Course control device and course control method

专利摘要:
SUMMARY ?TRAIL CONTROL DEVICE AND METHOD FOR VEHICLE?. A route control device (100) is provided which performs an information acquisition function of the vehicle in question to acquire information of the vehicle in question including the position of a vehicle in question (V1), an information acquisition function of object to acquire object information including the position of an object to be bypassed whose vehicle in question (V1) is to avoid, a planning function to plan a target route to avoid the object to be bypassed according to the position of the vehicle in question (V1) and the position of the object to be bypassed, and a control function to issue command information for driving the vehicle in question (V1) on the target route. The planning function is used to reduce the distance from the vehicle in question (V1) to a detour point as an edge distance decreases. The edge distance is the distance between the vehicle in question (V1) and a lane marker on a road on which the vehicle in question (V1) is traveling. The edge distance is along a road width direction.(...).
公开号:BR112017002421B1
申请号:R112017002421-7
申请日:2014-08-11
公开日:2022-01-25
发明作者:Masahide Nakamura
申请人:Nissan Motor Co., Ltd；
IPC主号:

专利说明:

TECHNICAL FIELD
[001] The present invention relates to a path control device and its method, which control the path of a vehicle. PREVIOUS TECHNIQUE
[002]A route control device is known, which plans a target route for a vehicle in question, according to the presence or absence of an object to be bypassed (object to be bypassed) that the vehicle in question must avoid , and drives the vehicle in question on the target route. With respect to this type of device, Patent Document 1 (JP2013-091401A) describes a device in which the destination route is planned on the right side of a normal position when an approaching vehicle is detected on the left side of the vehicle in question and the target route is planned on the left side of the normal position when an approaching vehicle is detected on the right side of the vehicle in question. PREVIOUS TECHNIQUE DOCUMENT PATENT DOCUMENT
[003][Patent Document 1] JP2013-091401A SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION
[004] In the above prior art, however, even when the road width of a road the vehicle in question is traveling on is narrow and the distance along which the vehicle in question can move in the direction of the road width is short, the target route varies to the right or left with respect to the approaching vehicle without exception. This can lead to an issue where passengers in the vehicle in question feel uncomfortable because the vehicle in question takes a different route than the route passengers expect.
[005] A problem to be solved by the present invention is to mitigate a discomfort suffered by passengers when performing the control of a vehicle in question in route to avoid an object to be bypassed. MEANS TO SOLVE PROBLEMS
[006] The present invention solves the above problem by reducing the distance from a vehicle in question to a given detour point on a target route as a margin distance (margin width) decreases. The edge distance is a distance between the vehicle in question and a lane marker on a road that the vehicle in question is traveling on. The edge distance is along the road width direction. EFFECT OF THE INVENTION
[007]According to the present invention, the shorter the distance from the edge above, the distance from the vehicle in question to the given detour point on the target route is planned the shorter to anticipate the detour start time of the object to be contoured. Therefore, when the vehicle in question passes on the side of the object to be bypassed, the target route (driving route) corresponds to the route that passengers expect. As a result, route control can be performed without discomfort for passengers. BRIEF DESCRIPTION OF THE DRAWINGS
[008] Figure 1 is a block diagram illustrating a path control system in accordance with one or more embodiments of the present invention.
[009]Figure 2A is a plan view to describe a process to define an object area used to plan a target route.
[010]Figure 2B is a plan view to describe a method of defining the object area when a margin distance is long.
[011]Figure 2C is a plan view to describe a method of defining the object area when a margin distance is short.
[012]Figure 3 is a plan view to describe a margin distance.
[013]Figure 4 is a plan view to describe an example of a method of obtaining the margin distance.
[014]Figure 5A is a plan view to describe an example of a method of obtaining the margin distance.
[015]Figure 5B is a plan view to describe another example of a method of obtaining the margin distance.
[016]Figure 6 is a plan view to describe a method of planning a target route when a plurality of objects to be bypassed exist.
[017]Figure 7 is a plan view to describe an example of a method of planning a target route according to the distance between an object to be circumvented and the vehicle in question.
[018]Figure 8 is a plan view to describe an example of a method of planning a target route according to the type of road on which the vehicle in question is traveling.
[019] Figure 9 is a flowchart illustrating a control procedure of a path control device according to one or more embodiments of the present invention.
[020] Figure 10 is a flowchart illustrating a subroutine of step S104 of Figure 9. METHOD OF CARRYING OUT THE INVENTION
[021] Hereinafter, one or more embodiments of the present invention will be described with reference to the drawings. In embodiments, the present invention will be described by exemplifications in which the route control device for a vehicle in accordance with the present invention is applied to a route control system equipped in a vehicle. The route control device of the present invention, however, is not limited to the above and can also be applied to a portable terminal device that can exchange information with the side of a vehicle. The path control device, path control system and handheld terminal device are each composed of a computer that performs an input/output process and calculation process.
[022] Figure 1 is a diagram illustrating a block configuration of a path control system 1 according to one or more embodiments of the present invention. The route control system 1 is fitted to a vehicle and comprises a route control device 100 and an on-board device 200.
[023]The lane control device 100, according to one or more embodiments of the present invention, has a lane deviation prevention function (support function to keep in lane) for recognizing a lane in which the vehicle in question is traveling and controlling the movement behavior of the vehicle in question so as to maintain a certain relationship between the position of a lane mark on the lane and the position of the vehicle in question. The lane control device 100, according to one or more embodiments of the present invention, controls the movement behavior of the vehicle in question so that the vehicle in question travels in the center of a lane. The lane control device 100 can control the movement behavior of the vehicle in question so that the distance from a lane mark of a lane to the vehicle in question along the road width direction is within a predetermined range.
[024]The route control device 100 and the on-board device 200 have communication devices 20 and 40, respectively, and exchange information with each other through wired or wireless communication.
[025]The on-board device 200 will be described first.
[026] The on-board device 200, according to one or more embodiments of the present invention, comprises a detection device 50, sensor 60, vehicle controller 70, actuation device 80, steering device 90, output device 110 and navigation device 120. These devices that make up the on-board device 200 are connected to each other through a CAN (Controller Area Network) or other LAN installed in the vehicle for mutual exchange of information.
[027]These devices that make up the on-board device 200 will each be described below.
[028]The detection device 50 detects the existence of an object to be bypassed which the vehicle must avoid and its position of existence. Detection device 50 according to one or more embodiments of the present invention includes, but is not limited to, a camera 51. Camera 51 according to one or more embodiments of the present invention is, for example, a camera comprising an imaging element, such as a CCD. Camera 51, according to one or more embodiments of the present invention, which is installed in the vehicle in question, captures images around the vehicle in question and acquires image data that includes objects to be bypassed existing around the vehicle in question.
[029]The detection device 50 processes the acquired image data to calculate the distance from the vehicle in question to an object to be bypassed based on the position of the object to be bypassed in relation to the vehicle in question. The detection device 50 also calculates, as object information, a relative speed and relative acceleration between the vehicle in question and the object to be bypassed from a time variation of the position of the object to be bypassed. As for a process for calculating the positional relationship between the vehicle in question and another vehicle based on the image data and a process for calculating speed information based on the amount of time variation of the positional relationship, the schemes known at the time of deposit of this application may be appropriately used.
[030] In addition or alternatively, the detection device 50 can analyze the image data and identify the type of object to be contoured based on the analysis result. Detection device 50 may use a pattern matching technique or the like to identify whether the object to be bypassed included in the image data is a vehicle, pedestrian or traffic sign and the like. Detection device 50 can also extract an image of an object from the image data to specify the type of object in accordance with the profile and/or characteristics of the object.
[031] In addition or alternatively, the detection device 50, according to one or more embodiments of the present invention, may use a radar device 52. Examples of the radar device 52 may be those, such as a millimeter wave radar. , laser radar and ultrasonic radar, which are known at the time of filing this application.
[032]Object information detected in this way, including at least the position of an object to be bypassed, is sent alongside the path control device 100. The detection device 50 may include various items of information in the object information and sending it to the side of the path control device 100. Examples of such information items include velocity and acceleration information obtained from changing the position of the object to be bypassed, information about the type of the object to be bypassed, and information about the vehicle type and the like when the object to be bypassed is a vehicle.
[033] The "object to be bypassed" in one or more embodiments of the present invention refers to an object whose vehicle in question must avoid the path (so that the vehicle in question does not come too close to the object). Detection device 50 detects an object having a certain positional relationship to the vehicle in question as the object to be bypassed.
[034] Objects to be bypassed in one or more embodiments of the present invention include a stationary object and a moving object. Examples of the stationary object include other vehicles that are parked or stopped; road structures such as sidewalks; center partitions and guardrails; road equipment, such as road signs and power or telephone poles; temporary objects on a road, such as fallen objects and removed snow; and stationary pedestrians, which can be obstacles for a vehicle en route. Examples of the moving object include other vehicles en route and pedestrians walking. Examples of such other vehicles include two-wheeled vehicles such as bicycles and motorcycles; large vehicles such as buses and trucks; special purpose vehicles such as trailers and crane vehicles; emergency vehicles such as ambulances; fire trucks and police cars; and standard size cars. Examples of objects to be bypassed include those where the objects may not necessarily exist, but which the vehicle in question must avoid, such as construction sites, damaged areas of roads, and puddles. When a vehicle in question V1 is en route, objects to be bypassed for the vehicle include vehicles behind, vehicles ahead, and oncoming vehicles.
[035] Sensor 60, according to one or more embodiments of the present invention, comprises a steering angle sensor 61 and vehicle speed sensor 62. The steering angle sensor 61 detects steering information in relation to steering, such as a steering amount, steering speed and steering acceleration of the vehicle in question, and sends them to vehicle controller 70 and route control device 100. Vehicle speed sensor 62 detects a vehicle speed and acceleration in question and sends them to vehicle controller 70 and route control device 100.
[036] The vehicle controller 70 according to one or more embodiments of the present invention is an on-board computer, such as an engine control unit (ECU), and electronically controls the driving state of the vehicle. The vehicle according to one or more embodiments of the present invention may be, for example, an electric car having an electric motor as the displacement propulsion source, a motor car having an internal combustion engine as the displacement propulsion source, or a hybrid car. having both the electric motor and internal combustion engine as displacement propulsion sources. Examples of the electric car and hybrid car having an electric motor as the propulsion source of displacement include a type where the power source for the engine is a secondary battery and a type where the power source for the engine is a fuel cell.
[037] The drive device 80 according to one or more embodiments of the present invention comprises a drive mechanism of the vehicle in question V. The drive mechanism includes an electric motor and/or an internal combustion engine as the propulsive source of displacement. described above, a power transmission device including a drive axle and automatic transmission that transmit the output of the propulsion source of displacement to the driving wheels, and a braking device that brakes the wheels. The drive device 80 generates respective control signals for these drive mechanism components and performs path control including vehicle acceleration and deceleration. These control signals for the drive mechanisms are generated based on input signals by a driver's throttle operation and brake operation and control signals acquired from the vehicle controller 70 or the ride control device 100. commands can be sent to the drive device 80, which can thus automatically perform path control including vehicle acceleration and deceleration. In the case of a hybrid car, the drive device 80 can receive a ratio of the torque emitted to the electric motor and the torque emitted to the internal combustion engine according to the vehicle's displacement state.
[038] The steering device 90 according to one or more embodiments of the present invention has a steering actuator. The steering actuator includes a motor and other necessary components coupled to the steering column shaft. The steering device 90 performs steering control for the vehicle based on a control signal acquired from the vehicle controller 70 or a signal input by the driver's steering operation. Vehicle controller 70 sends command information, including a steering amount, to steering device 90 to thereby perform steering control. In addition or alternatively, the ride control device 100 may control an amount of braking for each wheel of the vehicle to thereby perform steering control. In this case, the vehicle controller 70 sends command information, including the amount of braking for each wheel, to a braking device 81 provided together with the drive device 80, to thereby perform steering control for the vehicle.
[039] Navigation device 120 according to one or more embodiments of the present invention calculates a route from the current position of the vehicle in question to a destination and outputs route guidance information through output device 110 which will be described later. The navigation device 120 has a position detection device 121, road information 122 including a road type, road width, road shape and the like, and map information 123 in which road information 122 is associated with each Score. The position detection device 121 according to one or more embodiments of the present invention is responsible for the Global Positioning System (GPS) and detects a position (latitude and longitude) in which the vehicle is traveling. The navigation device 120 specifies a road link on which the vehicle in question travels, based on the current position of the vehicle in question detected by the position detection device 121. The road information 122 in accordance with one or more embodiments of the present invention are stored such that identifying information for each road link is associated with the type of road, road width, road shape, whether or not overtaking is permitted (whether lane switching to an adjacent lane is permitted), and other road related information. The navigation device 120 refers to the road information 122 to acquire the information regarding a road to which the road link on which the vehicle in question travels belongs, and sends the information to the route control device 100. The type of road, road width and road shape of a road on which the vehicle in question travels are used in a route control process to calculate a target route that the vehicle in question must travel.
[040] The output device 110 according to one or more embodiments of the present invention outputs various items of information regarding route assistance to the user or passengers of surrounding vehicles. In one or more embodiments of the present invention, the output device 110 outputs at least one of the information according to the object information, information according to the location of the object area, information according to the location of the target route, and information according to the command information for driving the vehicle in question on the target route. Output device 110 according to one or more embodiments of the present invention includes a display 111, speaker 112, exterior lamp 113, and interior lamp 114. Exterior lamps 113 include headlights, taillights, and brake lights. Internal lamps 114 include indicator light displays and display light displays 111 as well as lamps provided on the steering wheel and lamps provided around the steering wheel. Output device 110 according to one or more embodiments of the present invention may output various items of information regarding route assistance to external devices such as Intelligent Transport Systems (ITS) via communication device 40. External devices , such as Intelligent Transport Systems use information regarding route assistance, including vehicle speed, driving information, travel route, etc., for traffic management of a plurality of vehicles.
[041]Specific ways of issuing information will be described with reference to an example where there is a parked vehicle as the object to be bypassed on the left side in front of the vehicle in question.
[042]The output device 110 provides the passengers of the vehicle in question with a direction and/or position in which the parked vehicle is, as the information according to the object information. Display 111 displays the direction and/or position the parked vehicle is in in a visually recognizable form. Speaker 112 reads text that informs the direction and/or position the parked vehicle is in, such as "Warning for parked vehicle on the left ahead". Among the lamps provided as the outside lamps 113 in the left and right mirrors, only the lamp on the left side can be flashed to inform the passengers of the vehicle in question that there is a vehicle parked on the left side ahead. Among the lamps provided as the interior lamps 114 on the right and left around the steering wheel, only the lamp on the left side can be flashed to inform passengers that there is a vehicle parked on the left side ahead.
[043]A direction and/or position in which the object area is defined can be output through the output device 110 as the information according to the location of the object area. Passengers can be informed that an object area is defined on the front left hand side, in a similar manner as above, via the display 111, loudspeaker 112, exterior lamps 113 and/or interior lamps 114.
[044] In one or more embodiments of the present invention, in order to previously inform passengers of other vehicles about the movement behavior of the vehicle in question, the direction and/or position in which the object area is defined can be emitted externally. using the external lamps 113. After the object area is defined, the direction of travel of the vehicle in question is changed (steering is performed) to avoid the object area (pass by the side). By informing externally about the object area being defined, drivers of other vehicles can be preliminarily notified that the direction of travel of the vehicle in question will be changed to avoid the object area. For example, when the object area is defined on the front right side, the right side lights (outside lamp 113) can be lit to inform other outside and similar vehicles that the vehicle in question will swerve to the right to avoid the object area which is defined on the left side.
[045]Furthermore, passengers can be informed about the shape of the target route and/or the position of a turning point as the information according to the location of the target route by the display 111 and/or loudspeaker 112. The display 111 displays the shape and the like of the target route as a visually recognizable diagrammatic view. Speaker 112 emits an announcement, such as "Turn right to avoid parked vehicle" or "To avoid parked vehicle ahead, steering wheel will be turned to the right".
[046] In addition, passengers of the vehicle in question or passengers of other vehicles can be previously informed that the diversion and/or acceleration or deceleration operation will be performed, as the information according to the command information for driving the vehicle in question on the target route, via display 111, loudspeaker 112, exterior lamps 113 and/or interior lamps 114.
[047] In this way, issuing information related to route control when deviating from the object area, passengers of the vehicle in question and/or other vehicles can be previously informed about the behavior of the vehicle in question. Output device 110 can output the above-described information to external devices such as Intelligent Transport Systems via communication device 20. This allows passengers of the vehicle in question and/or passengers of other vehicles to respond to the behavior of the vehicle. vehicle in question that is under route control.
[048]The path control device 100 according to one or more embodiments of the present invention will be described below.
[049] As illustrated in Figure 1, the path control device 100 according to one or more embodiments of the present invention comprises a control device 10, communication device 20 and output device 30. Communication device 20 exchanges information with the on-board device 200. The output device 30 has a similar function as the previously described output device 110 of the on-board device 200. When the route control device 100 is a computer that can be carried by a passenger, the route control device 100 can issue, to each device, command information for controlling the flashing of external lamps 113 and/or internal lamps 114 of the on-board device.
[050] The control device 10 of the route control device 100 is a computer comprising: a ROM (Read Only Memory) 12 that stores programs for displaying different route control information according to the degree of proximity between the vehicle in question and other vehicles; a CPU (Central Processing Unit) 11 as an operating circuit that executes the programs stored in ROM 12 to function as the path control device 100; and a RAM (Random Access Memory) 13 that functions as an accessible storage device.
[051] The control device 10 of the route control device 100 according to one or more embodiments of the present invention has a vehicle information acquisition function, object information acquisition function, area configuration function , route planning function, control function and presentation function. Control device 10 according to one or more embodiments of the present invention performs each function by cooperating software to perform the above functions and the above-described hardware.
[052]Each function of the course control device 100 according to one or more embodiments of the present invention will be described below.
[053]Firstly, the vehicle information acquisition function in question from the control device 10 will be described. The control device 10 acquires information from the vehicle in question which includes the position of the vehicle in question. The position of the vehicle in question can be acquired by the position detection device 121 of the navigation device 120. The information on the vehicle in question further includes the vehicle speed and acceleration of the vehicle in question. The control device 10 acquires the speed of the vehicle in question from the vehicle speed sensor 62. The speed of the vehicle in question can also be acquired based on the variation in time of the position of the vehicle in question. The acceleration of the vehicle in question can be obtained from the speed of the vehicle in question.
[054]The object information acquisition function of control device 10 will be described. Control device 10 acquires object information that includes the position of an object to be bypassed whose vehicle in question is to avoid. The control device 10 acquires object information that includes the position of the object to be bypassed detected by the detection device 50. The object information further includes a relative position, relative velocity and relative acceleration of the object to be bypassed.
[055]When the object to be bypassed is another vehicle and that other vehicle and the vehicle in question are capable of intervehicular communication (communication in which a plurality of vehicles can communicate directly with each other without using a server or the like), the device control module 10 of the vehicle in question can acquire, such as object information, the vehicle speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle. As will be understood, the control device 10 may also acquire deflection information including the position, speed and acceleration of the other vehicle from external Intelligent Transport Systems (ITS) devices.
[056]The area configuration function and route planning function of the control device 10 will be described. In one or more embodiments of the present invention, the control device 10 uses the area setting function to define an object area R for the object to be contoured. Then the control device 10 uses the route planning function to plan a target route that the vehicle in question V1 should travel, based on the location of the object area R defined for the object to be bypassed.
[057]The method of defining the object area R using the area setting function of the control device 10 will be described first. The control device 10 sets the object area R (any object area can be represented by “R” henceforth) for the object to be bypassed based on the relationship between the position of the vehicle in question and the position of the object to be bypassed. . Figure 2A is a view illustrating an example of a scheme for defining the object area R. In Figure 2A, the travel direction Vd1 of the vehicle in question is the +y direction in the figure. In Figure 2A, the direction of extension of a carriageway Ln1 that the vehicle in question travels is also the +y direction in the figure.
[058]Figure 2A is a top view of the detection scene of the other vehicle V2 that is parked on the shoulder on the left side of the Ln1 carriageway for the vehicle in question. The other detected vehicle V2 exists in the carriageway Ln1 for the vehicle in question V1 and is therefore an object to be bypassed which the vehicle in question V1 must avoid because the other vehicle V2 will interfere with the vehicle in question V1 traveling in the right direction. front. The control device 10 defines an object area R0 within a region that includes the other vehicle V2.
[059] In one or more embodiments of the present invention, the object area R defined for an object to be bypassed can be defined considering avoiding a state in which the distance between the vehicle in question V1 and the object to be bypassed becomes smaller than a predetermined value so that they approach each other or come into contact with each other, or it can also be defined considering the vehicle in question V1 and the object to be bypassed to maintain an adequate distance. In one or more embodiments of the present invention, the object area R may have a shape that similarly follows the external shape of an object to be contoured or it may also have a shape that includes an object to be contoured. The control device 10 can define the boundary of the object area R as the shape that similarly follows the external shape of an object to be contoured or as the shape that includes an object to be contoured, such as a circular shape, elliptical shape, rectangular shape and polygonal shape. The object area R can be defined narrow, such that the boundary of the object area R is separated from the surface (outer edge) of an object to be contoured by less than a predetermined distance (A) or it can also be defined wider. , such that the boundary of the object area R is separated from the object to be bypassed by a predetermined distance B (B>A) or more.
[060]As illustrated in Figure 2A, when the travel direction Vd1 of the vehicle in question is set to the forward direction while its reverse direction is set to the backward direction, the object area R0 has longitudinal end parts RL1 and RL2 on the back side and front side of object area R0, respectively. These longitudinal end pieces RL1 and RL2 represent end lines that define the length of the object area R0 along the extension direction (+y) of the carriageway Ln1 for the vehicle in question. The length of the object area R0 illustrated in Figure 2A together with the extension direction (+y) of the carriageway Ln1 is L0, which is a distance between the longitudinal end part RL1 (y1) and the longitudinal end part RL2 (y2). Among the longitudinal end parts RL1 and RL2, the longitudinal end part located on the near side (upstream side) when viewed from the vehicle in question V1 approaching the object area R0 is defined as a first end part RL1. On the other hand, among the longitudinal end parts RL1 and RL2, the longitudinal end part located on the far side (downstream side) when viewed from the vehicle in question V1 approaching or passing through the object area R0 is defined as a second part end RL2. The first end part RL1 and the second end part RL2 are located at the boundary of the object area R0.
[061] As illustrated in Figure 2A, when the vehicle width direction of the vehicle in question is set to Vw1 (X axis direction in the figure), object area R0 has RW1 and RW2 side end pieces on the right side and left side of object area R0, respectively. These RW1 and RW2 side end pieces are end lines (end pieces) that define the distance from the vehicle in question V1 along the vehicle width direction. These RW1 and RW2 side end pieces also represent end lines that define the length (width) of the object area along the road width (X) direction of the carriageway Ln1 for the vehicle in question. The length of the object area R0 illustrated in Figure 2A along the road width direction (X-axis direction) is W0, which is a distance between the RW1 side end part (x1) and the RW2 side end part ( x2). When the vehicle in question approaches the object to be bypassed V2 along the vehicle width direction, between the side end parts RW1 and RW2 of the object area R0, the side end part located on the side of the vehicle in question V1 when viewed from the vehicle in question V1 is defined as a first side end part RW1. On the other hand, among the side end parts RW1 and RW2, the side end part located on the side (sideside) opposite the side of the vehicle in question V1 when viewed from the vehicle in question V1 is defined as a second end part RW2 side. The first side end part RW1 and the second side end part RW2 are located at the boundary of the object area R0.
[062]Figure 2A illustrates an example case in which the other vehicle V2 as the object to be bypassed exists in the Ln1 carriageway for the vehicle in question, but also in cases where the object to be bypassed exists in a lane that not the carriageway Ln1 for the vehicle in question, an object area can be similarly defined for the object to be bypassed when the vehicle in question V1 must avoid the object to be bypassed.
[063]When, as illustrated in Figure 2A, there is another vehicle V3 traveling in the opposite direction in a lane Ln2 to the carriageway Ln1 for the vehicle in question V1, the other vehicle V3 is detected as an object to be bypassed. Although not illustrated in the figure, when the other V3 vehicle is detected as an object to be bypassed, an object area is defined within a region that includes the other V3 vehicle in the same way.
[064]The control device 10 then uses the route planning function to plan a target route RT to avoid object area R (that is, to pass through the side of object area R). An RT target route planning method can be as follows. For example, control device 10 sets one or more target coordinates (waypoints where the vehicle in question V1 can avoid the object area) based on the object area defined for the object to be bypassed and connects the current position of the vehicle in question V1 with the target coordinate or coordinates, and the target route RT can thus be obtained.
[065] In one or more embodiments of the present invention, the control device 10 can calculate the target route RT such that the vehicle in question V1 does not enter the object area R defined for the object to be bypassed, it can calculate the target route RT such that an area where the object area R and a possible area of existence of the vehicle in question V1 overlap is less than a predetermined value, can calculate a sequence of positions separated from the boundary of the object area R by a distance predetermined as the target route RT, or it can calculate the object area boundary itself R as the target route RT. As described above, the object area R is configured such that the distance between the vehicle in question V1 and the object to be bypassed does not become less than a predetermined value or such that the distance between the vehicle in question V1 and the object to be bypassed is kept within a predetermined limit. Consequently, the target route RT is also planned at a location where the distance between the vehicle in question V1 and the object to be bypassed does not become less than the predetermined value or at a location where the distance between the vehicle in question V1 and the object to be contoured is kept at the predetermined limit.
[066] As will be understood, in one or more embodiments of the present invention, one or more target coordinates may be defined based on the position or the like of an object to be contoured without defining an object area for the object to be contoured and the RT target route can be obtained/calculated as above based on target coordinate or coordinates. That is, the RT target route to avoid an object to be bypassed can be obtained without defining an object area.
[067] In one or more embodiments of the present invention, when the vehicle in question V1 simultaneously tries to avoid other vehicles V2 and V3 as illustrated in Figure 2A, that is, for example, when objects to be bypassed exist to the right and left of the vehicle in question V1 in the width direction and are to be simultaneously avoided, the control device 10 performs a process as below. That is, the control device 10 takes into account the object area R0 defined for the other vehicle V2 and an object area for the other vehicle V3 to determine whether or not a target route RT can be planned, which allows the vehicle in question passes the other oncoming vehicle V3 while avoiding the other parked vehicle V2. If, hypothetically, a determination is made that a target route RT cannot be planned that allows the vehicle in question V1 to pass the other oncoming vehicle V3 while avoiding the other parked vehicle V2, the control device 10 commands the controller control device 70 of the driving device 100 to control the amount of braking of each wheel of the vehicle in question V1 using the braking device 81 of the driving device 80 and for the vehicle in question V1 next to the other vehicle V2 (on the side of -y) and wait for the other V3 vehicle to pass.
[068] A method will now be described in which the control device 10 according to one or more embodiments of the present invention defines the object area in accordance with a margin distance to the vehicle in question V1. The edge distance for the vehicle in question V1 refers to a distance between the vehicle in question V1 and any of the lane markers (e.g. white lines, pavements, center dividers, guardrails, buildings etc.) an RD road (this distance may strictly be a space between the side surface of the vehicle in question V1 and such lane marker). The longer the edge distance, the longer the distance allowed for the vehicle in question V1 to move along the road width direction of the road RD. Therefore, when the vehicle in question V1 is operated to avoid an object to be bypassed, the passengers of the vehicle in question V1 can feel safe and relaxed.
[069]Figure 2B illustrates a scene where another vehicle V4 as the object to be bypassed is traveling in the +y direction in an adjacent lane Ln3 to the left of a carriageway Ln1 for the vehicle in question V1. Figure 2C illustrates a scene similar to that of Figure 2B except that the width LW1 of a carriageway Ln1 and the width LW3 of an adjacent left lane Ln3 are narrowed compared to those of Figure 2B. In one or more embodiments of the present invention, the above-described edge distance may be a distance from the vehicle in question V1 to any of the lane markers, but Figure 2B and Figure 2C each illustrate an example that obtains a distance WA1a or WA1b from the vehicle in question V1 to a lane marker Lm3 from the carriageway Ln1 to the vehicle in question V1.
[070]When, as illustrated in Figure 2B and Figure 2C, the distances WA1a and WA1b obtained as the edge distances are different, the control device 10 according to one or more embodiments of the present invention provides object areas R1 and R2 according to the distances WA1a and WA1b as the margin distances considering that the appropriate sizes and shapes of the object areas to be defined for the object to be contoured are different. Here, the edge distance (WA1b distance) in the Figure 2C scene is assumed to be shorter than the edge distance (WA1a distance) in the Figure 2B scene (WA1b<WA1a). For descriptive purposes, in Figure 2C, object area R2 is illustrated as superimposed on object area R1 of Figure 2B.
[071] In one or more embodiments of the present invention, the control device 10 defines, in the scene illustrated in Figure 2B, an object area R1 that has a first end part RL1a and a first side end part RW1a, in accordance with with the distance/width WA1a depending on the margin distance. The first end part RL1a represents a longitudinal position on the near side (-y side) when viewed from the vehicle in question V1. The first side end part RW1a represents a side position on the side of the vehicle in question V1 (side +x). On the other hand, in the scene illustrated in Figure 2C, the control device 10 defines an object area R2 having a first end part RL1b and a first side end part RW1b, according to the distance/width WA1b as the distance of margin. The first end part RL1b represents the longitudinal position on the near side (-y side) as viewed from the vehicle in question V1. The first side end part RW1b represents the side position on the side of the vehicle in question V1 (side +x).
[072]In this operation, as illustrated in Figure 2B and Figure 2C, the control device 10 sets the first end part RL1b of the object area R2 on the side closer (-y side) than the first end part RL1a of object area R1. That is, in the scene of Figure 2C where the edge distance is shorter, the control device 10 stretches the object area defined for the object to be contoured towards the near side (-y side) when viewed from the vehicle in question V1. In addition, as illustrated in Figure 2B and Figure 2C, the control device 10 defines the first side edge part RW1b of object area R2 on the other vehicle side V4 (-x side) in the road width direction compared to with the first side edge part RW1a of object area R1. That is, in the scene of Figure 2C where the edge distance is shorter, the control device 10 reduces the defined object area for the object to be bypassed towards the side of the other vehicle V4 (side -x) in the direction of the width of the road. Thus, in one or more embodiments of the present invention, the target route may be planned based on the object area that is determined in response to edge distance. As a result, an appropriate target route can be planned according to the shore distance.
[073]In this operation, in the scene of Figure 2C where the edge distance is shorter, the target route is planned based on the object area, such that a deviation point PA representing the time to avoid the object to be bypass is set on the nearer side (-y side) compared to the scene of Figure 2B to reduce the distance d0 between the bypass point PA and the vehicle in question V1, and the bypass start time of the object to bypass it becomes earlier on the vehicle in question V1 traveling along the target route RT1a. In other words, the vehicle in question starts the maneuver from the nearest side and therefore the vehicle in question must travel with a certain space in the width direction when having the approach of the other vehicle V4. Thus, in one or more embodiments of the present invention, even when the margin distance for the vehicle in question V1 is short, a discomfort conferred on passengers can be mitigated when executing route control for the vehicle in question V1.
[074]Furthermore, according to one or more embodiments of the present invention, in the scene of Figure 2C, where the edge distance is shorter, the target route is planned closer to the side of the other vehicle V4 (side -x ) compared to the scene in Figure 2B. That is, the target route is planned such that, in the vicinity of the other vehicle V4 as the object to be bypassed, the trajectory of the target route passes through the other vehicle V4 in a location closer to the other vehicle V4 to reduce the amount that the vehicle V4 in question V1 traveling on the target route deviates along the road width direction. In other words, when the edge distance for the vehicle in question V1 is short, as illustrated in Figure 2C, the space in the width direction of the vehicle in question V1 for the right-hand fixed marker is narrow and therefore the vehicle in question V1 travels so as not to overtake the lane marker, but with a certain space in the width direction for the other vehicle V4 on the left side. Thus, in one or more embodiments of the present invention, even when the margin distance for the vehicle in question V1 is short, a discomfort conferred on passengers can be mitigated when executing route control for the vehicle in question V1.
[075]Furthermore, according to one or more embodiments of the present invention, the edge distance used to plan the target route is the distance between the lane marker Lm3 and the surface on the right side of the vehicle in question V1 and therefore , a discomfort conferred on passengers can be more adequately mitigated when performing route control for the vehicle in question V1.
[076]This will be more specifically described. When, as illustrated in Figure 2B, the vehicle in question V1 is operated to avoid the other vehicle V4, the vehicle in question V1 on the target route RT1a must move in a direction (+x) of deviation from the other vehicle V4 along the road width direction. Here, when the distance between the lane marker Lm3 of the carriageway Ln1 and the vehicle in question V1 is short, the distance by which the vehicle in question V1 on the carriageway Ln1 can move in the deviation (+x) direction of the other V4 vehicle is short. Therefore, if, in this case, the time in which the vehicle in question V1 deviates from the other vehicle V4 is delayed, passengers may experience discomfort, such as due to abrupt driving.
[077] In one or more embodiments of the present invention, however, the distance between the lane marker Lm3 and the surface on the right side of the vehicle in question V1 is obtained as the edge distance, and the target route is planned such that , the shorter the margin distance, the sooner the time in which the vehicle in question V1 deviates from the other vehicle V4 is defined (i.e. the distance d0 between the deviation point PA described above and the vehicle in question V1 is defined shorter). This operation allows the vehicle in question V1 to start the maneuver from the nearest side and move forward with a certain space in the width direction when approaching the other vehicle V4 and when passing the other vehicle V4. Therefore, a discomfort conferred on passengers can be more adequately mitigated when executing route control for the vehicle in question V1.
[078] As a specific method of obtaining the distance between the lane marker Lm3 and the vehicle in question V1, a method can be used in which the on-board device 200 acquires an image captured around the vehicle in question V1 using the camera 51 or the like of the detection device 50, performs image processing of the captured image to detect the lane marker Lm3, and calculates a distance WA1 from the lane marker Lm3 to the right side surface of the vehicle in question V1 along the direction of the road width.
[079] In addition or alternatively, as a method of obtaining the distance WA1 between the lane marker Lm3 and the vehicle in question V1, a method can be used in which, as illustrated in Figure 3, the control device 10 obtains a distance WA2 from a target route RT1c planned according to the object to be bypassed to the lane marker Lm3 and calculates the distance WA1 based on the distance WA2 considering the vehicle width or the like of the vehicle in question V1. In addition or alternatively, as a method of obtaining the distance WA1 between the lane marker Lm3 and the vehicle in question V1, a method can be used where the distance WA1 is calculated based on the width LW1 of the carriageway Ln1 considering the position or the like of the vehicle in question V1 on the carriageway Ln1. In this operation, even when the distance WA1 between the lane marker Lm3 and the vehicle in question V1 cannot be directly measured by the camera 51 or the like, the distance WA1 can be properly calculated.
[080]As above, the control device 10 uses the setting function to set the object area according to the edge distance to the vehicle in question V1.
[081] In the above-described examples of Figure 2B and Figure 2C, the edge distance is obtained according to the distance WA1a or WA1b between the lane marker Lm3 of the carriageway Ln1 and the vehicle in question V1, but the edge distance can be a distance between another existing lane marker on the RD road and the vehicle in question V1.
[082]For example, as illustrated in Figure 4, the edge distance can be obtained as a distance WA4 from the surface on the right side of the vehicle in question V1 to the lane marker Lm4, as a distance WA5 from the surface on the left side of the vehicle in question V1 to lane marker Lm2, or as a distance WA6 from the surface on the left side of the vehicle in question V1 to lane marker Lm1.
[083]According to one or more embodiments of the present invention, when the edge distance is obtained as any of such distances WA4, WA5 and WA6, the target route is planned such that the shorter the edge distance, the more short, the distance d0 between the deviation point PA and the vehicle in question V1 is defined to anticipate the time when the vehicle in question V1 traveling the target route starts the deviation of the object to be bypassed. Thus, in one or more embodiments of the present invention, even when the margin distance for the vehicle in question V1 is short, a discomfort conferred on passengers can be mitigated when executing route control for the vehicle in question V1.
[084] As a method of obtaining such a WA4, WA5 or WA6 distance, a method can be used wherein the camera 51 or the like of the detection device 50 is used for image processing as the above described method of obtaining the WA1 distance between the lane marker Lm3 and the vehicle in question V1.
[085] In addition or alternatively, as a method of obtaining such a WA4, WA5 or WA6 distance, a method can be used where the distance is calculated, as illustrated in Figure 3, based on the WA3 distance from the RT1c target route to the lane marker Lm2 or the distance WA2 from the target route RT1c to the lane marker Lm3. In addition or alternatively, a method can also be used where the distance is calculated, as illustrated in Figure 3, based on the width LW3 of the carriageway Ln3 or the width LW4 of the carriageway Ln4.
[086] In the examples described above, the edge distance is obtained according to the distance WA1 from the vehicle in question V1 to the lane marker Lm3, as illustrated in Figure 3, with reference to the current position of the vehicle in question V1. In one or more embodiments of the present invention, the edge distance to use may be obtained as a distance from the lane marker to a point (waypoint PF) where, as illustrated in Figure 5A and Figure 5B, the vehicle in question V1 traverses the target route and is expected to overtake or pass the object to be bypassed. Figure 5A and Figure 5B each illustrate a case of the so-called “crossing”, in which the vehicle in question V1 stays ahead of the other vehicle V4 without changing lanes, and the point PF is designated as the “crossing point”. ”, but the same applies to a case of the so-called “overtaking”, in which the vehicle in question V1 changes lanes and places itself in front of the other vehicle V4.
[087]Specifically, as illustrated in Figure 5A, the control device 10 according to one or more embodiments of the present invention plans a target route RT1d as a provisional target route based on the other vehicle V4 as the object to be bypassed and may , then obtain the edge distance as a distance WA7 between the vehicle in question V1 and a lane marker Lm5 when it is assumed that the vehicle in question V1 travels the provisional target route RT1d and is located at a point (waypoint PF) whose vehicle in question V1 overtakes or passes the other vehicle V4. In this operation, when the width of the carriageway Ln5 in which the vehicle in question V1 is traveling narrows around the crossing point PF, as illustrated in Figure 5B, or in similar cases, the control device 10 can again plan a appropriate target route according to the margin distance (distance WA7) at the waypoint PF, and a discomfort imparted to passengers can be more adequately mitigated when performing route control for the vehicle in question V1.
[088] According to one or more embodiments of the present invention, when the control device 10 tries to avoid an object to be bypassed, but detects another object to be bypassed different from that object to be bypassed, the control device 10 may consider another object to be bypassed to plan the target route. Here, Figure 6 illustrates a case where, in addition to the other vehicle V4 traveling along the carriageway Ln3, another vehicle V5 traveling on the carriageway Ln4 is detected as an object to be bypassed in front of the other vehicle V4. In Figure 6, the vehicle in question V1, the other vehicle V4 and the other vehicle V6 are all traveling in the +y direction. In the scene illustrated in Figure 6, the control device 10 first obtains a target route RT1e to avoid the other vehicle V4 that exists in the position closest to the vehicle in question V1. In this operation, the control device 10 takes into account that the other vehicle V5 exists as an object to be bypassed in addition to the other vehicle V4, and plans the target route RT1e so as to reduce the distance d0 between the deviation point PA and the vehicle in question V1 to anticipate the operating time for maneuvering the vehicle in question V1. In this operation, in order that the vehicle in question V1 does not unduly approach the other vehicle V5 as another object to be bypassed, the control device 10 can still plan the target route RT1e to have a trajectory in which the vehicle in question V1 passes at a position closer to the other V4 vehicle, i.e. to reduce the distance between the target route RT1e and the other V4 vehicle along the road width direction. This operation allows an appropriate target route to be planned considering each bypass object when the vehicle in question V1 tries to avoid a bypass object and another bypass object is detected. As will be understood, an object to be bypassed may be treated as above, but the number of such other vehicles may be two or more.
[089]Figure 6 illustrates an example where the other V5 vehicle is detected as another such object to be bypassed, but another such an object to be bypassed can also be a moving object other than vehicles or a stationary object such as structures of the road.
[090]Furthermore, even when another object to be bypassed as above does not actually exist, the greater the possibility that another object to be bypassed appears around the vehicle in question V1, the control device 10 according to one or More embodiments of the present invention can plan a target route so as to obtain a shorter detour start time of the object to be bypassed and lessen the amount of detour of the vehicle in question V1 along the road width direction. For example, in the scene described above as illustrated in Figure 2A, where the right side of the carriageway Ln1 for the vehicle in question V1 is the oncoming lane Ln2, even when another object to be bypassed, such as the other vehicle V3, is not exists in the oncoming lane Ln2 at the present time, the control device 10 determines, at the time of planning a target route RT1 to avoid the other vehicle V2, that the possibility of an object to be bypassed (approaching vehicle) appears in the lane counter Ln2 is high, and adjusts the target route RT1 considering the existence of counter lane Ln2. That is, the control device 10 plans the target route RT1 so as to reduce the distance d0 between the deviation point PA and the vehicle in question V1 as in the case of the target route RT1e illustrated in Figure 6 and still plans the target route RT1 to have a trajectory that passes a position closer to the other vehicle V2 so that the vehicle in question V1 does not unduly approach the opposite lane Ln2. In this operation, according to one or more embodiments of the present invention, when the vehicle in question V1 is operated to avoid an object to be bypassed, the target route can be planned considering the possibility that another object to be bypassed appears, and a discomfort conferred on passengers can thus be more adequately mitigated when performing route control for the vehicle in question V1.
[091] Furthermore, according to one or more embodiments of the present invention, when the other vehicle V4 as an object to be bypassed exists as illustrated in Figure 7, the shorter the distance WA8 between the vehicle in question V1 and the other vehicle V4 in the direction of the road width, the target route is planned to anticipate the deviation start time of the object to be bypassed more, and the amount of deviation of the vehicle in question V1 along the road width direction can be increased .
[092] In the scene illustrated in Figure 7, the other vehicle V4 is closer to the lane marker Lm2 on the side of the vehicle in question V1 and, consequently, the distance WA9 between the other vehicle V4 and the lane marker Lm2 is short. This results in a short distance WA8 between the vehicle in question V1 and the other vehicle V4 in the road width direction. In this case, the shorter the distance WA8 between the vehicle in question V1 and the other vehicle V4 in the direction of the road width, the control device 10 plans a target route RT1f so as to further reduce the distance d0 between the deviation point PA and the vehicle in question V1 and still plans the target route RT1f to have a trajectory that passes a position further away from the other vehicle V2. In this operation, as the vehicle in question V1 and the other vehicle V4 are close to each other in the direction of the width of the road, the start time of the deviation of the object to be bypassed is earlier so that the vehicle in question V1 can deviate of the other V4 vehicle, and the discomfort conferred on passengers can thus be further mitigated.
[093] In one or more embodiments of the present invention, the control device 10 can adjust the target route to be planned, according to the road type of an RD road on which the vehicle in question V1 is traveling. For example, as illustrated in Figure 8, when the road type of a road that the vehicle in question V1 is traveling on is a fast lane, the control device 10 plans a target route RT1g to have a reduced distance d0 between the point of deviation PA and the vehicle in question V1 compared to the case where the vehicle in question V1 is traveling on a general road. Through this planning, when estimating that the vehicle in question V1 is traveling at high speed, the vehicle in question V1 starts the maneuver on a closer side and, therefore, travels ahead with a certain space in the width direction when having approaching the other V4 vehicle and when overtaking or passing the other V4 vehicle. In this case, the control device 10 plans the target route RT1g to have a trajectory that passes a position closer to the other vehicle V4 (to reduce the distance between the target route RT1g and the other vehicle V4 in the road width direction). This operation suppresses the lateral deviation of the vehicle in question V1 in the direction of the width of the road when it is estimated that the vehicle in question V1 is traveling at high speed, thus avoiding abrupt driving. As above, a target route can be planned according to the road type of a road that the vehicle in question V1 is traveling on, and an discomfort imparted to passengers can thus be more adequately mitigated when performing route control. for the vehicle in question V1.
[094] Here, the road types can be classified, for example, into general roads other than national roads, national roads, non-high-speed vehicle-only roads, highways in cities, intercity highways, etc. according to the characteristics of the roads. Such classification allows the control device 10 to increase the amount of adjustment of the target route on “general roads other than national roads”, “national roads”, “exclusive roads for vehicles other than high speed vehicles”, “highways in cities”, “intercity highways” in that order. This is because, on a road where the travel speed of the vehicle in question V1 tends to be higher, the discomfort conferred on passengers can be more mitigated by anticipating the time for starting the deviation of an object to be bypassed and reducing the amount deviation of the vehicle in question V1 along the road width direction. That is, when the road type of the road on which the vehicle in question is traveling is the “intercity highway”, the control device 10 plans the target route to have the shortest distance d0 between the detour point PA and the vehicle in question V1 and still plans the target route to have a trajectory that passes the closest position to the object to be bypassed. On the other hand, when the road type of the road on which the vehicle in question is traveling is “general roads other than national roads”, the control device 10 plans the target route to have the longest distance d0 between the point of deviation PA and the vehicle in question V1 and still plans the target route to have a trajectory that passes the farthest position of the object to be bypassed.
[095] In addition or alternatively, road types can be classified into average speed roads below 40 km/h, average speed roads of 40 km/h or higher and below 60 km/h, average speed roads 60 km/h or more and less than 80 km/h, average speed roads of 80 km/h or more, etc. based on information about an average value of speeds when unspecified vehicles travel. In this case, as the average speed on the road that the vehicle in question V1 is traveling increases, the control device 10 plans a target route in order to reduce the distance d0 between the deviation point PA and the vehicle in question V1 and still plans the target route to have a trajectory that passes a position closer to the object to be bypassed.
[096] Next, the control function of control device 10 will be described. The control device 10 according to one or more embodiments of the present invention sends command information for driving the vehicle in question V1 on the target route RT to the vehicle controller 70, driving device 80 and steering device 90.
[097] By acquiring command information from the control device 10, the vehicle controller 70 according to one or more embodiments of the present invention controls the drive device 80 and the steering device 90 to drive the vehicle in question V1 along the route RT target. The vehicle controller 70 performs control of the steering device 90 such that the vehicle in question travels maintaining a certain position lateral to the lane, using the road shape detected by the detection device 50, by the road information 122 of the navigation device 120 and a lane marker template stored in map information 123. Vehicle controller 70 calculates a steering control amount based on the steering angle acquired from the steering angle sensor 61, the vehicle speed acquired from the speed sensor of vehicle 62, and the current information to a steering actuator and sends an actual command to the steering actuator to execute the control, such that the vehicle in question moves in the target lateral position. The method of controlling the lateral position of the vehicle in question V1 is not limited to using the steering device described above 90. In addition or alternatively, the drive device 80 and/or the braking device 81 can be used to control the steering. path (i.e. lateral position) of the vehicle in question V1 based on the difference in rotational speed between the right and left drive wheels. In this sense, the "deviation" of a vehicle is intended to encompass the use cases of the drive device 80 and/or the braking device 81 in addition to the use cases of the steering device 90.
[098]Finally, the display function of the control device 10 according to one or more embodiments of the present invention will be described. The control device 10 calculates information according to the object information, information according to the location of the object area R, information according to the location of the target route and information according to the command information for driving the vehicle in question on the target route and sends the calculated information to output device 110, which then outputs it externally in the manner described above.
[099] A control procedure in the path control device 100 in accordance with one or more embodiments of the present invention will then be described with reference to the flowcharts of Figures 9 and 10. The content of the process at each step is as described above and the process flow will be mainly described below.
[0100]First, the course control procedure as a whole will be described with reference to Figure 9.
[0101]In step S101, the control device 10 acquires information from the vehicle in question that includes at least the position of the vehicle in question V1. The vehicle in question information may further include the vehicle speed and/or acceleration of the vehicle in question V1. In step S102, the control device 10 acquires object information that includes the position of an object to be bypassed whose vehicle in question V1 is to avoid. Object information may also include the velocity and/or acceleration of the object to be bypassed.
[0102]In step S103, the control device 10 acquires a detection result of the object to be bypassed from the detection device 50. The detection result of the object to be bypassed includes information about the position of the object to be bypassed. In step S104, the control device 10 defines an object area R according to the position of the object to be contoured. A subroutine of the configuration process for the object area R will be described using Figure 10.
[0103]In step S105, the control device 10 calculates a target route RT to avoid the object area R. The target route RT includes one or more target coordinates which the vehicle in question V1 must travel. Each target coordinate includes a target lateral position (target X coordinate) and target longitudinal position (target Y direction). The RT target route is obtained by connecting one or more calculated target coordinates and the current position of the vehicle in question V1. A method of calculating the target coordinates (target route RT) illustrated in step S105 will be described later.
[0104]In step S106, the control device 10 acquires the target side position(s) from the coordinate or target coordinates calculated in step S105. In step S107, the control device 10 compares the current lateral position of the vehicle in question V1 with the target lateral position or positions acquired in step S106 and calculates a return gain for the lateral position based on the result of the comparison.
[0105]In step S108, the control device 10 calculates a target control value based on the actual lateral position of the vehicle in question V1, target lateral position corresponding to the current position and return gain from step S107. The target control value refers to a steering angle, steering angular velocity and other parameters needed to move the vehicle in question V1 in the target lateral position. In step S112, the control device 10 sends the target control value to the on-board device 200. This allows the vehicle in question V1 to travel the target route RT which is defined by the target lateral position. When a plurality of target coordinates is calculated in step S105, the process of steps S106 to S112 is repeated every time the target lateral position is acquired, and the control value for each acquired target lateral position is output to the on-board device 200.
[0106]In step S109, the control device 10 acquires the target longitudinal position or positions from one or more target coordinates calculated in step S105. In step S110, the control device 10 compares the longitudinal position and current vehicle speed and the acceleration at the current position of the vehicle in question V1 with the target longitudinal position corresponding to the longitudinal position and current vehicle speed and acceleration at the target longitudinal position and calculates a return gain for the longitudinal position based on the result of the comparison. In step S111, the control device 10 calculates a target control value for the longitudinal position based on the vehicle speed and acceleration corresponding to the target longitudinal position and the return gain for the longitudinal position calculated in step S110. As in the previously described steps S106 to S108 and S112, the process of steps S109 to S112 is repeated each time the longitudinal target position is acquired, and the control value for each longitudinal target position acquired is output to the on-board device 200.
[0107]Here, the target control value for the longitudinal position (in the longitudinal direction) refers to a control value for each drive mechanism operation (which includes the operation of an internal combustion engine in the case of a engine and the operation of an electric motor in the case of an electric car and further includes the distribution of torque to an internal combustion engine and electric motor in the case of a hybrid car) and the operation of braking to achieve acceleration, deceleration and speed corresponding to the target longitudinal position. For example, in a motor car, the control function is used to calculate a target amount of air intake (target degree of throttle valve opening) and a target amount of fuel injection based on the calculated values of acceleration, vehicle's target and current deceleration and speed and send them to the drive device 80. Alternatively, the control function can be used to calculate the vehicle's acceleration, deceleration and speed and send them to the vehicle controller 70, which can calculate a control value for each drive mechanism operation (which includes the operation of an internal combustion engine in the case of a motor car and the operation of an electric motor in the case of an electric car and also includes the distribution of torque to an internal combustion engine and electric motor in the case of a hybrid car) and the braking operation to achieve vehicle acceleration, deceleration and speed.
[0108]The routine then proceeds to step S112 where the control device 10 outputs the target control value for the longitudinal position (in the longitudinal direction) calculated in step S111 to the on-board device 200. The vehicle controller 70 performs steering control and driving control to operate the vehicle in question to travel on the RT target route which is defined by the target lateral position and target longitudinal position.
[0109]In step S113, control device 10 controls output device 110 to present information. The information presented by the output device 110 may be the information in the object area defined in step S104, the shape of the target route calculated in steps S105 to S111 or the target control value sent to the on-board device 200 in step S112.
[0110]In step S114, a determination is made as to whether the driver intervenes in the operation, such as whether the driver performs the steering operation. When driver operation is not detected, the routine returns to step S101, where the configuration of a new object area, target route calculation and route control are repeated. On the other hand, when driver operation is detected, the routine proceeds to step S115, where route control is suspended. Step S115 is followed by step S116, in which the presentation of information is made such that course control is suspended.
[0111]Referring now to the flowchart of Figure 10, a subroutine of the configuration process for an object area (S104 of Figure 9) is illustrated. This subroutine is performed by path control device 100 in accordance with one or more embodiments of the present invention.
[0112]After acquiring the vehicle information in question and object information (step S103), the control device 10 obtains, in step S201, the distance WA1 between the vehicle in question V1 and the lane marker Lm3 at the current position of the vehicle in question V1, as illustrated in Figure 3.
[0113]In step S202, the control device 10 sets the distance WA1 as a margin distance based on the information acquired in step S201.
[0114]In step S203, the control device 10 plans a provisional target route RT according to the edge distance defined in step S202. For example, the control device 10 sets an object area for an object to be bypassed based on the edge distance and then obtains an RT target route to avoid the object to be bypassed, as described above with reference to the Figures 2A to 2C.
[0115]In step S204, the control device 10 acquires information about the possibility that another object to be bypassed exists other than the object to be bypassed informed in step S103. For example, the control device 10 can use the camera 51, radar device 52 and the like of the detection device 50 of the on-board device 200 to perform a method in which a confirmation is made as to the existence of another object to be bypassed ( such as another vehicle and a road structure) or a method in which a confirmation is made that the lane adjacent to the carriageway Ln1 for the vehicle in question V1 is the oncoming lane Ln2.
[0116]In step S205, the control device 10 acquires information about the road type of the road that the vehicle in question V1 is traveling on, from the navigation device 120 of the on-board device 200.
[0117]In step S206, the control device 10 takes into account the information about the possibility of the existence of another object to be bypassed acquired in the step S204 and the information about the type of road acquired in the step S205 to plan a target route RT (target coordinates) to actually drive the vehicle in question V1 based on the target route RT provisionally obtained in step S203. Specifically, the greater the possibility that another object to be bypassed appears, first, the control device 10 adjusts the target route RT provisionally obtained in step S203, such that the distance d0 between the deviation point PA and the vehicle in question V1 be shorter, as described above, and still adjust the target route RT to have a trajectory that passes a position closer to the other vehicle V2. The control device 10 then adjusts, according to the type of road that the vehicle in question V1 is traveling on, the distance d0 between the deviation point PA and the vehicle in question V1 and the distance of the object to be rounded, as described above, for the RT target route provisionally obtained in step S203.
[0118]Step S206 is followed by step S207, where the control device 10 executes the process of step S106 and subsequent steps.
[0119]The course control device 100 according to one or more embodiments of the present invention is configured and operates as above and therefore has the following effects.
[0120](1) In accordance with the course control device 100 in one or more embodiments of the present invention, the target route is designed to avoid an object to be bypassed such that, the shorter the edge distance, which is a distance between a lane marker on a road and the vehicle in question V1, the shorter the distance d0 between the deviation point PA and the vehicle in question V1 is set to the target route RT. In this operation, the shorter the edge distance, the earlier the deviation time the object to be contoured can be set. Therefore, a discomfort given to passengers can be mitigated when executing route control for the vehicle in question V1.
[0121](2) In accordance with route control device 100 in one or more embodiments of the present invention, considering that the vehicle in question V1 travels on the target route RT and is located at a point (waypoint PF) where the vehicle in question V1 overtakes or passes an object to be bypassed, the distance between the vehicle in question V1 and a lane marker at the crossing point PF is a bank distance. In this operation, when the width of the carriageway Ln5 in which the vehicle in question V1 is traveling narrows around the crossing point PF, or in similar cases, an appropriate target route can be replanned according to the edge distance (distance WA7) at the crossing point PF, and a discomfort imparted to passengers can be more adequately mitigated when performing route control for the vehicle in question V1.
[0122](3) In accordance with the path control device 100 in one or more embodiments of the present invention, the shorter the margin distance, the target route RT is designed to have a path that passes a position closer to the object to be bypassed, i.e. configured such that the distance between the target route and the object to be bypassed along the road width direction is shorter. In this operation, the shorter the margin distance, the smaller can be the amount that the vehicle in question V1 traveling on the target route deviates along the road width direction. Therefore, a discomfort given to passengers can be mitigated when executing route control for the vehicle in question V1.
[0123](4) According to the lane control device 100 in one or more embodiments of the present invention, the distance between the lane marker Lm3 of the carriageway Ln1 and the vehicle in question V1 is the edge distance, and the target route can thus be planned according to the distance that the vehicle in question V1 in the carriageway Ln1 can move in the direction (+x) of deviation from the object to be bypassed. Therefore, a discomfort conferred on passengers can be further mitigated when performing route control for the vehicle in question V1.
[0124](5) In accordance with the course control device 100 in one or more embodiments of the present invention, the edge distance is calculated based on the distance from the target route to a lane marker. Therefore, even when the edge distance, which is the distance between the lane marker and the vehicle in question V1, cannot be directly measured, the edge distance can be properly calculated.
[0125](6) According to the route control device 100 in one or more embodiments of the present invention, the edge distance is calculated based on the width of the carriageway Ln1 in which the vehicle in question V1 is traveling. Therefore, even when the edge distance, which is the distance between a lane marker and the vehicle in question V1, cannot be directly measured, the edge distance can be properly calculated.
[0126](7) According to the lane control device 100 in one or more embodiments of the present invention, the edge distance is calculated based on the width of a lane adjacent to the lane Ln1 in which the vehicle in question V1 is traversing. Therefore, even when the edge distance, which is the distance between a lane marker and the vehicle in question V1, cannot be directly measured, the edge distance can be properly calculated.
[0127](8) According to the route control device 100 in one or more embodiments of the present invention, the greater the possibility that there is another object to be bypassed than the object to be bypassed whose vehicle in question V1 attempts to avoid, the shorter is the distance d0 between the deviation point PA and the vehicle in question V1 defined for the target route RT. In this operation, the greater the possibility of the existence of the other object to be bypassed, the sooner the deviation time of the object to be bypassed can be defined. Therefore, a discomfort given to passengers can be mitigated when executing route control for the vehicle in question V1.
[0128](9) According to the path control device 100 in one or more embodiments of the present invention, the greater the possibility that there is another object to be bypassed, the target route RT is designed to have a trajectory that passes a position closer to the object to be bypassed, that is, it is defined such that the distance between the target route and the object to be bypassed along the road width direction is shorter. In this operation, the greater the possibility of the existence of the other object to be bypassed, the smaller can be the amount that the vehicle in question V1 traveling the target route deviates along the road width direction. Therefore, a discomfort given to passengers can be mitigated when executing route control for the vehicle in question V1.
[0129](10) According to the route control device 100 in one or more embodiments of the present invention, the distance d0 between the deviation point PA and the vehicle in question V1 is adjusted to the target route RT to be planned , according to the road type of a road that the vehicle in question V1 is traveling on. This allows the target route to be planned according to the road type of a road that the vehicle in question V1 is traveling on, and an discomfort imparted to passengers can be more adequately mitigated when performing route control for the vehicle in question. V1.
[0130](11) According to the route control device 100 in one or more embodiments of the present invention, the distance between the RT target route to be planned and the object to be bypassed along the road width direction is adjusted according to the road type of a road that the vehicle in question V1 is traveling on. This allows the target route to be configured according to the road type of a road the vehicle in question V1 is traveling on, and an discomfort imparted to passengers can be more adequately mitigated when performing route control for the vehicle in question. V1.
[0131](12) According to the route control device 100 in one or more embodiments of the present invention, the shorter the distance between the vehicle in question V1 and the object to be circumvented, the shorter the distance d0 between the detour point PA and the vehicle in question V1 is set to the target route RT. In this operation, the closer the vehicle in question V1 and the object to be bypassed are to each other, the sooner the time to bypass the object to be bypassed can be set. Therefore, a discomfort given to passengers can be mitigated when executing route control for the vehicle in question V1.
[0132](13) According to the route control device 100 in one or more embodiments of the present invention, the shorter the distance between the vehicle in question V1 and the object to be bypassed in the direction of the width of the road, the RT target route is designed to have a trajectory that passes a position further away from the object to be bypassed, i.e. configured such that the distance between the target route and the object to be bypassed along the road width direction is longer . In this operation, the closer the vehicle in question V1 and the object to be bypassed are to each other in the direction of the road width, the vehicle in question V1 can deviate further from the object to be bypassed. Therefore, a discomfort given to passengers can be mitigated when executing route control for the vehicle in question V1.
[0133](14) In accordance with the path control device 100 in one or more embodiments of the present invention, a route to avoid the defined object area for an object to be bypassed is planned as the target route and the object to be bypassed. bypassing can thus be more adequately avoided when performing course control for the vehicle in question V1. Also, planning a route to avoid the object area such as the target route, the size or the like of the object area defined for the object to be bypassed can be varied to allow the target route to be flexibly adjusted.
[0134](15) In accordance with the route control device 100 in one or more embodiments of the present invention, information relating to route control to avoid the object area is issued to thereby preliminarily inform passengers in the vehicle in question and/or other vehicles on the behavior of the vehicle in question. This allows passengers of the vehicle in question and/or other vehicles to respond to the behavior of the vehicle in question.
[0135](16) When the path control method according to one or more embodiments of the present invention is performed by the control device 10, the same action and effect can be obtained as in the path control device 100 above.
[0136] The modalities explained above are described to facilitate understanding of the present invention and are not described to limit the present invention. Therefore, the elements described in the above modalities must include all design changes and equivalents to be encompassed within the technical scope of the present invention.
[0137] That is, in the present description, one or more modalities of the route control device according to the present invention are described by way of exemplification of the route control device 100 which, together with the on-board device 200, constitutes the route control system 1, but the present invention is not so limited.
[0138] In the present description, the route control device 100 comprising the control device 10, which performs the object information acquisition function, area configuration function, route planning function, control function and function presentation, is described as an example of a route control device comprising a vehicle information acquisition unit, object information acquisition unit, planning unit, configuration unit, control unit and output unit. , but the present invention is not so limited. In the present description, the course control device 100 further comprising output devices 30 and 110 is described as an example of a course control device further comprising an output unit, but the present invention is not so limited. DESCRIPTION OF REFERENCE NUMBERS 1 Travel control system 100 Travel control device 10 Control device 11CPU 12ROM 13RAM 20 Communication device 30 Output device 31Display 32Speaker 200 On-board device 40 Communication device 50 Detection device 51Camera 52Device 60 Sensor 61Steering angle sensor 62Vehicle speed sensor Vehicle controller Drive device 81Braking device Steering device Output device 111Display 112Speaker 113Outdoor lamp 114Interior lamp Navigation device 121Position detection device 122Road information 123Traffic information map

权利要求:
Claims (16)
[0001]
1. Route control device (100), comprising: an information acquisition unit (10) of the vehicle in question configured to acquire information of the vehicle in question including a position of a vehicle in question (V1); an object information acquisition unit (10) configured to acquire object information including a position of a first object to be bypassed (V2 to V5) that the vehicle in question (V1) must avoid; a planning unit (10) configured to plan a target route (RT) to avoid the first object to be bypassed (V2 to V5) according to the position of the vehicle in question (V1) and the position of the first object to be bypassed (V2 to V5); a control unit (10) configured to issue command information for driving the vehicle (V1) in question on the target route (RT); and a shore distance information acquisition unit (10) configured to acquire information about a shore distance (WA), the shore distance (WA) being a distance between the vehicle in question (V1) and a lane marker (Lm) on a road on which the vehicle in question (V1) is traveling, the edge distance (WA) being along a road width direction, CHARACTERIZED by the fact that the planning unit (10), when of target route planning (RT), reduces a distance from the vehicle in question (V1) to a detour point (PA) as the edge distance (WA) decreases, the detour point (PA) being a point at which the offset of the first object to be contoured (V2 to V5) starts in an offset direction of the first object to be contoured (V2 to V5) along the width direction.
[0002]
2. Route control device (100), according to claim 1, CHARACTERIZED by the fact that the edge distance (WA) is a distance between the lane marker (Lm) and the vehicle in question (V1) in a current position of the vehicle in question (V1) or a distance between the lane marker (Lm) and the vehicle in question (V1) at a point where the vehicle in question (V1) is expected to overtake or pass the first object to be bypassed (V2 to V5).
[0003]
3. Route control device (100), according to claim 1 or 2, CHARACTERIZED by the fact that the planning unit (10) reduces a distance between the target route (RT) and the first object to be bypassed ( V2 to V5) along the width direction as the margin distance (WA) decreases.
[0004]
4. Route control device (100) according to any one of claims 1 to 3, CHARACTERIZED in that the lane marker (Lm) comprises a pair of lane markers (Lm) that define a carriageway in that the vehicle in question (V1) is traveling and the edge distance (WA) is a distance along the width direction between the vehicle in question (V1) and a lane marker (Lm) of the pair of lane markers ( Lm) on a side opposite a side of the first object to be contoured (V2 to V5).
[0005]
5. Route control device (100), according to any one of claims 1 to 3, CHARACTERIZED by the fact that the lane marker (Lm) comprises a pair of lane markers (Lm) that define a carriageway which the vehicle in question (V1) is traveling and the bank distance (WA) is calculated based on a distance of any one between the pair of lane markers (Lm) and the target route (RT) along the direction width.
[0006]
6. Route control device (100), according to any one of claims 1 to 5, CHARACTERIZED by the fact that the edge distance (WA) is calculated based on a width of a carriageway in which the vehicle in question (V1) is traversing.
[0007]
7. Route control device (100), according to any one of claims 1 to 3, CHARACTERIZED by the fact that the edge distance (WA) is calculated based on a width of a lane adjacent to a carriageway in which the vehicle in question (V1) is traveling.
[0008]
8. Path control device (100), according to any one of claims 1 to 7, CHARACTERIZED by the fact that the planning unit (10) estimates a possibility of the existence of a second object to be bypassed (V2 to V5 ) other than the first object to be bypassed (V2 to V5) on the road on which the vehicle in question (V1) is traveling, and when planning the target route (RT), reduces the distance of the vehicle in question (V1) to the detour point (PA) on the target route (RT) as the possibility of the existence of the second object to be bypassed (V2 to V5) increases.
[0009]
9. Route control device (100), according to claim 8, CHARACTERIZED by the fact that the planning unit (10), when planning the target route (RT), reduces a distance between the target route (RT ) and the first object to be contoured (V2 to V5) along the width direction as the possibility of the existence of the second object to be contoured (V2 to V5) increases.
[0010]
10. Route control device (100), according to any one of claims 1 to 9, CHARACTERIZED by the fact that the planning unit (10) acquires information about a road type from the road on which the vehicle in question ( V1) is traveling and adjusts the distance from the vehicle in question (V1) to the detour point (PA) on the target route (RT) according to the road type information.
[0011]
11. Route control device (100), according to claim 10, CHARACTERIZED by the fact that the planning unit (10) plans a distance between the target route (RT) and the first object to be bypassed (V2 to V5) along the width direction according to the road type information.
[0012]
12. Route control device (100), according to any one of claims 1 to 11, CHARACTERIZED by the fact that the first configuration unit (10) acquires information about a distance between the vehicle in question (V1) and the first object to bypass (V2 to V5) along the road width direction the vehicle in question (V1) is traveling and reduces the distance from the vehicle in question (V1) to the detour point (PA) on the route target (RT) as the distance between the vehicle in question (V1) and the first object to be bypassed (V2 to V5) along the width direction of the road in which the vehicle in question (V1) is traveling decreases.
[0013]
13. Route control device (100), according to claim 12, CHARACTERIZED by the fact that, according to the distance between the vehicle in question (V1) and the first object to be bypassed (V2 to V5) along the width direction of the road in which the vehicle in question (V1) is traveling decreases, the planning unit increases a distance between the target route (RT) and the first object to be rounded (V2 to V5) along the width direction .
[0014]
14. Path control device (100), according to any one of claims 1 to 13, CHARACTERIZED in that it further comprises a configuration unit configured to define an object area (R) based on the position of the first object to be bypassed (V2 to V5), where the planning unit plans, as the target route (RT), a route to avoid the object area (R) defined by the configuration unit.
[0015]
15. Path control device (100), according to any one of claims 1 to 14, CHARACTERIZED by the fact that it further comprises an output unit (30) configured to emit one or more items of information among information in accordance with the object information, information according to a target route location (RT) and information according to the command information for driving the vehicle in question (V1) on the target route (RT) to an on-board device (200) of the vehicle in question (V1), the on-board device (200) being connected to the route control device (100).
[0016]
16. Method of course control performed by a computer, the computer issuing command information to drive a vehicle in question (V1) on a target route (RT), the method of course control comprising: acquiring information from the vehicle in question (V1) including a position of the vehicle in question (V1); acquire object information including a position of an object to be bypassed (V2 to V5) which vehicle in question (V1) should avoid; acquire information about a bank distance (WA), the bank distance (WA) being a distance between the vehicle in question (V1) and a lane marker (Lm) on a road on which the vehicle in question (V1) is traveling, the edge distance (WA) being along a road width direction; and CHARACTERIZED by the fact that it plans a target route (RT) in which a distance from the vehicle in question (V1) to a detour point (PA) decreases as the edge distance (WA) decreases, the detour point (PA) being a point where the offset of the object to be contoured (V2 to V5) starts in the offset direction of the object to be contoured along the width direction.

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法律状态:
2020-03-10| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|

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2021-12-07| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|

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2022-01-25| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 11/08/2014, OBSERVADAS AS CONDICOES LEGAIS. |

优先权:

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申请号 | 申请日 | 专利标题

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PCT/JP2014/071180|WO2016024315A1|2014-08-11|2014-08-11|Travel control device and method for vehicle|

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