the host vehicle can park or stop without obstructing the passage of the other vehicle, and if the sixth position is detected, drives the host vehicle from the first position to the sixth position.

9. A driving control device comprising: a setting unit that pre-sets a first position where the host vehicle will be parked or stopped, and a second position where the host vehicle can be parked or stopped without obstructing the passage of other vehicles passing through the first position; and a driving unit that, when the host vehicle is parked or stopped at the first position, causes the host vehicle to drive from the first position to the second position when it is determined that the host vehicle is obstructing the passage of other vehicles.

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