Driving assistance device

Abstract

Provided is a driving assistance device capable of generating a reference for comparison to a detection result of a periphery monitoring device, and determining the degree of fluctuation in a detection region of the periphery monitoring device. This driving assistance device: determines, from a map target, an object target to be used for determination; generates, on the basis of map position information of the object target, conversion map position information, which is position information in a case where it is assumed that the object target is detected by a periphery monitoring device having no fluctuation in a detection region, from the position of a host vehicle obtained by acquiring detection position information for a comparison target; and compares the conversion map position information to the detection position information of a detection target corresponding to the object target to determine the degree of fluctuation in the detection region of the periphery monitoring device.

Description

Driving assistance devices

[0001] The present disclosure relates to a driving assistance device.

[0002] In the technology of Patent Document 1, a detection error is calculated by comparing targets detected by a camera with targets detected by a radar, and deviations in the mounting angles of the sensors are corrected.

[0003] JP 2010-249613 A

[0004] However, the camera and radar cannot detect deviations in their mounting angles or central axes by themselves, and even when they are compared with each other, it is not possible to determine which sensor has a deviation in its mounting angle or central axis, or whether deviations in the mounting angles or central axes have occurred in both sensors. Therefore, it is necessary to set reference values ​​by means separate from the camera and radar, and to determine deviations in the mounting angles or central axes of the camera and radar by comparing the detection results of the camera or radar with the reference values.

[0005] Therefore, an object of the present disclosure is to provide a driving assistance device that can generate a standard for comparison with the detection results of a surroundings monitoring device and determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device.

[0006] A first driving assistance device according to the present disclosure includes: a host vehicle information acquisition unit that acquires position information of the host vehicle; a map information acquisition unit that acquires, from map data based on the position information of the host vehicle, map position information that is position information of map targets that are targets present around the host vehicle; a surrounding information detection unit that detects detected position information that is position information of detected targets that are targets present around the host vehicle based on detection information from a surroundings monitoring device that monitors the surroundings of the host vehicle; and a fluctuation determination unit that determines a target target to be used for determination from the map targets, and generates, based on the map position information of the target target, converted map position information that is position information assuming that the target target is detected by the surroundings monitoring device with no fluctuation in its detection area from the position of the host vehicle for which the detected position information to be compared was obtained, and compares the converted map position information with the detected position information of the detected target corresponding to the target target to determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device.

[0007] A second driving assistance device according to the present disclosure includes a host vehicle information acquisition unit that acquires position information of the host vehicle; a surroundings information detection unit that detects detected position information, which is position information of detected targets that are targets present around the host vehicle, based on detection information from a surroundings monitoring device that monitors the surroundings of the host vehicle; and a fluctuation determination unit that determines a target to be used for determination from the detected targets, learns reference detected position information of the target when the target is detected from a reference position, which is the same position of the host vehicle, based on the detected position information of the same target detected multiple times in the past, and compares the detected position information of the target currently detected from the reference position with the reference detected position information of the target.

[0008] According to the first driving assistance device of the present disclosure, based on map position information of the target object obtained from map data, converted map position information is generated, which is position information that would be obtained if the target object were detected by a surroundings monitoring device with no fluctuation in its detection area from the position of the host vehicle from which the detection position information of the comparison target was obtained, and the converted map position information is compared with the detection position information of the detected target corresponding to the target object to determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device.Therefore, using the map data and the position information of the host vehicle, a standard for comparison with the detection result of the surroundings monitoring device can be generated, and the degree of fluctuation in the detection area of ​​the surroundings monitoring device can be determined.

[0009] According to the second driving assistance device of the present disclosure, the reference detection position information of the target object when the target object is detected from a reference position, which is the same position of the vehicle, is learned based on multiple detection position information of the same target object detected in the past, and the detection position information of the target object detected this time from the reference position is compared with the reference detection position information of the target object to determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device.Therefore, using multiple detection position information of the same target object detected in the past, a standard for comparison with the detection results of the surroundings monitoring device can be generated and the degree of fluctuation in the detection area of ​​the surroundings monitoring device can be determined.

[0010] 1 is a schematic block diagram of a driving assistance device according to embodiment 1. FIG. 2 is a layout configuration diagram of a surroundings monitoring device according to embodiment 1. FIG. 3 is a hardware configuration diagram of a driving assistance device according to embodiment 1. FIG. 4 is a diagram for explaining generation of transformed map position information when a camera according to embodiment 1 is used. FIG. 5 is a diagram for explaining generation of transformed map position information when a radar according to embodiment 1 is used. FIG. 6 is a diagram for explaining the standards of a toll gate according to embodiment 1. FIG. 7 is a diagram for explaining generation of transformed map position information of a toll island when a camera according to embodiment 1 is used. FIG. 8 is a diagram for explaining generation of transformed map position information of a toll island when a radar according to embodiment 1 is used. FIG. 9 is a diagram for explaining gate data according to embodiment 1. FIG. 10 is a diagram for explaining coordinate transformation for calculating a variation amount when the gate inner shape of a toll gate according to embodiment 1 is used. FIG. 11 is a diagram for explaining coordinate transformation for calculating a variation amount when the position of a lane side edge of a toll island according to embodiment 1 is used. FIG. 12 is a flowchart for explaining processing of a driving assistance device according to embodiment 1. FIG. 13 is a flowchart for explaining processing of a driving assistance device according to embodiment 2.

[0011] 1. First Embodiment A driving assistance device 50 according to a first embodiment will be described with reference to the drawings. In this embodiment, the driving assistance device 50 is provided in the subject vehicle.

[0012] As shown in FIG. 1, the vehicle is equipped with a surroundings monitoring device 31, a position detection device 32, a vehicle state detection device 33, a map information database 34, a wireless communication device 35, a driving assistance device 50, a drive control device 36, a power motor 8, an electric steering device 7, an electric braking device 9, and a human interface device 37.

[0013] The surroundings monitoring device 31 is a device such as a camera, radar, ultrasonic sensor, etc. that monitors the surroundings of the vehicle. The radar may be a millimeter-wave radar, laser radar, etc. The millimeter-wave radar detects the distance from the millimeter-wave radar and the angle relative to the millimeter-wave radar of an object present within the millimeter-wave irradiation range. A LiDAR (Light Detection and Ranging) is provided as the laser radar. The LiDAR scans a laser within the irradiation range to detect the distance from the LiDAR and the angle relative to the central axis of the LiDAR of an object present within the irradiation range. The camera may be a monocular camera, a stereo camera, etc.

[0014] 2, the host vehicle is provided with a plurality of surroundings monitoring devices 31. Specifically, the host vehicle is provided with a front monitoring camera 31a located at the center of the left and right of the host vehicle and monitoring the area ahead of the host vehicle, a front right millimeter-wave radar 31b located at the right front end of the host vehicle and monitoring the area ahead of the host vehicle, a front left millimeter-wave radar 31c located at the left front end of the host vehicle and monitoring the area ahead of the host vehicle, a front LiDAR 31d located at the center of the front end of the host vehicle and monitoring the area ahead of the host vehicle, and a front surroundings monitoring camera 31e located at the center of the front end of the host vehicle and monitoring the area ahead of the host vehicle. Further, a right-side periphery monitoring camera 31f is provided on the right side of the host vehicle to monitor the periphery on the right side of the host vehicle, a left-side periphery monitoring camera 31g is provided on the left side of the host vehicle to monitor the periphery on the left side of the host vehicle, a rear right millimeter-wave radar 31h is provided on the right rear end of the host vehicle to monitor the rear right side of the host vehicle, a rear left millimeter-wave radar 31i is provided on the left rear end of the host vehicle to monitor the rear left side of the host vehicle, and a rear periphery monitoring camera 31j is provided in the center of the rear end of the host vehicle to monitor the periphery on the rear side of the host vehicle.

[0015] The wireless communication device 35 performs wireless communication with a base station or a surrounding device using a cellular wireless communication standard such as 4G or 5G. The wireless communication device 35 performs wireless communication with a roadside device, a surrounding vehicle, etc.

[0016] The position detection device 32 is a device that detects the current position (latitude, longitude, altitude) of the vehicle, and uses a GPS antenna or the like that receives signals output from artificial satellites such as the Global Navigation Satellite System (GNSS). The position detection device 32 has a self-diagnosis function that determines the accuracy of the detected current position based on the number of artificial satellites from which signals are received, the quality of the received signals, etc.

[0017] The map information database 34 stores road information such as road shapes (e.g., number of lanes, position of each lane, shape of each lane, width of each lane, type of each lane, road type, speed limit, shape of intersection, etc.), road signs (speed limit signs and their speed limits, stop signs, etc.), road markings (stop lines, crosswalks, etc.), and toll gate information.

[0018] Toll gates are installed on toll roads such as expressways. The toll gate information includes the type of toll gate (non-stop electronic toll collection system (ETC), manned or unmanned stop manual toll collection system), the position and shape of each toll gate (for example, the position and shape (width, length) of the passageway inside the gate, the position and shape of the left and right toll islands, the position and shape of the booths, the shape of the inside of the gate above, below, left, and right), the traffic speed of each toll gate, etc.

[0019] The map information database 34 is mainly composed of a storage device. The map information database 34 may be provided in a server outside the vehicle connected to a network, and the driving assistance device 50 may obtain necessary road information from the server outside the vehicle via the wireless communication device 35.

[0020] The drive control device 36 includes a power control device, a braking control device, an automatic steering control device, a light control device, etc. The power control device controls the output of the power machine 8 such as an internal combustion engine or a motor. The braking control device controls the braking operation of the electric braking device 9. The automatic steering control device controls the electric steering device 7. The light control device controls the direction indicators, hazard lights, etc.

[0021] The vehicle state detection device 33 is a detection device that detects the state of the host vehicle, such as the driving state and running state of the host vehicle. In this embodiment, the vehicle state detection device 33 detects the running state of the host vehicle, such as the direction of the host vehicle, the speed, acceleration, yaw rate, steering angle, lateral acceleration, etc. For example, the vehicle state detection device 33 may be provided with a direction sensor, a speed sensor that detects the rotational speed of the wheels, an acceleration sensor, an angular velocity sensor, a steering angle sensor, etc.

[0022] The vehicle state detection device 33 detects the driver's acceleration / deceleration operations, steering angle operations, and lane change operations as the driving state of the vehicle. For example, the vehicle state detection device 33 may include an accelerator position sensor, a brake position sensor, a steering angle sensor (steering wheel angle sensor), a steering torque sensor, a turn signal position switch, and the like.

[0023] The human interface device 37 is a device that receives input from the driver through a speaker, a display screen, an input device, etc., and transmits information to the driver.

[0024] 1-1. Driving assistance device 50 The driving assistance device 50 includes processing units such as a host vehicle information acquisition unit 51, a map information acquisition unit 52, a surrounding information detection unit 53, a fluctuation determination unit 54, and a vehicle control unit 55. Each process of the driving assistance device 50 is realized by a processing circuit included in the driving assistance device 50. Specifically, as shown in Fig. 3 , the driving assistance device 50 includes an arithmetic processing device 90 such as a CPU (Central Processing Unit), a storage device 91, an input / output device 92 that inputs and outputs external signals to the arithmetic processing device 90, and the like.

[0025] The arithmetic processing device 90 may be an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), a GPU (Graphics Processing Unit), an AI (Artificial Intelligence) chip, various logic circuits, various signal processing circuits, etc. Furthermore, the arithmetic processing device 90 may be a plurality of the same or different types, and each process may be shared and executed. As the storage device 91, various storage devices such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EEPROM (Electrically Erasable Programmable Read Only Memory), a hard disk, etc. may be used.

[0026] The input / output device 92 includes a communication device, an A / D converter, an input / output port, a drive circuit, etc. The input / output device 92 is connected to the surroundings monitoring device 31, the position detection device 32, the vehicle state detection device 33, the map information database 34, the wireless communication device 35, the drive control device 36, the human interface device 37, etc., and communicates with these devices.

[0027] The processes of the processing units 51 to 55 included in the driving assistance device 50 are realized by the arithmetic processing unit 90 executing software (programs) stored in the storage device 91 and cooperating with other hardware of the driving assistance device 50, such as the storage device 91 and the input / output device 92. Note that setting data used by the processing units 51 to 55 is stored in the storage device 91, such as an EEPROM.

[0028] 1-1-1. Vehicle Information Acquisition Unit 51 The vehicle information acquisition unit 51 acquires the position information of the vehicle. In this embodiment, the vehicle information acquisition unit 51 acquires the position information of the vehicle from the position detection device 32. In this embodiment, a quasi-zenith satellite or the like is used to achieve centimeter-level positioning accuracy (around 10 cm).

[0029] The vehicle information acquisition unit 51 acquires the accuracy of the current position of the vehicle from the position detection device 32. The vehicle information acquisition unit 51 may determine the accuracy of the current position of the vehicle based on the number of satellites from which signals are received, the quality of the received signals, and the like.

[0030] Note that the position of the host vehicle may be detected using various methods, such as a map matching method, a dead reckoning method, or a method using information detected around the host vehicle by the surroundings monitoring device 31. As the position information, latitude, longitude, altitude, etc. may be acquired. Furthermore, as the position information, the lateral position of the host vehicle relative to the lane (for example, the center position of the lane, or the boundary lines on the left and right sides of the lane) may be acquired.

[0031] The host vehicle information acquisition unit 51 also acquires the running state of the host vehicle. The host vehicle information acquisition unit 51 acquires the position, moving direction (orientation), speed, acceleration, etc. of the host vehicle based on the position information of the host vehicle acquired from the position detection device 32 and the host vehicle state acquired from the vehicle state detection device 33. The moving direction of the host vehicle is the forward / backward direction of the host vehicle.

[0032] The host vehicle information acquisition unit 51 determines the lane on which the host vehicle is traveling and the position of the host vehicle relative to the lane (e.g., the lateral position) based on road information and position information of the host vehicle acquired by the map information acquisition unit 52 and the surrounding information detection unit 53 (described later). Specifically, the host vehicle information acquisition unit 51 determines the road and lane corresponding to the position of the host vehicle from the roads and lanes surrounding the host vehicle acquired from the map data. Furthermore, the host vehicle information acquisition unit 51 determines the lateral position of the host vehicle relative to the road and lane corresponding to the position of the host vehicle based on the position and shape of the road and lane (e.g., the position of the center line and the width of the lane) acquired from the map data and the position of the host vehicle.

[0033] 1-1-2. Map Information Acquisition Unit 52 The map information acquisition unit 52 acquires road information around the vehicle from the map information database 34 based on the vehicle's position information. The acquired road information includes the road shape, road signs, road markings, toll gate information, etc., as described above. As described above, the toll gate information includes the type of toll gate, the position and shape of each toll gate (e.g., the position and shape of the passage within the gate, the position and shape of the left and right toll islands, the position and shape of the booths, the shape of the inside of the gate above, below, left, and right), the traffic speed of each toll gate, etc.

[0034] In this embodiment, the map information acquisition unit 52 acquires map position information, which is position information of map objects that are objects present around the vehicle. The map position information of the map objects is included in the road information. The map position information of the map objects includes various position shape information that can be acquired from the map information database 34.

[0035] 1-1-3. Surrounding Information Detection Unit 53 The surrounding information detection unit 53 detects various information about detected targets, which are targets present around the vehicle, based on detection information from the surroundings monitoring device 31. For example, the surrounding information detection unit 53 detects the shape and type of road dividing lines, etc., based on detection information of white lines, road shoulders, etc., acquired from the surroundings monitoring device 31, and determines the shape and position of each lane, the number of lanes, the type of each lane, etc., based on the detected shape and type of road dividing lines, etc. The shape of each lane includes the center position of the lane, the width of the lane, the curvature of the lane, etc. The position of the vehicle relative to the lane is also detected.

[0036] Furthermore, the surrounding information detection unit 53 detects information on road signs, road markings, traffic lights, and toll gates based on the detection information acquired from the surroundings monitoring device 31 .

[0037] The surrounding information detection unit 53 detects information about other vehicles present around the host vehicle. The surrounding information detection unit 53 detects the position, movement direction, speed, acceleration, etc. of the other vehicles relative to the host vehicle. In addition to other vehicles, the surrounding information detection unit 53 also detects information about obstacles, pedestrians, traffic regulations such as lane restrictions, etc.

[0038] In this embodiment, the surrounding information detection unit 53 detects detected position information, which is position information of the detected target. The detected position information of the detected target is included in various information of the detected target.

[0039] The fluctuation determination unit 54 determines a target object to be used for determination from the map targets, generates converted map position information, which is position information that would be obtained if the target object were detected by the surroundings monitoring device 31, whose detection area has not fluctuated, from the position of the host vehicle from which the detection position information of the comparison target was obtained, based on the map position information of the target object, and compares the converted map position information with the detection position information of the detected target corresponding to the target object, to determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31.

[0040] According to this configuration, based on the map position information of the target object obtained from the map data, converted map position information is generated, which is position information that would be generated if the target object were detected by the surroundings monitoring device 31, whose detection area does not change, from the position of the host vehicle from which the detection position information of the comparison target was obtained, and the converted map position information is compared with the detection position information of the detected target corresponding to the target object to determine the degree of change in the detection area of ​​the surroundings monitoring device 31.Therefore, using the map data and the position information of the host vehicle, a standard for comparison with the detection result of the surroundings monitoring device 31 can be generated, and the degree of change in the detection area of ​​the surroundings monitoring device 31 can be determined.

[0041] <When the Surroundings Monitoring Device 31 is a Camera> When the surroundings monitoring device 31, the degree of fluctuation of which is to be determined, is a camera, the fluctuation determination unit 54 generates, as the converted map position information, the position of each part of the target in the captured image, assuming that the target was detected by a camera whose detection area does not fluctuate from the position of the host vehicle that obtained the detection position information of the comparison target, based on the map position information of each part of the target. In addition, the fluctuation determination unit 54 uses the position of each part of the target in the captured image of the camera as the detection position information of the target.

[0042] For example, as shown in Fig. 4, the fluctuation determination unit 54 converts the positions of each part of the target object acquired from map data or the like into positions within the captured image using the position and movement direction (orientation) of the vehicle from which the detection position information of the comparison target was acquired, the mounting position and mounting angle (mounting angle of the central axis) of the camera on the vehicle, and the camera's imaging range. The mounting position, mounting angle, and imaging range are set in advance to correspond to the case where there is no fluctuation in the camera's detection area. Various known methods are used for this geometric coordinate conversion.

[0043] <When the Surroundings Monitoring Device 31 is a Radar> When the surroundings monitoring device 31 for which the degree of fluctuation is determined is a radar, the fluctuation determination unit 54 generates, as the converted map position information, the distance from the radar of each part of the target and the angle based on the radar (central axis) assuming that the target was detected by a radar with no fluctuation in the detection area from the position of the host vehicle that obtained the detection position information for comparison, based on the map position information of each part of the target. A millimeter-wave radar or LiDAR is used as the radar. Furthermore, the fluctuation determination unit 54 uses the distance from the radar of each part of the target and the angle based on the radar (central axis) as the detection position information of the target.

[0044] For example, as shown in Fig. 5, the fluctuation determination unit 54 uses the position and moving direction (azimuth) of the host vehicle from which the detection position information to be compared was acquired, the mounting position and mounting angle (mounting angle of the central axis) of the radar on the host vehicle, and the radar irradiation angle range to perform coordinate conversion of the positions of each part of the target object acquired from map data, etc., into a distance from the radar and an angle based on the radar (central axis). The mounting position, mounting angle, and irradiation range are preset to correspond to the case where there is no fluctuation in the radar detection area. Various known methods are used for this geometric coordinate conversion.

[0045] <Specific target> The fluctuation determination unit 54 determines a predetermined specific target, the shape of which is determined by a standard, as the target object, and generates converted map position information of the specific target using the position information of the specific target obtained from the map data and the shape information of the standard of the specific target.

[0046] According to this configuration, the target object is set to a specific object whose shape is determined by a standard, so the map position information generated using the position information of the specific object and the shape information of the standard of the specific object becomes highly accurate, thereby improving the accuracy of determining the degree of fluctuation.

[0047] <Toll Gate> In this embodiment, the specific object is a toll gate, the shape of which is determined by a standard. With this configuration, the map position information of the toll gate, which is determined using the position information of the toll gate, the shape of which is determined by a standard, and the shape information of the toll gate standard, is highly accurate, thereby improving the accuracy of determining the degree of fluctuation. Because the host vehicle passes through the center of the toll gate, the detected position information of the toll gate includes the left and right position information of the host vehicle, making it easier to determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31. Furthermore, because toll gates are typically set to a low traffic speed and have a narrow width, the host vehicle passes through the toll gate at a predetermined speed and a predetermined lateral position, which stabilizes the detected position information detected by the surroundings monitoring device 31 and improves the accuracy of determining the degree of fluctuation.

[0048] For example, a toll gate for a non-stop electronic toll collection (ETC) system is set as a specific target. The construction clearance of an ETC toll gate is determined by a standard, as shown in FIG. 6 . Specifically, the height H relative to the road surface, the left and right width a, the height and width of the left and right toll islands, and the width of the road surface (lane) between the left and right toll islands are determined by the standard. The left and right toll islands are provided on the left and right of the lane of the toll gate and are median strips raised above the road surface to prevent vehicles from entering. A wireless device for toll collection is attached to the top of the toll gate, in the center of the lane.

[0049] Therefore, the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31 can be determined based on the top, bottom, left, and right inner shapes of the toll gate. Also, the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31 can be determined based on the positions of the lane-side edges of the left and right toll islands of the toll gate. Furthermore, because the ETC passing speed through toll gates is set to 20 km / h or less, the detected position information detected by the surroundings monitoring device 31 is stable.

[0050] 4 and 5, the specific target is set to the top, bottom, left, and right inner shapes of a toll gate, the shape of which is determined by a standard. If the surroundings monitoring device 31 for which the degree of fluctuation is determined is a front monitoring camera that monitors the area ahead of the vehicle, as shown in FIG. 4, the fluctuation determination unit 54 calculates the positions of each part of the top, bottom, left, and right inner shapes of the gate based on the position information of the toll gate and the top, bottom, left, and right inner shapes of the toll gate determined by the standard. Then, using the position and movement direction (orientation) of the vehicle that obtained the detection position information to be compared, the mounting position and mounting angle of the camera on the vehicle, and the camera's imaging range, the positions of each part of the inner shape of the gate are converted into positions in the captured image of each part of the inner shape of the gate as would be detected by a camera with no fluctuation in the detection area.

[0051] Alternatively, if the surroundings monitoring device 31 for which the degree of fluctuation is determined is a radar (LiDAR or millimeter wave radar) that monitors the area ahead of the vehicle, as shown in FIG. 5, the fluctuation determination unit 54 calculates the position of each part of the inner gate shape on the top, bottom, left, and right sides based on the toll gate's position information and the inner gate shapes on the top, bottom, left, and right sides of the toll gate as determined by the standard, and converts the position of each part of the inner gate shape into the distance from the radar and the angle based on the radar of each part of the inner gate shape when detected by a radar with no fluctuation in the detection area, using the position and movement direction (azimuth) of the vehicle from which the detection position information for comparison was obtained, the radar mounting position and mounting angle on the vehicle, and the radar's irradiation angle range.

[0052] <Left and Right Toll Islands> Alternatively, the specific targets are set at the lane-side edges of left and right toll islands that protrude from the road surface at a toll gate, the shape of which is determined by a standard. When the surroundings monitoring device 31 for which the degree of fluctuation is determined is a camera, as shown in Fig. 7 , the fluctuation determination unit 54 calculates the positions of each part of the lane-side edges of the left and right toll islands based on the position information of the toll gate and the shape of the lane-side edges (in this example, the entrance-side edges) of the left and right toll islands that is determined by the standard, and converts the positions of each part of the lane-side edges of the left and right toll islands into positions in the captured image of each part of the lane-side edges of the left and right toll islands as if they were detected by a camera with no fluctuation in the detection area, using the position and movement direction (orientation) of the host vehicle that obtained the detection position information to be compared, the mounting position and mounting angle of the camera on the host vehicle, and the imaging range of the camera.

[0053] Alternatively, if the surroundings monitoring device 31 for which the degree of fluctuation is determined is a radar, as shown in Figure 8, the fluctuation determination unit 54 calculates the positions of each part of the lane side ends of the left and right toll islands (in this example, the entrance side ends) based on the position information of the toll gate and the shapes of the lane side ends of the left and right toll islands as determined by the standard, and converts the positions of each part of the lane side ends of the left and right toll islands into distances from the radar and angles based on the radar when detected by a radar with no fluctuations in the detection area, using the position and movement direction (orientation) of the vehicle from which the detection position information for comparison was obtained, the mounting position and mounting angle of the radar on the vehicle, and the radar's irradiation angle range.

[0054] <Determining the Type of Toll Gate> The fluctuation determination unit 54 determines the type of toll gate set as the target object, and, as shown in FIG. 9 , references gate data in which shape information of the toll gate standard is set in advance for each toll gate type, reads out the shape information of the toll gate standard corresponding to the determined toll gate type, and uses this information to generate converted map position information.

[0055] With this configuration, even if the shape information of the toll gate standard differs for each type of toll gate, the converted map position information can be generated using the shape information of the toll gate standard corresponding to the determined type of toll gate, thereby improving the accuracy of determining the degree of variation.

[0056] For example, the standard shape (e.g., width a) of a toll gate differs between ETC and a non-ETC toll gate (e.g., a manned or unmanned stop manual toll collection system). The fluctuation determination unit 54 determines the type of toll gate through which the vehicle is passing based on the position of the vehicle and map data.

[0057] <Determination of Degree of Fluctuation> As described above, the fluctuation determination unit 54 compares the converted map position information with the detected position information of the detected target corresponding to the target object, and determines the degree of fluctuation of the detection area of ​​the surroundings monitoring device 31.

[0058] For example, if the surroundings monitoring device 31 is a camera, the fluctuation determination unit 54 performs a parallel translation coordinate transformation of the detection position information (the position of each part of the target object in the captured image) in the vertical and horizontal directions so that the converted detection position information approaches the converted map position information, and also performs a rotation coordinate transformation of the detection position information around the central axis.

[0059] For example, if the surroundings monitoring device 31 is a radar, the fluctuation determination unit 54 performs a rotational coordinate transformation of the detected position information (distance and angle of each part of the target object) around the horizontal axis (pitch axis), vertical axis (yaw axis), and central axis (roll axis) so that the converted detected position information approaches the converted map position information.

[0060] The fluctuation determination unit 54 calculates the amount of parallel movement and rotation angle in the up / down / left / right directions or the rotation angle around three axes that makes the converted detected position information closest to the converted map position information, using the least squares method or the like. Then, the fluctuation determination unit 54 determines the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31 based on the amount of parallel movement and rotation angle in the up / down / left / right directions or the rotation angle around three axes.

[0061] When a specific target is set to the gate inner shape, the gate inner shape of the detected position information is coordinate-converted as described above so that the gate inner shape of the detected position information approaches the gate inner shape of the converted map position information, as shown in Figure 10.

[0062] When a specific target is set at the lane side end of the left and right tall islands, as shown in Figure 11, the positions of the lane side end of the left and right tall islands in the detected position information are coordinate converted as described above so that the positions of the lane side end of the left and right tall islands in the detected position information approach the positions of the lane side end of the left and right tall islands in the converted map position information.

[0063] The change determination unit 54 compares the converted map position information of the target object with the detected position information of the target object, and calculates the amount of change in the detection area of ​​the surroundings monitoring device as the degree of change.

[0064] The fluctuation determination unit 54 calculates the above-mentioned parallel movement amounts and rotation angles in the up, down, left, and right directions, or rotation angles around three axes as fluctuation amounts of the detection area of ​​the surroundings monitoring device 31 .

[0065] <Abnormality Determination> The fluctuation determination unit 54 determines an abnormality in the perimeter monitoring device 31 based on the degree of fluctuation. For example, if the perimeter monitoring device 31 is a camera, the fluctuation determination unit 54 determines that an abnormality has occurred in the perimeter monitoring device 31 when the amount of translation in the up / down direction is equal to or greater than a determination value, when the amount of translation in the left / right direction is equal to or greater than a determination value, or when the rotation angle is equal to or greater than a determination value. If the perimeter monitoring device 31 is a radar, the fluctuation determination unit 54 determines that an abnormality has occurred in the perimeter monitoring device 31 when the rotation angle around the horizontal axis is equal to or greater than a determination value, when the rotation angle around the vertical axis is equal to or greater than a determination value, or when the rotation angle around the central axis is equal to or greater than a determination value.

[0066] If the fluctuation determination unit 54 determines that an abnormality has occurred in the surroundings monitoring device 31, it notifies the user of the occurrence of the abnormality via the human interface device 37.

[0067] <Correction of Detected Position Information> The surroundings information detection unit 53 corrects the detected position information of the target detected by the surroundings monitoring device 31 based on the degree of fluctuation.

[0068] In this embodiment, the surroundings information detection unit 53 corrects the detected position information in the direction opposite to the direction of movement based on the amount of movement of the detection area of ​​the surroundings monitoring device. Specifically, the surroundings information detection unit 53 corrects the detected position information based on the amount of translation and rotation angle in the up, down, left, and right directions, or the rotation angle around three axes.

[0069] When the host vehicle reaches a predetermined judgment point for the target (judgment point arrival timing), the fluctuation judgment unit 54 compares the acquired detected position information with the converted map position information generated corresponding to the detected position information to judge the degree of fluctuation. The predetermined judgment point is set to a point where the surroundings monitoring device 31 can easily detect the target.

[0070] For example, if a map landmark located ahead of the vehicle's driving route is determined as the target landmark, the fluctuation determination unit 54 determines the degree of fluctuation when the vehicle reaches a judgment point set a predetermined distance before the target landmark (judgment point arrival timing).

[0071] <Determination Permission> In this embodiment, even at the timing of reaching the determination point, the fluctuation determination unit 54 determines the degree of fluctuation if the accuracy of the vehicle's position information is equal to or greater than the accuracy determination value, and does not determine the degree of fluctuation if the accuracy of the vehicle's position information is less than the accuracy determination value.

[0072] If the accuracy of the vehicle's position information is poor, the accuracy of the converted map position information generated using the vehicle's position information will deteriorate, and the determination accuracy will deteriorate. Therefore, the determination accuracy can be maintained by generating the converted map position information using the vehicle's position information and determining the degree of fluctuation only when the accuracy of the vehicle's position information is high.

[0073] In addition, even when the vehicle reaches the judgment point, the fluctuation determination unit 54 determines the degree of fluctuation if the speed of the vehicle is equal to or less than the speed judgment value, and does not determine the degree of fluctuation if the speed of the vehicle is greater than the speed judgment value.

[0074] As the speed of the host vehicle increases, the traveling condition of the host vehicle becomes more likely to fluctuate, making it more difficult for the surroundings monitoring device 31 to stably acquire detected position information. Furthermore, timing synchronization becomes more difficult, making it more difficult to align the host vehicle position used to generate the converted map position information with the host vehicle position from which the detected position information was acquired. Therefore, the accuracy of the degree of fluctuation is likely to deteriorate. On the other hand, as the speed of the host vehicle decreases, the traveling condition of the host vehicle becomes less likely to fluctuate, making it easier for the surroundings monitoring device 31 to stably acquire detected position information. Furthermore, timing synchronization becomes easier, making it more easy to align the host vehicle position used to generate the converted map position information with the host vehicle position from which the detected position information was acquired. Therefore, by determining the degree of fluctuation when the speed of the host vehicle is equal to or less than the speed determination value, the accuracy of the degree of fluctuation determination can be improved.

[0075] In this embodiment, when the target object is set to a toll gate, the speed judgment value is set to the traffic speed of the toll gate (for example, 20 km / h).

[0076] The fluctuation determination unit 54 may determine the degree of fluctuation even at the time of reaching the determination point if the speed of the vehicle is less than the speed determination value and the absolute value of the acceleration of the vehicle is less than the acceleration determination value, or may not need to determine the degree of fluctuation if the absolute value of the acceleration of the vehicle is greater than the acceleration determination value.

[0077] When the absolute value of the acceleration becomes large, the front of the vehicle sinks or rises relative to the rear, causing the detection range of the surroundings monitoring device 31 to fluctuate in the vertical direction even though the mounting angle of the surroundings monitoring device 31 has not changed, thereby deteriorating the accuracy of determining the degree of fluctuation. Here, the acceleration used for the determination may include not only longitudinal acceleration but also lateral acceleration.

[0078] The multiple permission decisions as to whether or not to make the above-described decision may be executed in any combination.

[0079] 1-1-5. Vehicle Control Unit 55 The vehicle control unit 55 controls the running of the host vehicle using the map position information of the map targets and the detected position information of the detected targets. The detected position information corrected based on the degree of fluctuation is used.

[0080] For example, the vehicle control unit 55 determines a target driving trajectory based on map position information of map targets and detected position information of detected targets. The target driving trajectory is a time-series driving plan including the position, direction, speed, lane, and lane change positions of the vehicle at each future point in time.

[0081] The vehicle control unit 55 controls the vehicle so that it travels along a target travel path of the vehicle. For example, the vehicle control unit 55 determines a target speed, a target steering angle, a turn signal operation command, etc., and transmits each determined command value to the drive control unit 36, such as a power control unit, a braking control unit, an automatic steering control unit, and a light control unit.

[0082] The power control device controls the output of a power machine 8 such as an internal combustion engine or a motor so that the speed of the host vehicle follows a target speed. The braking control device controls the braking operation of the electric braking device 9 so that the speed of the host vehicle follows a target speed. The automatic steering control device controls the electric steering device 7 so that the steering angle follows a target steering angle. The light control device controls the turn signal in accordance with an operation command for the turn signal.

[0083] Alternatively, when the driver is driving the vehicle manually or semi-automatically, the vehicle control unit 55 transmits commands to the power control device and the brake control device to perform deceleration or acceleration based on the map position information of the map targets and the detected position information of the detected targets, controls the output of the power machine 8, and controls the braking operation of the electric brake device 9. At this time, the steering angle may also be controlled by the electric steering device 7.

[0084] 1-1-6 Flowchart Next, the processing of the driving assistance device 50 according to this embodiment will be described with reference to the flowchart of Fig. 12. The processing of the flowchart of Fig. 12 is executed, for example, at predetermined calculation intervals.

[0085] In step S01, as described above, the host vehicle information acquisition unit 51 acquires the position information of the host vehicle from the position detection device 32. At this time, the host vehicle information acquisition unit 51 acquires the accuracy of the current position of the host vehicle.

[0086] In step S02, as described above, the map information acquisition unit 52 acquires road information around the vehicle from the map information database 34 based on the position information of the vehicle. At this time, the map information acquisition unit 52 acquires map position information, which is position information of map objects that are present around the vehicle. The map position information of the map objects is included in the road information.

[0087] In step S03, as described above, the surrounding information detection unit 53 detects various pieces of information about detected objects that are objects present around the vehicle, based on the detection information from the surroundings monitoring device 31. At this time, the surrounding information detection unit 53 detects detected position information that is position information about the detected objects. The detected position information about the detected objects is included in the various pieces of information about the detected objects.

[0088] In step S04, as described above, the fluctuation determination unit 54 determines the target object to be used for the determination from the map targets acquired by the map information acquisition unit 52. In this embodiment, the fluctuation determination unit 54 determines a predetermined specific target object, the shape of which is determined by a standard, as the target object. The specific target object is a toll gate, the shape of which is determined by a standard.

[0089] In step S05, if the target object is set, the fluctuation determination unit 54 proceeds to step S06, and if the target object is not set, the fluctuation determination unit 54 proceeds to step S13.

[0090] In step S06, the fluctuation determination unit 54 determines whether the vehicle is located at a predetermined determination point relative to the target object, and if the vehicle is located at the determination point, proceeds to step S07, and if the vehicle is not located at the determination point, proceeds to step S13 and does not determine the degree of fluctuation.

[0091] In step S07, the fluctuation determination unit 54 determines whether the accuracy of the vehicle's position information is equal to or greater than the accuracy determination value, and if the accuracy is equal to or greater than the accuracy determination value, proceeds to step S08, and if the accuracy is less than the accuracy determination value, proceeds to step S13 and does not determine the degree of fluctuation.

[0092] In step S08, the fluctuation determination unit 54 determines whether the speed of the vehicle is equal to or less than the speed determination value, and if the speed is equal to or less than the speed determination value, proceeds to step S09, and if the speed is greater than the speed determination value, proceeds to step S13 and does not determine the degree of fluctuation.

[0093] In step S09, the fluctuation determination unit 54 determines whether the absolute value of the acceleration of the vehicle is equal to or less than the acceleration determination value. If the absolute value of the acceleration is equal to or less than the acceleration determination value, the process proceeds to step S10. If the absolute value of the acceleration is greater than the acceleration determination value, the process proceeds to step S13, and the degree of fluctuation is not determined.

[0094] In step S10, as described above, the fluctuation determination unit 54 sets the current detection position information of the detected object corresponding to the target object as the detection position information to be used for determining the degree of fluctuation, and generates converted map position information, which is position information that would be obtained if the target object were detected by the surroundings monitoring device 31, whose detection area has not fluctuated, from the position of the host vehicle that obtained the detection position information to be compared, based on the map position information of the target object.

[0095] In step S11, as described above, the variation determination unit 54 compares the converted map position information of the target object with the detected position information of the detected target corresponding to the target object to determine the degree of variation in the detection area of ​​the perimeter monitoring device 31. At this time, as described above, the variation determination unit 54 calculates the amount of variation in the detection area of ​​the perimeter monitoring device as the degree of variation. In the case of a camera, the amount of translation in the up / down and left / right directions and the rotation angle are calculated. In the case of a radar, the rotation angle around three axes is calculated.

[0096] In step S12, as described above, the fluctuation determination unit 54 determines whether there is an abnormality in the surroundings monitoring device 31 based on the degree of fluctuation.

[0097] In step S13, as described above, the surroundings information detection unit 53 corrects the position information of the target detected by the surroundings monitoring device 31 based on the most recently calculated degree of fluctuation.

[0098] In step S14, as described above, the vehicle control unit 55 controls the traveling of the host vehicle using the map position information of the map target and the detected position information of the detected target. The detected position information corrected based on the degree of fluctuation is used.

[0099] 2. Second Embodiment Next, a driving assistance device 50 according to a second embodiment will be described. Description of the same components as those in the first embodiment will be omitted. The basic configuration of the driving assistance device 50 according to this embodiment is the same as that of the first embodiment, but the processing of the fluctuation determination unit 54 differs from that of the first embodiment.

[0100] In this embodiment, the fluctuation determination unit 54 determines a target object to be used for determination from the detected targets detected by the periphery monitoring device 31, and learns reference detection position information of the target object when the target object is detected from the reference position based on detection position information of the same target object detected multiple times in the past from the reference position, which is the same position of the vehicle.The fluctuation determination unit 54 then compares the detection position information of the target object currently detected from the reference position with the reference detection position information of the target object to determine the degree of fluctuation in the detection area of ​​the periphery monitoring device 31.

[0101] According to this configuration, the reference detection position information of the target object when the target object is detected from the reference position is learned based on multiple detection position information of the same target object detected in the past from the reference position, which is the same position of the vehicle, and the detection position information of the target object detected this time from the reference position is compared with the reference detection position information of the target object to determine the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31.Therefore, using multiple detection position information of the same target object detected in the past, a standard for comparison with the detection results of the surroundings monitoring device 31 can be generated and the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31 can be determined.

[0102] When the surroundings monitoring device 31 whose degree of fluctuation is determined is a camera, the fluctuation determination unit 54 uses the position of each part of the target object in the image captured by the camera as the detected position information of the target object.

[0103] When the surroundings monitoring device 31 for which the degree of fluctuation is determined is a radar, the fluctuation determination unit 54 uses the distance from the radar of each part of the target and the angle based on the radar as the detected position information of the target. The radar used is a millimeter wave radar or LiDAR.

[0104] For example, the fluctuation determination unit 54 performs statistical processing on multiple pieces of detection position information previously detected for the same target object to calculate reference detection position information. Averaging processing, frequency analysis, etc. may be used as the statistical processing. Alternatively, the fluctuation determination unit 54 may perform machine learning on multiple pieces of detection position information previously detected for the same target object to calculate reference detection position information. If the periphery monitoring device 31 is a camera, the reference detection position information is the position of each part of the target object in the captured image, similar to the detection position information. If the periphery monitoring device 31 is a radar, the reference detection position information is the distance and angle of each part of the target object, similar to the detection position information.

[0105] As described above, the fluctuation determination unit 54 compares the detected position information of the target object detected this time from the reference position with the reference detected position information of the target object, and determines the degree of fluctuation of the detection area of ​​the surroundings monitoring device 31.

[0106] For example, if the surroundings monitoring device 31 is a camera, the fluctuation determination unit 54 performs a parallel translation coordinate transformation of the currently detected detection position information (the position of each part of the target object in the captured image) in the vertical and horizontal directions so that the converted currently detected detection position information approaches the reference detection position information, and also performs a rotation coordinate transformation of the currently detected detection position information around the central axis.

[0107] For example, if the surroundings monitoring device 31 is a radar, the fluctuation determination unit 54 performs a rotational coordinate transformation of the currently detected detection position information (distance and angle of each part of the target object) around the horizontal axis (pitch axis), vertical axis (yaw axis), and central axis (roll axis) so that the converted currently detected detection position information approaches the reference detection position information.

[0108] The variation determination unit 54 uses the least squares method or the like to calculate the amount of parallel movement in the up, down, left, and right directions and the rotation angle, or the rotation angle around three axes, that will bring the converted detected position information currently detected closest to the reference detected position information. Since this is the same as in the first embodiment except that the converted map position information has been changed to the reference detected position information, a description thereof will be omitted.

[0109] The fluctuation determination unit 54 then determines the degree of fluctuation in the detection area of ​​the surroundings monitoring device 31 based on the amount of translation and rotation angle in the up / down and left / right directions, or the rotation angle around the three axes.

[0110] <Determination of Missing Portions> The variation determination unit 54 compares the detection position information of the target currently detected from the reference position with the reference detection position information of the target to determine missing portions in the detection area of ​​the surroundings monitoring device. For example, if a portion of the target that exists in the reference detection position information does not exist in the detection position information of the target currently detected, it is determined that the portion of the detection area corresponding to that portion of the target is missing.

[0111] <Abnormality Determination> The fluctuation determination unit 54 determines an abnormality in the perimeter monitoring device 31 based on the degree of fluctuation. For example, if the perimeter monitoring device 31 is a camera, the fluctuation determination unit 54 determines that an abnormality has occurred in the perimeter monitoring device 31 when the amount of translation in the up / down direction is equal to or greater than a determination value, when the amount of translation in the left / right direction is equal to or greater than a determination value, or when the rotation angle is equal to or greater than a determination value. If the perimeter monitoring device 31 is a radar, the fluctuation determination unit 54 determines that an abnormality has occurred in the perimeter monitoring device 31 when the rotation angle around the horizontal axis is equal to or greater than a determination value, when the rotation angle around the vertical axis is equal to or greater than a determination value, or when the rotation angle around the central axis is equal to or greater than a determination value.

[0112] The fluctuation determination unit 54 determines that an abnormality has occurred in the surroundings monitoring device 31 when the size of the missing portion is equal to or greater than a determination value.

[0113] If the fluctuation determination unit 54 determines that an abnormality has occurred in the surroundings monitoring device 31, it notifies the user of the occurrence of the abnormality via the human interface device 37.

[0114] <Correction of Detected Position Information> The surroundings information detection unit 53 corrects the detected position information of the target detected by the surroundings monitoring device 31 based on the degree of fluctuation.

[0115] In this embodiment, the surroundings information detection unit 53 corrects the detected position information in the direction opposite to the direction of movement based on the amount of movement of the detection area of ​​the surroundings monitoring device. Specifically, the surroundings information detection unit 53 corrects the detected position information based on the amount of translation and rotation angle in the up, down, left, and right directions, or the rotation angle around three axes.

[0116] <Target> The change determination unit 54 sets the target from map targets present around the vehicle obtained from map data or detected targets detected by the surroundings monitoring device 31. Targets of a predetermined type that are easy to learn detected position information are set as the target. For example, toll gates, tunnels, overpasses, road walls, road markings, road signs, etc. may be set. The target may also be set from targets present on roads that are frequently traveled by the vehicle.

[0117] <Reference position arrival timing> When the host vehicle reaches a predetermined reference position corresponding to the target (reference position arrival timing), the fluctuation determination unit 54 detects detected position information of the target using the surroundings monitoring device 31. The fluctuation determination unit 54 then uses the detected detected position information to learn the reference detected position information and to determine the degree of fluctuation. The predetermined reference position is set to a point where the target can be easily detected by the surroundings monitoring device 31.

[0118] For example, if a map landmark located ahead on the vehicle's driving route is determined as the target landmark, the fluctuation determination unit 54 detects the detected position information of the target landmark when the vehicle reaches a reference position set a predetermined distance ahead of the target landmark (reference position arrival timing), and uses the information for learning and determination.

[0119] In this embodiment, even at the reference position arrival timing, if the accuracy of the vehicle's position information is equal to or greater than the accuracy judgment value, the fluctuation judgment unit 54 judges that the detected detected position information will be used to learn the reference detected position information and to judge the degree of fluctuation, and if the accuracy of the vehicle's position information is less than the accuracy judgment value, the fluctuation judgment unit 54 judges that the detected detected position information will not be used to learn the reference detected position information and to judge the degree of fluctuation.

[0120] If the accuracy of the position information of the subject vehicle is poor, fluctuations in the position of the subject vehicle will cause fluctuations in the detected position information detected when the subject vehicle is at the reference position, and the learning accuracy of the reference detected position information and the determination accuracy of the degree of fluctuation will deteriorate. Therefore, only when the accuracy of the position information of the subject vehicle is high, the learning accuracy and the determination accuracy can be maintained by learning the reference detected position information and determining the degree of fluctuation using the detected detected position information.

[0121] In addition, even if the reference position is reached at the timing, if the speed of the vehicle is within the permitted speed range, the fluctuation determination unit 54 determines that the detected detected position information will be used to learn the reference detected position information and to determine the degree of fluctuation, and if the speed of the vehicle is outside the permitted speed range, the fluctuation determination unit 54 determines that the detected detected position information will not be used to learn the reference detected position information and to determine the degree of fluctuation.

[0122] When the speed of the vehicle changes, it becomes difficult for the surroundings monitoring device 31 to acquire detected position information, and the learning accuracy and determination accuracy tend to deteriorate. Therefore, when the speed of the vehicle is within the permitted speed range, the learning accuracy and determination accuracy can be improved by learning the reference detected position information and determining the degree of fluctuation. For example, the permitted speed range is set based on the speed limit of the road on which the target object is located.

[0123] The fluctuation determination unit 54 may determine that the detected detected position information will be used to learn the reference detected position information and determine the degree of fluctuation if the speed of the vehicle is within the allowable speed range and the absolute value of the acceleration of the vehicle is less than or equal to the acceleration determination value, even at the timing of reaching the reference position, or may determine that the detected detected position information will not be used to learn the reference detected position information and determine the degree of fluctuation if the absolute value of the acceleration of the vehicle is greater than the acceleration determination value.

[0124] When the absolute value of the acceleration becomes large, the front of the vehicle sinks or rises relative to the rear, and the detection range of the surroundings monitoring device 31 fluctuates in the vertical direction, even if the mounting angle of the surroundings monitoring device 31 does not change, and the deviated detected position information fluctuates. Here, the acceleration used for the determination may include not only the longitudinal acceleration but also the lateral acceleration.

[0125] The above multiple permission decisions may be executed in any combination.

[0126] <Flowchart> Next, the processing of the driving assistance device 50 according to this embodiment will be described with reference to the flowchart of Fig. 13. The processing of the flowchart of Fig. 13 is executed, for example, at every predetermined calculation cycle.

[0127] In step S21, as described above, the host vehicle information acquisition unit 51 acquires the position information of the host vehicle from the position detection device 32. At this time, the host vehicle information acquisition unit 51 acquires the accuracy of the current position of the host vehicle.

[0128] In step S22, as described above, the map information acquisition unit 52 acquires road information around the vehicle from the map information database 34 based on the position information of the vehicle. At this time, the map information acquisition unit 52 acquires map position information, which is position information of map objects that are present around the vehicle. The map position information of the map objects is included in the road information.

[0129] In step S23, as described above, the surrounding information detection unit 53 detects various pieces of information about the detected targets, which are targets present around the vehicle, based on the detection information from the surroundings monitoring device 31. At this time, the surrounding information detection unit 53 detects detected position information, which is position information about the detected targets. The detected position information of the detected targets is included in the various pieces of information about the detected targets.

[0130] In step S24, as described above, the fluctuation determination unit 54 determines the target object from the map objects existing around the vehicle obtained from the map data or the detected objects detected by the surroundings monitoring device 31.

[0131] In step S25, if the target object is set, the fluctuation determination unit 54 proceeds to step S26, and if the target object is not set, the fluctuation determination unit 54 proceeds to step S36.

[0132] In step S26, the fluctuation determination unit 54 determines whether the vehicle is located at a predetermined reference position corresponding to the target object, and if the vehicle is located at the reference position, proceeds to step S27, and if the vehicle is not located at the reference position, proceeds to step S36, and learning of the reference detected position information and determination of the degree of fluctuation are not performed.

[0133] In step S27, the fluctuation determination unit 54 determines whether the accuracy of the vehicle's position information is equal to or greater than the accuracy determination value, and if the accuracy is equal to or greater than the accuracy determination value, proceeds to step S28, and if the accuracy is less than the accuracy determination value, proceeds to step S36, and learning of the reference detected position information and determination of the degree of fluctuation are not performed.

[0134] In step S28, the fluctuation determination unit 54 determines whether the speed of the vehicle is within the permissible speed range, and if the speed is within the permissible speed range, proceeds to step S29, and if the speed is outside the permissible speed range, proceeds to step S36, and does not learn the reference detection position information or determine the degree of fluctuation.

[0135] In step S29, the fluctuation determination unit 54 determines whether the absolute value of the acceleration of the vehicle is equal to or less than the acceleration determination value. If the absolute value of the acceleration is equal to or less than the acceleration determination value, the process proceeds to step S30. If the absolute value of the acceleration is greater than the acceleration determination value, the process proceeds to step S36, and the reference detection position information is not learned and the degree of fluctuation is not determined.

[0136] In step S30, as described above, the fluctuation determination unit 54 sets the current detected position information of the detected object corresponding to the target object as the detected position information to be used for learning and determination.

[0137] In step S31, as described above, the fluctuation determination unit 54 learns the reference detection position information of the target when the target is detected from the reference position, which is the same position of the vehicle, based on the detection position information of the same target detected multiple times in the past. This learning process does not have to be performed every time, and may be performed when data for learning is accumulated.

[0138] In step S32, the fluctuation determination unit 54 determines whether the reference detection position information has been learned, and if the learning has been completed, the process proceeds to step S33, and if the learning has not been completed, the process proceeds to step S36. After sufficient learning data has been accumulated, the learning is performed.

[0139] In step S33, as described above, the fluctuation determination unit 54 compares the detected position information of the target object currently detected from the reference position with the reference detected position information of the target object to determine the degree of fluctuation in the detection area of ​​the perimeter monitoring device 31. At this time, as described above, the fluctuation determination unit 54 calculates the amount of fluctuation in the detection area of ​​the perimeter monitoring device as the degree of fluctuation. In the case of a camera, the amount of translation in the up / down and left / right directions and the rotation angle are calculated. In the case of a radar, the rotation angle around three axes is calculated.

[0140] In step S34, as described above, the fluctuation determination unit 54 compares the detection position information of the target object detected this time from the reference position with the reference detection position information of the target object, and determines the missing parts of the detection area of ​​the surroundings monitoring device.

[0141] In step S35, as described above, the fluctuation determination unit 54 determines, based on the degree of fluctuation, whether there is an abnormality in the surroundings monitoring device 31. Furthermore, the fluctuation determination unit 54 determines that there is an abnormality in the surroundings monitoring device 31 when the size of the missing portion is equal to or greater than a determination value.

[0142] In step S36, as described above, the surroundings information detection unit 53 corrects the position information of the target detected by the surroundings monitoring device 31 based on the most recently calculated degree of fluctuation.

[0143] In step S37, as described above, the vehicle control unit 55 controls the traveling of the host vehicle using the map position information of the map target and the detected position information of the detected target. The detected position information corrected based on the degree of fluctuation is used.

[0144] Other Embodiments (1) In the above-described embodiments, the surroundings monitoring device 31 for which the degree of fluctuation is determined is a front monitoring camera that monitors the front of the vehicle, or a radar (LiDAR or millimeter-wave radar) that monitors the front of the vehicle. However, the surroundings monitoring device 31 for which the degree of fluctuation is determined may be a camera or radar that monitors the right or left side of the vehicle, or a camera or radar that monitors the rear of the vehicle. When the degree of fluctuation of multiple surroundings monitoring devices 31 is determined, the multiple surroundings monitoring devices 31 are set as the determination targets in order.

[0145] In the first embodiment, if the surroundings monitoring device 31 for determining the degree of fluctuation is configured as a camera or radar for monitoring the right or left side of the vehicle, the target object may be set to the lane side edge of the right or left toll island, for example. Also, if the surroundings monitoring device 31 for determining the degree of fluctuation is configured as a camera or radar for monitoring the rear of the vehicle, the target object may be set to the inner shape of the top, bottom, left, and right of the toll gate, or the lane side edge of the left or right toll island, for example, and the detected position information detected after the vehicle passes through the toll gate may be used for the determination.

[0146] Although various exemplary embodiments and examples are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this disclosure specification. For example, this includes cases where at least one component is modified, added, or omitted, or where at least one component is extracted and combined with components of another embodiment.

[0147] 50: Driving assistance device, 51: Vehicle information acquisition unit, 52: Map information acquisition unit, 53: Surrounding information detection unit, 54: Fluctuation determination unit, 55: Vehicle control unit

Claims

a map information acquisition unit that acquires, from map data based on the position information of the host vehicle, map position information that is position information of map targets that are targets that exist around the host vehicle; a surrounding information detection unit that detects detected position information that is position information of detected targets that are targets that exist around the host vehicle based on detection information from a surroundings monitoring device that monitors the surroundings of the host vehicle; and a fluctuation determination unit that determines a target object to be used for determination from the map targets, and generates, based on the map position information of the target object, converted map position information that is position information that would be obtained if the target object were detected by the surroundings monitoring device whose detection area has not changed from the position of the host vehicle from which the detected position information for comparison was obtained, and compares the converted map position information with the detected position information of the detected target corresponding to the target object to determine a degree of fluctuation in the detection area of ​​the surroundings monitoring device.

2. The driving assistance device of claim 1, wherein the surroundings monitoring device for which the degree of fluctuation is determined is a radar, and the fluctuation determination unit generates, as the converted map position information, a distance from the radar to each part of the target and an angle based on the radar, assuming that the target was detected by the radar with no fluctuation in its detection area from the position of the host vehicle that obtained the detection position information for comparison, based on the map position information of each part of the target, and uses the distance from the radar to each part of the target and the angle based on the radar as the detection position information of the target.

3. The driving assistance device of claim 1, wherein the surroundings monitoring device for which the degree of fluctuation is determined is a camera, and the fluctuation determination unit generates, as the converted map position information, the position of each part of the target in the captured image, assuming that the target was detected by the camera with no fluctuation in its detection area from the position of the vehicle that obtained the detection position information for comparison, based on the map position information of each part of the target, and uses the position of each part of the target in the captured image of the camera as the detection position information of the target.

4. A driving assistance device as described in any one of claims 1 to 3, wherein the variation determination unit determines a predetermined specific object whose shape is determined by a standard as the target object, and generates the converted map position information of the specific object using position information of the specific object obtained from the map data and shape information of the standard of the specific object.

5. A driving assistance device according to claim 4, wherein the specific object is a toll gate whose shape is determined by a standard.

6. A driving assistance device according to claim 5, wherein the specific target is the inner shape of the top, bottom, left and right of the toll gate.

7. A driving assistance device according to claim 5, wherein the specific object is the lane-side end of left and right toll islands that rise from the road surface at the toll gate.

8. The driving assistance device according to claim 5, wherein the variation determination unit determines the type of the toll gate set as the target object, refers to gate data in which shape information of the standard of the toll gate is set in advance for each type of toll gate, reads out the shape information of the standard of the toll gate corresponding to the determined type of toll gate, and uses it to generate the converted map position information.

9. A driving assistance device comprising: a host vehicle information acquisition unit that acquires position information of the host vehicle; a surroundings information detection unit that detects detected position information, which is position information of detected targets that are targets present around the host vehicle, based on detection information from a surroundings monitoring device that monitors the surroundings of the host vehicle; and a fluctuation determination unit that determines a target to be used for judgment from the detected targets, learns reference detected position information of the target when the target is detected from a reference position that is the same host vehicle position, based on the detected position information of the same target detected multiple times in the past, and compares the detected position information of the target currently detected from the reference position with the reference detected position information of the target.

10. A driving assistance device as described in claim 9, wherein the surroundings monitoring device for determining the degree of fluctuation is a radar, and the fluctuation determination unit uses the distance from the radar of each part of the target object and the angle relative to the radar as the detected position information of the target object.

11. A driving assistance device as described in claim 9, wherein the surroundings monitoring device for determining the degree of fluctuation is a camera, and the fluctuation determination unit uses the positions of each part of the target object in the image captured by the camera as the detected position information of the target object.

12. A driving assistance device as described in any one of claims 9 to 11, wherein the variation determination unit compares the detected position information of the target object currently detected from the reference position with the reference detected position information of the target object to determine missing portions in the detection area of ​​the surroundings monitoring device.

13. A driving assistance device according to any one of claims 1 to 3 and 9 to 11, wherein the fluctuation determination unit calculates the amount of fluctuation in the detection area of ​​the surroundings monitoring device as the degree of fluctuation.

14. A driving assistance device according to any one of claims 1 to 3 and 9 to 11, wherein the surrounding information detection unit corrects the detected position information of the detected target based on the degree of fluctuation.

15. A driving assistance device according to any one of claims 1 to 3 and 9 to 11, wherein the fluctuation determination unit determines whether there is an abnormality in the surroundings monitoring device based on the degree of fluctuation.

16. A driving assistance device as described in any one of claims 1 to 3 and 9 to 11, wherein the fluctuation determination unit determines the degree of fluctuation when the accuracy of the position information of the vehicle is equal to or greater than an accuracy determination value.

17. A driving assistance device as described in any one of claims 1 to 3 and 9 to 11, wherein the fluctuation determination unit determines the degree of fluctuation when the speed of the vehicle is equal to or less than a speed determination value or within an allowable speed range.

18. A driving assistance device according to claim 17, wherein the fluctuation determination unit further determines the degree of fluctuation when the absolute value of the acceleration of the host vehicle is equal to or less than an acceleration determination value.

19. A driving assistance device according to any one of claims 1 to 3 and 9 to 11, further comprising a vehicle control unit that controls the traveling of the vehicle using the detected position information of the detected target.

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