ROUTE CONTROL DEVICE AND ROUTE CONTROL METHOD

专利摘要:
course control device and course control method. it is a route control device (100) which performs an object information retrieval function to obtain object information including the position of an object to avoid that the vehicle in question (v1) must avoid, a planning function to plan a target route for the vehicle in question (v1) according to the position of the object to avoid in order to avoid it, and a control function to issue command information to drive the vehicle in question (v1) ) on the desired route. the planning function is used to specify, as a group of objects to avoid, several objects to avoid that lie within a predetermined distance from the vehicle in question (v1) and that are in the same lane adjacent to the lane in the which the vehicle in question (v1) travels and to define the lateral position of the desired route along the width direction of the lane in which the vehicle in question (v1) travels. the lateral position of the target route is designed to avoid the avoidance object group based on the position of an avoidance object that satisfies a predetermined condition among the avoidance objects that make up the avoidance object group.
公开号:BR112017003659B1
申请号:R112017003659-2
申请日:2014-08-28
公开日:2022-01-18
发明作者:Masahide Nakamura；Tsuneyuki Watanabe
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 a path control method that control the path of a vehicle. State of the Technique
[002] There is knowledge of a route control device that plans a targeted route for a vehicle in question according to the presence or absence of an object to avoid that the vehicle in question must avoid and which drives the vehicle in question on the route desired. With regard to this type of device, there is knowledge of a technique where when an approaching vehicle is detected around the vehicle in question, the vehicle in question is controlled so that the distance between the approaching vehicle and the vehicle in question is in question along the width direction of the vehicle is kept at a constant distance (Patent Document 1: JP2013-091401A). Prior Art Documents Patent Documents
[003] Patent Document 1: JP2013-091401A Summary of the Invention Problems to be Solved by the Invention
[004] In the above technique, however, when there are several vehicles approaching around the vehicle in question, it may yaw laterally, thus causing a feeling of discomfort to passengers because the vehicle in question is controlled so that the distance between each of the approaching vehicles and the vehicle in question along the vehicle width direction is kept at a constant distance.
[005] A problem to be solved by the present invention is to propose a route control device capable of mitigating the feeling of discomfort caused to passengers when controlling the route of a vehicle in question. Means to Solve Problems
[006] The present invention solves the above problems according to the following. When a vehicle in question is operated to travel on a target route, a group of objects to avoid is specified. The group of objects to avoid includes several objects to avoid within a predetermined distance from the vehicle in question and present in the same lane adjacent to a lane in which the vehicle in question is traveling. A lateral position of the target route is then defined to avoid the group of avoid objects based on the position of the avoid object that satisfies a predetermined condition among the avoid objects that make up the group of avoid objects. The lateral position of the target route is along the width direction of a lane on which the vehicle in question travels. Effect of the Invention
[007] According to the present invention, when the vehicle in question operates to avoid various objects to avoid, it is possible to prevent the vehicle in question from swerving and, thereby, mitigate the feeling of discomfort caused to passengers. Brief Description of Drawings
[008] FIG. 1 is a block diagram of a path control system in accordance with one or more embodiments of the present invention.
[009] FIG. 2 is a plan view depicting a process for defining an object area used to plan a target route.
[010] FIG. 3A is a plan view to describe a first example of a method for specifying a group of objects to avoid.
[011] FIG. 3B is a plan view to describe a second example of a method for specifying a group of objects to avoid.
[012] FIG. 3C is a plan view to describe a third example of a method for specifying a group of objects to avoid.
[013] FIG. 3D is a plan view to describe a fourth example of a method for specifying a group of objects to avoid.
[014] FIG. 4A is a plan view to describe an example of a method for planning a target route.
[015] FIG. 4B is a plan view to describe another example of a method for planning a target route.
[016] FIG. 5A is a plan view (part 1) to describe an example of a method for updating a target route.
[017] FIG. 5B is a plan view (part 2) to describe an example of a method for updating a target route.
[018] FIG. 5C is a plan view (part 3) to describe an example of a method for updating a target route.
[019] FIG. 6 is a plan view illustrating an example of a method for specifying various groups of objects to avoid.
[020] FIG. 7 is a plan view to describe an example of a method for planning a target route to avoid various groups of objects to avoid.
[021] FIG. 8 is a flowchart illustrating a control procedure for avoiding objects to avoid and a group of objects to avoid.
[022] FIG. 9 is a flowchart illustrating a subroutine of step S103 of FIG. 8. Mode(s) to Carry Out the Invention
[023] 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 way of illustrative examples in which the vehicle path control device according to the present invention is applied to a path control system equipped in a vehicle. Embodiments of the route control device according to the present invention are not exhaustive and can also be applied to a portable terminal device capable of exchanging information with the side of a vehicle. Each of the path control device, the path control system and the handheld terminal device is a computer that performs a computing process.
[024] FIG. 1 is a diagram illustrating a block configuration of a path control system 1 in accordance with 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.
[025] The lane control device 100 according to one or more embodiments of the present invention has a lane departure prevention function (lane keeping support function) to recognize a lane in which the vehicle in question is traveling and controlling the behavior of the vehicle in question in order to maintain a certain relationship between the position of a lane marker on the lane and the position of the vehicle in question. The route control device 100 according to one or more embodiments of the present invention controls the traveling behavior of the vehicle in question so that it travels along the center of a lane. The lane control device 100 controls the travel behavior of the vehicle in question so that the distance from the lane marker of a lane to the vehicle in question along the lane width direction is within a predetermined lane. The clue marker according to one or more embodiments of the present invention is not exhaustive, as long as it has the function of defining a clue. The lane marker may be a line drawn on a lane surface, an existing planting between lanes, or a lane structure existing on the side of a lane corner of a lane, such as a guardrail, curb, sidewalk, and exclusively for two wheels. The lane marker can also be a fixed structure existing on the side of a lane corner of a lane, such as an advertising sign, traffic sign, shop, roadside tree. The scheme for detecting such clue markers is not exhaustive and various schemes, such as pattern matching, may be used, which are known at the time of filing the present application.
[026] The route control device 100 and the on-board device 200 have communication devices 20 and 40, respectively, and exchange information with each other via wired or wireless communication.
[027] The on-board device 200 will be described first.
[028] The on-board device 200 according to one or more embodiments of the present invention comprises a detection device 50, a sensor 60, a vehicle controller 70, an actuation device 80, a steering device 90, a output 110 and a navigation device 120. These devices constituting the on-board device 200 connect to each other via a CAN (Controller Area Network) or other LAN within the vehicle to exchange information with each other.
[029] Each of these devices that make up the on-board device 200 will be described below.
[030] The detection device 50 detects the existence of an object to avoid that the vehicle in question must avoid and its position of existence. The detection device 50 according to one or more embodiments of the present invention includes, but is not limited to, a camera 51. The camera 51 according to one or more embodiments of the present invention is, for example, a camera comprising an image generating element, such as a CCD. The 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 obtains image data that includes objects to avoid existing around the vehicle in question. Specific examples and the like of "objects to avoid" described in one or more embodiments of the present invention will be described later.
[031] The detection device 50 processes the image data obtained to calculate the distance of the vehicle in question to an object to avoid based on the position of the object to avoid in relation to the vehicle in question. The detection device 50 also calculates, as object information, the relative speed and relative acceleration between the vehicle in question and the object to be avoided based on the variation in time of the position of the object to be avoided. With regard to a process to calculate the positional relationship between the vehicle in question and another vehicle based on the image data and to a process to calculate speed information based on the amount of time variation of the positional relationship, known schemes when filing this application can be used properly.
[032] In addition, or alternatively, the detection device 50 analyzes the image data and identifies the classification of the object to avoid based on the result of the analysis. Detection device 50 may use a pattern matching technique or the like to identify whether the object to avoid included in the image data is a vehicle, a pedestrian, or a traffic sign. The detection device 50 can also extract an image of an object from the image data to identify a specific classification of the object (four-wheel vehicle, two-wheel vehicle, bus, truck, construction vehicle, etc.) and a type. of vehicle (small car, large car) based on image size and/or format. Detection device 50 may further identify the vehicle's classification and vehicle type based on an identifier represented by a license plate included in the image data. This identifying information can be used in a process to define an object area that is defined to operate the vehicle in question to avoid the object to avoid.
[033] 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 include devices such as a millimeter wave radar, radar laser and ultrasonic radar, which were known at the time of filing this application.
[034] Object information detected in this way, including at least the position of an object to avoid, is sent alongside the path control device 100. The detection device 50 may include various information among the object information and send it alongside the course control device 100. Examples of this information include relative speed information and relative acceleration information between the vehicle in question and the object to avoid obtained based on the variation in the position of the object to avoid, information about the classification of the object to avoid and information on the type of vehicle and its like when the object to avoid is a vehicle.
[035] The "object to avoid" in one or more embodiments of the present invention refers to an object that the vehicle in question must avoid when traveling (such that the vehicle in question does not come too close to the object). The detection device 50 detects an object with a certain positional relationship to the vehicle in question as an object to be avoided. For example, the detection device 50 can detect, as an object to be avoided, an object present in a driving lane for the vehicle in question and within a predetermined distance from the vehicle in question. As will be appreciated, the driving lane for the vehicle in question in this case may be replaced by an adjacent lane or opposite lane adjacent to the driving lane for the vehicle in question.
[036] Objects to avoid in one or more embodiments of the present invention include a stationary object or a moving object. Examples of a stationary object to avoid include other parked or stationary vehicles, road structures such as walkways; central partitions and guardrails; road equipment, such as road signs and lampposts or telephones; temporary objects on a road, such as dropped objects; and removed snow, which can be obstacles to a moving vehicle. Examples of a moving object to avoid include other vehicles and pedestrians. Examples of these other vehicles include vehicles in front, vehicles behind, and vehicles approaching the vehicle in question. Examples of vehicles include two-wheeled vehicles such as bicycles and motorcycles; large vehicles such as buses and trucks; and special purpose vehicles such as trailers and tow trucks. Examples of objects to avoid also include those that are not necessarily objects, but which the vehicle in question must avoid, such as construction sites, damaged areas on roads and water puddles.
[037] In one or more embodiments of the present invention, the path control device 100 defines respective object areas for those objects to avoid and, in addition, plans a targeted route to avoid these object areas (i.e., passing through the side of each object area R2).
[038] The 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 with respect to steering, such as such as 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 the speed and acceleration of the vehicle in question and sends them to vehicle controller 70 and route control device 100.
[039] The vehicle controller 70 according to one or more embodiments of the present invention is a computer within the vehicle, 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 with an electric motor as the path drive source, a motor car with an internal combustion engine as the path drive source, or a hybrid automobile, which has both an electric motor and an internal combustion engine as travel drive sources. Examples of the electric car and hybrid car with an electric motor as the travel drive source include a type in which the power source for the engine is a secondary battery and a type in which the power source for the engine is a fuel cell. .
[040] The drive device 80 according to one or more embodiments of the present invention comprises a drive mechanism of the vehicle in question V1. The drive mechanism includes an electric motor and/or an internal combustion engine as the above-described travel drive source, a power transmission device, which includes a cardan shaft and automatic transmission that transmit the output of the travel drive source. to the driving wheels, and a braking device 81, which brakes the wheels. The drive device 80 generates respective control signals for these drive mechanism components and performs travel control, including vehicle acceleration and deceleration. These control signals for the drive mechanism are generated based on input signals by an acceleration operation and braking operation of the driver and on control signals obtained from the vehicle controller 70 or the route control device 100. Command information can be sent to the drive device 80, which can thus automatically perform route control, including vehicle acceleration and deceleration. In the case of a hybrid automobile, the drive device 80 may receive a ratio of the torque output to the electric motor to the torque output to the internal combustion engine in accordance with the driving state of the vehicle.
[041] 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 attached to the steering column shaft. The steering device 90 performs steering control for the vehicle based on a control signal obtained from the vehicle controller 70 or on a signal input by the driver's steering operation. Vehicle controller 70 sends command information, including steering amount, to steering device 90, thereby performing steering control. In addition, or alternatively, the ride control device 100 can control the amount of braking for each wheel of the vehicle to thereby perform steering control. In that case, the vehicle controller 70 sends command information, including the amount of braking for each wheel, to the braking device 81 to thereby perform steering control for the vehicle.
[042] The navigation device 120 according to one or more embodiments of the present invention calculates the route from the current position of the vehicle in question to a destination and outputs route guidance information through the output device 110, which will be described further up. Navigation device 120 has a position detection device 121, lane information 122 including lane type, lane width, lane shape and others, and map information 123, where lane information 122 is associated with each Score. Position sensing device 121 according to one or more embodiments of the present invention is responsive to the Global Positioning System (GPS) and detects a position (latitude and longitude) in which the vehicle is traveling. The navigation device 120 specifies a lane 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 lane information 122 according to one or more embodiments of the present invention are stored so that identifying information for each lane link is associated with lane type, lane width, lane shape, whether overtaking is permitted or not (whether lane change to an adjacent lane is permitted or not) ) and other information related to the route. The navigation device 120 consults the lane information 122 to obtain information regarding a lane to which the lane link on which the vehicle in question is traveling and sends the information to the route control device 100. The lane type, lane width and lane shape of a lane on which the vehicle in question travels are used in a route control process to calculate a target route on which the vehicle in question is to travel.
[043] The output device 110 according to one or more embodiments of the present invention outputs various 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 information according to the object information, information according to the location of the object area, information according to the position of a group of objects to avoid, information according to the location of the desired route and information according to the command information to drive the vehicle in question on the desired route. The group of objects to avoid is specified based on multiple objects to avoid, as described later. Output device 110 according to one or more embodiments of the present invention includes a display 111, a speaker 112, outside lamps 113 and interior lamps 114. Exterior lamps 113 include headlights, turn signals and brake lights. Interior lamps 114 include luminous indicator dials and luminous display dials 111, as well as included steering lights and included lights around the steering. Output device 110 according to one or more embodiments of the present invention may output various information regarding route assistance to external devices, such as Intelligent Transport Systems (ITS), via communication device 40. External devices such as such as Intelligent Transport Systems, use information regarding route assistance, including vehicle speed, driving information, driving route, etc., for traffic management of various vehicles.
[044] Specific ways of issuing information will be described with reference to an example in which a vehicle parked as an object to be avoided is ahead on the left side of the vehicle in question.
[045] The output device 110 informs the passengers of the vehicle in question a direction and/or position where the parked vehicle is as the information according to the object information. Display 111 displays the direction and/or position where the parked vehicle is in a visually recognizable way. Speaker 112 reads aloud text that informs the direction and/or position where the parked vehicle is, such as "there is a vehicle parked ahead on the left side". Among the lamps included as exterior lamps 113 in the left and right mirrors, the lamp on the left side may flash on its own to inform the passengers of the vehicle in question that there is a vehicle parked ahead on the left side. Among the lamps included as interior lamps 114 on the left and right around the steering wheel, the lamp on the left side can flash on its own to inform passengers that there is a vehicle parked ahead on the left side.
[046] 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 has been defined ahead on the left side, as described above, via display 111, loudspeaker 112, exterior lamps 113 and/or interior lamps 114.
[047] In one or more embodiments of the present invention, with a view to informing passengers of other vehicles in advance about the displacement behavior of the vehicle in question, the direction and/or position in which the object area has been defined for an object to avoid or to a group of objects to avoid can be emitted to the outside using the external lamps 113. After defining the object area, the direction of travel of the vehicle in question is changed (the direction is yaw) to avoid the object area . When informing the outside about the object area being defined, drivers of other vehicles are warned in advance 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 ahead on the left side, the right side turn signals (outside lamps 113) may illuminate to inform other outside vehicles and their like that the vehicle in question will veer to the right in order to avoid the defined object area on the left side.
[048] In addition, 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 target route location by the display 111 and/or by the loudspeaker 112. Display 111 displays the shape and the like of the targeted route in the form of a visually recognizable diagrammatic view. Speaker 112 emits an announcement, such as "to avoid the vehicle parked ahead, the steering wheel will turn to the right".
[049] In addition, passengers of the vehicle in question or passengers of other vehicles can be informed in advance that the steering and/or acceleration or deceleration operation will be performed, as the information according to the command information to drive the vehicle in question on the desired route, via display 111, loudspeaker 112, exterior lamps 113 and/or interior lamps 114.
[050] Thus, when issuing information regarding route control to avoid the object area, passengers of the vehicle in question and/or other vehicles can be informed in advance of the behavior of the vehicle in question. Output device 110 can send the information described above 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 in question, which is under route control.
[051] The path control device 100 according to one or more embodiments of the present invention will now be described.
[052] As shown in FIG. 1, the path control device 100 according to one or more embodiments of the present invention comprises a control device 10, a communication device 20 and an output device 30. The communication device 20 exchanges information with the apparatus. on-board device 200. Output device 30 has a similar function as the previously described output device 110 of on-board device 200. When route control device 100 is a computer that can be carried by a passenger, it can output, to each device, command information to control the flashing of the external lamps 113 and/or the internal lamps 114 of the on-board device 200.
[053] Control device 10 of course control device 100 is a computer comprising: a ROM (Read Only Memory) 12, which stores programs to present different course control information according to the degree of proximity between the vehicle in question and other vehicles; a CPU (Central Processing Unit) 11 as the operating circuit that executes the programs stored in ROM 12 to act as the path control device 100; and a RAM (Random Access Memory) 13, which acts as an accessible storage device.
[054] The control device 10 of the route control device 100 according to one or more embodiments of the present invention has a function for obtaining information from the vehicle in question, a function for obtaining object information, a setting function area, a route planning function, a control function and a presentation function. The control device 10 according to one or more embodiments of the present invention performs each function thanks to cooperation between a software to perform the above functions and the hardware described above.
[055] Each function of the path control device 100 according to one or more embodiments of the present invention will be described below.
[056] First, the function of obtaining information of the vehicle in question from the control device 10 will be described. The control device 10 obtains information from the vehicle in question which includes the position of the vehicle in question. The position of the vehicle in question can be obtained by the position detection device 121 of the navigation device 120. The information on the vehicle in question further includes the speed and acceleration of the vehicle in question. The control device 10 obtains the speed of the vehicle in question from the vehicle speed sensor 62. The speed of the vehicle in question can also be obtained 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.
[057] The function of obtaining object information from control device 10 will be described. Control device 10 obtains object information that includes the position of an object to avoid that the vehicle in question must avoid. Control device 10 obtains object information, which includes the position of the avoidable object detected by the detection device 50. The object information further includes relative position, relative velocity, and relative acceleration of the avoidable object.
[058] When the object to avoid is another vehicle and both that other vehicle and the vehicle in question have inter-vehicle communication capability (the type of communication with which multiple vehicles can communicate directly with each other without the use of a server or the like), the control device 10 of the vehicle in question can obtain, as object information, the speed and acceleration of the other vehicle detected by the vehicle speed sensor of the other vehicle. As will be appreciated, the control device 10 can also obtain evasion information, including the position, speed and acceleration of the other vehicle, from external devices such as Intelligent Transport Systems.
[059] Object area definition function and route planning function of control device 10 will be described. In one or more embodiments of the present invention, the control device 10 uses the object area definition function to define an object area R for the object to be avoided. Then, the control device 10 uses the route planning function to plan a target route on which the vehicle in question V1 will travel based on the location of the object area R defined for the object to avoid.
[060] A method for defining object area R using the object area definition function of control device 10 will be described first. The control device 10 defines the object area R (any object area may be denoted by "R" hereinafter) for the object to avoid based on the relationship between the position of the vehicle in question and the position of the object to be avoided. FIG. 2 is a view illustrating an example of a scheme for defining the object area R. In FIG. 2, the direction of travel Vd1 of the vehicle in question is the +y direction in the figure. In FIG. 2, the direction of extension of a driving lane Ln1 in which the vehicle in question travels is also the +y direction in the figure.
[061] FIG. 2 is a view when looking from above a scenario in which another vehicle V2 is detected parked on the left side of the driving lane Ln1 for the vehicle in question. The other detected vehicle V2 is in the driving lane Ln1 for the vehicle in question V1 and is therefore an avoidance object that the vehicle in question V1 must avoid because otherwise the other vehicle V2 will collide with the vehicle in question V1 traveling in a straight line. The control device 10 defines an object area R0 within a region that includes the other vehicle V2.
[062] In one or more embodiments of the present invention, the object area defined for an avoidance object may be defined with a view to avoiding a state in which the distance between the vehicle in question V1 and the avoidance object becomes smaller. than a predetermined value at which they approach each other or come into contact with each other, or it may also be defined so that the vehicle in question V1 and the object to be avoided are kept at a suitable distance. In one or more embodiments of the present invention, the object area may assume a shape that similarly respects the external shape of an avoidable object, or it may also have a shape that includes an avoidable object. Control device 10 may define the object area margin as a shape that similarly follows the external shape of an avoidance object or as a shape that includes an avoidance object, such as a circular, elliptical, rectangular or polygonal shape. The object area can be defined to be narrow, such that the boundary of the object area is separated from the surface (outer edge) of an object to avoid by less than a predetermined distance (A), or it can also be defined so that it is wide, such that the boundary of the object area is separated from the object to be avoided by a predetermined distance B (B>A) or greater.
[063] As shown in FIG. 2, when the travel direction Vd1 of the vehicle in question is defined as the forward direction, while its reverse direction is defined as the backward direction, the object area R0 has longitudinal edges RL1 and RL2 on the rear and front of object area R0, respectively. These longitudinal ends RL1 and RL2 represent terminal lines that define the length of the object area R0 along the extension (+y) direction of the driving lane Ln1 for the vehicle in question. The length of object area R0 illustrated in FIG. 2 along the extension (+y) direction of the driving track Ln1 is L0, which corresponds to the distance between the longitudinal end RL1 (y1) and the longitudinal end RL2 (y2). Among the longitudinal ends RL1 and RL2, the one located on the proximal side (upstream side) when observed from the vehicle in question V1 approaching the object area R0 is defined as a first end RL1. On the other hand, among the longitudinal ends RL1 and RL2, the one located on the distal side (downstream side) when observed from the vehicle in question V1 approaching or passing through the object area R0 is defined as a second end RL2.
[064] As shown in FIG. 2, when the vehicle width direction of the vehicle in question is set to vW1 (X axis direction in the figure), object area R0 has side edges RW1 and RW2 on the right and left sides of object area R0, respectively. These side edges RW1 and RW2 are terminal lines that define the length (width) of the object area R0 along the lane width (X) direction of the driving lane Ln1 for the vehicle in question. The length of object area R0 illustrated in FIG. 2 along the lane width direction (X axis direction) is W0, which corresponds to the distance between the RW1 side edge (x1) and the RW2 side edge (x2). When the vehicle in question approaches the object to avoid V2 along the vehicle width direction, between the side edges RW1 and RW2 of the object area R0, the side edge situated on the side of the vehicle in question V1 when viewed from the vehicle in question V1 is defined as first side end RW1. On the other hand, between the side ends RW1 and RW2, the side end situated on the side (on the side of the lane corner) opposite the side of the vehicle in question V1 when looking from the vehicle in question V1 is defined as the second lateral end RW2.
[065] FIG. 2 illustrates an example case in which the other vehicle V2 as the object to avoid is in the driving lane Ln1 for the vehicle in question but also in cases where the object to avoid is in a lane different from the driving lane Ln1 for the vehicle in question, an object area can be similarly defined for the object to avoid when the vehicle in question V1 must avoid the object to avoid.
[066] When, as shown in FIG. 2, there is another vehicle V3 traveling in the opposite direction in an opposite lane Ln2 to the driving lane Ln1 for the vehicle in question V1, the other vehicle V3 is detected as an object to avoid. Although not illustrated in the figure, when the other V3 vehicle is detected as an object to avoid, an object area is similarly defined within a region that includes the other V3 vehicle.
[067] In one or more embodiments of the present invention, when there are multiple objects to avoid around the vehicle in question V1, the control device 10 also makes use of the following method to specify the various objects to avoid as a group of objects to avoid, that is, a set of objects to avoid, and define an object area for the specified group of objects to avoid.
[068] FIG. 3A is a plan view to describe an example of the method for specifying a group of objects to avoid. FIG. 3A illustrates a scenario in which four other vehicles from V4 to V7 as objects to avoid travel in the +y direction in the same lane, which is the lane ahead on the left side when viewed from the vehicle in question V1.
[069] When detecting the other four vehicles from V4 to V7 as objects to avoid, as shown in FIG. 3A, the control device 10 according to one or more embodiments of the present invention first obtains respective distances from d11 to d14 from the vehicle in question V1 to the other vehicles from V4 to V7. The method used to obtain the distances d11 to d14 may be, among others, a method in which the on-board device 200 obtains an image captured in front of the vehicle in question V1 using the camera 51 of the detection device 50 or the like and performs image processing of the image thus captured to calculate respective distances from the front end of the vehicle in question V1 to the rear ends of the other vehicles from V4 to V7. In an alternative embodiment, the distances from the center of the vehicle in question V1 to the centers of the other vehicles from V4 to V7 can be obtained as the distances from d11 to d14.
[070] Next, the control device 10 according to one or more embodiments of the present invention extracts, based on the distances from d11 to d14 obtained, the other vehicles located within a predetermined distance in relation to the vehicle in question V1 and specifies those on the same lane among other extracted vehicles as a group of objects to avoid. The predetermined distance can be set arbitrarily, but it can be, for example, from 20 to 100 meters or the like. In the example illustrated in FIG. 3A, the control device 10 according to one or more embodiments of the present invention determines that three other vehicles from V4 to V6 are within the predetermined distance of the vehicle in question V1 and that these three other vehicles from V4 to V6 are in the same lane and specifies the three other vehicles from V4 to V6 as a group of objects to avoid. The other V7 vehicle traveling further ahead is at a distance from the vehicle in question greater than the predetermined distance and is therefore excluded from the group of objects to be avoided. Then the control device 10 defines an object area GR1 for the specified group of objects to avoid. As shown in FIG. 3A, the control device 10 defines an individual object area R7 for the other vehicle V7 which was not included in the group of objects to be avoided. Thus, in one or more embodiments of the present invention, the control device 10 perceives the three other vehicles from V4 to V6 as a group of objects to avoid and plans a target route to pass through the group of objects to avoid. Thus, the control device 10 effectively prevents the yaw/stagger of the vehicle in question V1 by controlling it so as to avoid the other vehicles from V4 to V6.
[071] In one or more embodiments of the present invention, as illustrated in FIG. 3B, the group of objects to avoid can be specified taking into account the distances between the other vehicles (the so-called inter-vehicle distances between the other adjacent vehicles) for the other four vehicles from V4 to V7. That is, the control device 10 according to one or more embodiments of the present invention obtains the closest distance, which is the distance to the nearest other vehicle, for each of the other vehicles. More specifically, the control device 10 first extracts, for the other vehicle V4, the other vehicle V5 closest to the other vehicle V4 and obtains a distance d21 between the other vehicle V4 and the other vehicle V5 as the closest distance. Similarly, the control device 10 obtains distance d22 as the closest distance to the other vehicle V5, obtains distance d22 as the closest distance to the other vehicle V6 (distance d22 which is the same as the closest distance to the other V5 vehicle above) and gets a distance d23 as the closest distance to the other V7 vehicle. Subsequently, the control device 10 according to one or more embodiments of the present invention specifies, as a group of objects to be avoided, the three other vehicles from V4 to V6 for which the closest distances obtained are within a limit. distance and defines an object area GR1 for the group of objects to avoid. The nearest distance d23 for the other vehicle V7 traveling further ahead exceeds the predetermined distance limit and the other vehicle V7 is therefore excluded from the group of objects to be avoided. The above predetermined distance limit can be set arbitrarily, but it can be, for example, 10 to 20 meters or the like.
[072] The control device 10 according to one or more embodiments of the present invention may specify, as a group of avoidable objects, several avoidable objects whose relative speeds Vr with respect to the vehicle in question V1 are within a predetermined range . This will be described with reference to an exemplary case of FIG. 3C, in which, when the vehicle in question V1 is traveling at a speed of 50 km/h, for example, the other vehicle V4 is traveling at 35 km/h (the relative speed Vr is -15 km/h), the other vehicle V5 travels at 45 km/h (relative speed Vr is -5 km/h), the other vehicle V6 runs at 50 km/h (relative speed Vr is 0 km/h) and the other vehicle V7 travels at 70 km/h (relative speed Vr is +20 km/h). In this scenario, based on the relative speeds Vr of the other four vehicles from V4 to V7, the control device 10 specifies two other vehicles V5 and V6 whose relative speeds Vr are within a predetermined range (for example, within ±10 km/h) as a group of objects to avoid. In that case, for the other vehicles V4 and V7 whose relative speeds Vr are outside the predetermined range, individual object areas R4 and R7 are defined as illustrated in FIG. 3C. The relative velocities Vr can be determined using relative velocity information included in the object information obtained by the above-described object information obtaining function of the control device 10.
[073] In one or more embodiments of the present invention, when specifying a group of objects to avoid, the control device 10 can take into account, as illustrated in FIG. 3D, the distances from WA1 to WA3 between a lane marker on the lane and objects to avoid. For example, as shown in FIG. 3D, when the lane marker next to the vehicle in question V1 in the lane in which the three other vehicles from V4 to V6 travel is represented by Lm1, the distance WA1 between the other vehicle V4 and Lm1, the distance WA2 between the another vehicle V5 and Lm1 and the distance WA3 between the other vehicle V6 and Lm1 are obtained and the group of objects to avoid is specified according to the distances from WA1 to WA3. More specifically, the control device 10 specifies the distances WA1 and WA3 which are the closest values to each other within the distances WA1 to WA3, specifies the other V4 vehicle associated with the WA1 distance and the other V6 vehicle associated with the WA3 distance as the group of objects to avoid and defines the GR1 object area. In this case, the other vehicle V5 whose distance WA2 is large in relation to the distances WA1 and WA2 is excluded from the object group to avoid and an individual object area R5 is defined for the other vehicle V5.
[074] In one or more embodiments of the present invention, with respect to the group of avoidable objects to be specified in the manner described above, an upper limit may be established for the number of avoidable objects included in the group of avoidable objects. . For example, control device 10 can limit the number of avoidable objects included in the avoidable object group to up to three.
[075] In one or more embodiments of the present invention, a targeted route RT1 for the vehicle in question to pass through the object area GR1 is planned based on the object area GR defined for that group of objects to avoid.
[076] In this operation, the control device 10 according to one or more embodiments of the present invention can plan the target route RT1 to be a route that allows the vehicle in question to pass properly through the group of objects to be avoided. In one or more embodiments of the present invention, an avoidable object that satisfies a predetermined condition among several avoidable objects that make up the group of avoidable objects is extracted, and the lateral position (position in the X-axis direction) of the targeted route RT1 can be planned as follows based on the position of the extracted object to avoid.
[077] For example, when the control device 10 specifies the other vehicles from V4 to V6 as a group of objects to avoid, as illustrated in FIG. 4A, the control device 10 extracts the other vehicle V4, which is closest to the vehicle in question V1 along the direction of travel of the vehicle in question V1 (direction of the Y axis) among the other vehicles from V4 to V6 included in the group of objects to avoid. Then, the greater the width WC4 of the other extracted vehicle V4, the control device 10 sets the lateral position of the target route RT1 at a more distant location in relation to the group of objects to avoid (location in the +x direction in the scenario illustrated in Fig. 4A). That is, the greater the width WC4 of the other vehicle V4, the control device 10 plans the target route RT1 to more significantly avoid the group of objects to avoid.
[078] In this operation, the control device 10 can calculate the ratio of the width WC4 of the other vehicle V4 to the width LW1 of the lane in which the other vehicle V4 travels as a lane occupation ratio (WC4/LW1) of the other vehicle V4. Then, the higher the lane occupation ratio of the other vehicle V4, the control device 10 sets the lateral position of the target route RT1 at a more distant location in relation to the group of objects to be avoided.
[079] In addition, or as an alternative, as shown in FIG. 4B, the control device 10 can extract the other vehicle V4 that is closer to the vehicle in question V1 along the direction of travel of the vehicle in question V1 and, the smaller the distance between the other vehicle V4 extracted and the vehicle in question V1 along the lane width direction, the control device 10 sets the lateral position of the target route RT1 at a location furthest from the group of objects to be avoided. As shown in FIG. 4B, the distance between the other vehicle V4 and the vehicle in question V1 along the lane width direction may be a distance WA4a between the side surface of the other vehicle V4 on the side of the vehicle in question V1 and the side surface of the vehicle in question V1 on the side of the other vehicle V4, or it could also be a distance WA4b between the center of the other vehicle V4 and the center of the vehicle in question V1.
[080] In addition, or as an alternative, as shown in FIG. 4B, the control device 10 can extract the other vehicle V6 that is closest to the vehicle in question V1 along the lane width direction (X-axis direction) among the other vehicles from V4 to V6 included in the group of objects to avoid (ie, the other vehicle V6 associated with the shortest distance WA6a among the distances WA4a, WA5a and WA6a illustrated in FIG. 4B). Then, the smaller the distance between the other extracted vehicle V6 and the vehicle in question V1, the control device 10 sets the lateral position of the target route RT1 at a location further away from the group of objects to be avoided. As shown in FIG. 4B, the distance between the other vehicle V6 and the vehicle in question V1 along the lane width direction may be a distance WA6a between the side surface of the other vehicle V6 on the side of the vehicle in question V1 and the side surface of the vehicle in question V1 on the side of the other vehicle V6, or it could also be a distance between the center of the other vehicle V6 and the center of the vehicle in question V1 (not shown).
[081] In one or more embodiments of the present invention, the greater the relative speed of an avoidable object included in the group of avoidable objects for the vehicle in question V1, the control device 10 defines the lateral position of the target route RT1 in a location further away from the group of objects to avoid. For example, in the scenario described above illustrated in FIG. 3C, the greater the relative speed Vr of any of the other vehicles V5 and V6 relative to the vehicle in question V1, the lateral position of the target route RT1 is set at a location farther from the group of objects to avoid.
[082] In one or more embodiments of the present invention, the control device 10 can properly update the group of objects to avoid while the vehicle in question V1 travels. For example, as illustrated in FIGs. from 5A to 5C, the control device 10 updates the group of objects to avoid according to the travel distance and/or travel time of the vehicle in question V1.
[083] This will be described more specifically. First, as illustrated in FIG. 5A, when there are other vehicles from V7 to V11 as objects to avoid, the control device 10 extracts, for example, the three other vehicles from V7 to V9 in order of distance to the vehicle in question V1 in the direction of travel of this, specifies the other vehicles from V7 to V9 as an avoid object group and defines an object area GR2 for the avoid object group. Then, as shown in FIG. 5B, in a scenario where the vehicle in question V1 is passing by the other vehicle V7 as the vehicle in question V1 travels, the control device 10 specifies the three other vehicles from V8 to V10 traveling ahead of the vehicle in question. V1 as a group of objects to avoid and defines an object area GR3 for the group of objects to avoid. Then, as shown in FIG. 5C, in a scenario where the vehicle in question V1 is passing the other vehicle V8, the control device 10 specifies the three other vehicles from V9 to V11 traveling ahead of the vehicle in question V1 as a group of objects to avoid and defines a GR4 object area for the object group to avoid.
[084] In one or more embodiments of the present invention, as illustrated in FIG. 6, the control device 10 simultaneously defines several groups of objects to be avoided. In this operation, the control device 10 can extract, for example, five other vehicles from V7 to V11 in order of distance to the vehicle in question V1 along its direction of travel and specify respective groups of objects to avoid for combinations of the others. vehicles from V7 to V11 extracted.
[085] This will be described more specifically. First, the control device 10 extracts the other vehicle V7 closest to the vehicle in question V1, specifies the other vehicle V7 and the other vehicles V8 and V9 that are in positions in the direction of travel of the vehicle in question V1 observed of the other vehicle V7 as an avoid object group and defines an object area GR2 for the avoid object group. Then the control device 10 extracts the other vehicle V8 closest to the vehicle in question V1 next to the other vehicle V7, specifies the other vehicle V8 and the other vehicles V9 and V10 that are in positions in the direction of travel of the vehicle in question V1 observed from the other vehicle V7 as a group of objects to avoid and defines an object area GR3 for the group of objects to avoid. Similarly, the control device 10 extracts the other vehicle V9 closest to the vehicle in question V1 next to the other vehicle V8, specifies the other vehicles from V9 to V11 as a group of objects to avoid, and defines an object area GR4 for the group of objects to avoid. Although FIG. 6 not illustrated, the control device 10 may specify one or more groups of objects to avoid for those including the other vehicles V10 and V11.
[086] As described above, in one or more embodiments of the present invention, the control device 10 uses the object area definition function to define one or more object areas for objects to avoid or for one or more groups of objects to avoid.
[087] The control device 10 then uses the route planning function to plan a target route RT1 to avoid the object area or areas. A method for planning the RT1 target route may be as follows. For example, the control device 10 sets one or more target coordinates (waypoints at which the vehicle in question V1 can avoid the object area or areas) based on the defined object area or areas for the objects to avoid or for the group of objects to avoid and connect the current position of the vehicle in question V1 to the target coordinate or coordinates, and the target route RT1 can thus be obtained. In one or more embodiments of the present invention, the control device 10 calculates the target route RT1 such that the vehicle in question V1 does not enter the defined object area or areas, calculates the target route RT1 such that a area in which the object area or areas and a possible area of existence of the vehicle in question V1 overlap is less than a predetermined value, calculates a sequence of positions separated from the boundaries of the area or object areas by a predetermined distance as the route target RT1 or calculates the object area or areas boundaries itself as the target route RT1. As previously described, the object area or areas are defined such that the distance between the vehicle in question V1 and the objects to be avoided does not become less than a predetermined value or such that the distance between the vehicle in question V1 and objects to avoid is kept within a predetermined limit. Therefore, the target route RT1 is also defined at a location where the distance between the vehicle in question V1 and the objects to avoid does not become less than the predetermined value or at a location where the distance between the vehicle in question V1 and the objects to avoid remains within the predetermined limit.
[088] As will be seen, in one or more embodiments of the present invention, one or more desired coordinates can be defined based on the positions or the like of the objects to avoid or the group or groups of objects to avoid without defining an area to the objects to avoid or to the group or groups of objects to avoid and the target route RT1 can be obtained as described above based on the target coordinate or coordinates. That is, the target route RT1 to avoid the objects to avoid or the group or groups of objects to avoid can be obtained without defining an object area.
[089] In one or more embodiments of the present invention, as illustrated in FIG. 7, the control device 10 can specify other vehicles from V15 to V17 traveling in the opposite lane in the opposite direction to the vehicle in question V1 as a group of objects to avoid.
[090] As shown in FIG. 7, when other vehicles from V12 to V14 traveling in the same direction as the vehicle in question V1 and other vehicles from V15 to V17 traveling in the opposite lane exist around the vehicle in question V1, the control device 10 in accordance with one or more Embodiments of the present invention specify the other vehicles from V12 to V14 as the object group to avoid and define an object area GR5 and also specify the other vehicles from V15 to V17 as the other object group to avoid and define an object area GR6 . In this operation, the control device 10 plans a target route RT1 that allows the vehicle in question V1 to pass through the opposite object group to avoid in the object area GR6 while avoiding the group of objects to avoid in the object area GR5.
[091] In this case, the control device 10 defines the lateral position of the target route RT1 according to the relative speeds Vr for the vehicle in question V1 of the other vehicles included in the respective groups of objects to be avoided. More specifically, in the scenario illustrated in FIG. 7, the relative speeds Vr are higher in the other vehicles from V15 to V17 traveling in the opposite lane and therefore the control device 10 sets the lateral position of the target route RT1 at a location more separate from the GR object area for the group of objects to avoid which includes the other vehicles from V15 to V17. That is, the control device of 10 plans the target route RT1 in such a way that it is more separated from the object area GR6 and comes moderately close to the object area GR5. Alternatively, the control device 10 can plan the target route RT1 in such a way that the vehicle in question V1 can travel in an approximately straight line in the +y direction up to a height that allows the vehicle in question V1 to sufficiently avoid the other vehicles of V12 to V17 without regard to object areas GR5 and GR6.
[092] Thus, in one or more embodiments of the present invention, the control device 10 uses the route planning function to plan the desired route.
[093] Next, the control function of the control device 10 will be described. The control function is used to issue command information to drive the vehicle in question V1 on the target route RT1 to the vehicle controller 70, to the drive device 80 and the steering device 90.
[094] Upon obtaining the command information from the control device 10, the vehicle controller 70 controls the drive device 80 and the steering device 90 to operate the vehicle in question V1 to travel along the target route RT1. The vehicle controller 70 performs the control of the steering device 90 in such a way that the vehicle in question travels maintaining a certain lateral position for the lane using the lane shape detected by the detection device 50, the lane information 122 coming from the navigation 120 and a lane marker template stored in map information 123. Vehicle controller 70 calculates a steering control amount based on the steering angle obtained from the steering angle sensor 61, at the vehicle speed obtained from vehicle speed sensor 62 and current position information to a steering actuator and sends a current command to the steering actuator to execute control such that the vehicle in question travels in a desired lateral position. The method for controlling the lateral position of the vehicle in question V1 is not limited to using the steering device 90 described above. In addition, or alternatively, the drive device 80 and/or the braking device 81 can be used to control the direction of travel (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 "curve" of a vehicle is intended to cover the cases where the drive device 80 and/or the braking device 81 is used in addition to the cases where the steering device 90 is used.
[095] Thus, in one or more embodiments of the present invention, when avoidance objects are detected, one or more object areas are defined for an individual avoidance object and/or for one or more groups of avoidance objects that include several objects to avoid, and an RT1 target route is planned to avoid the object area or areas. Then, route control is performed so that the vehicle in question V1 travels along the target route RT1. Furthermore, in one or more embodiments of the present invention, the detection of objects to avoid, the definition of one or more specific object areas for one or more groups of objects to avoid, the calculation of the target route RT1 and the control of the route based on the targeted route RT1 are executed repeatedly at regular intervals. This allows the control device 10 to sequence the target route RT1 to the vehicle in question V1 based on the surrounding situations updated around the vehicle in question V1. Therefore, the vehicle in question V1 can travel on a route suitable for the surrounding situations around the vehicle in question V1.
[096] 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 area or areas of the object, information according to the location of the group or groups of objects to avoid, information according to the location of the target route and information in accordance with the command information to drive the vehicle in question on the target route and sends the calculated information to output device 110, which then outputs it to the outside in the manner described above.
[097] A path control process according to one or more embodiments of the present invention will be described hereinafter with reference to the flow charts of FIGs. 8 and 9. The process contents in each step are as described above, and the process flow will be mainly described below.
[098] First, the course control procedure will be described as a whole with reference to FIG. 8. As described above, in one or more embodiments of the present invention, the path control process illustrated in FIG. 8 runs repeatedly at regular intervals.
[099] In step S101, the control device 10 obtains information from the vehicle in question, which includes at least the position of the vehicle in question V1. The vehicle information in question may also include the vehicle speed and/or acceleration of the vehicle in question V1. In step S102, the control device 10 obtains, from the detection device 50, object information, which includes the positions of objects to be avoided that the vehicle in question V1 must avoid. Object information may also include the velocity and/or acceleration of objects to avoid.
[100] In step S103, the control device 10 specifies several avoidable objects that satisfy a predetermined condition as a group of avoidable objects based on the object information obtained in step S102 and specifies one or more avoidable objects not specified in the group of avoidable objects as one or more individual avoidable objects. A method for specifying the objects to avoid and the group of objects to avoid illustrated in step S103 will be described later.
[101] In step S104, the control device 10 defines one or more object areas for the individual object or objects to avoid and/or for the group of objects to avoid.
[102] In step S105, the control device 10 calculates a target coordinate and target route RT1 to avoid the object area or areas. The target route RT1 includes one or more target coordinates in which the vehicle in question V1 must travel. Each target coordinate includes a target lateral position (target X coordinate) and a target longitudinal position (target Y direction). The target coordinate or coordinates and the target route RT1 are obtained by connecting the one or more calculated target coordinates and the current position of the vehicle in question V1. Step S104 for the process of defining the object area or areas can be skipped and the routine proceeds from step S103 to step S105 for the process of calculating the desired coordinate or coordinates. In that case, the control device 10 calculates the target coordinate or coordinates and the target route RT1 in order to avoid the objects to avoid and/or the group of objects to avoid.
[103] In step S106, the control device 10 obtains 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 to the desired lateral position or positions obtained in step S106 and calculates a feedback gain for the lateral position based on the result of the comparison.
[104] In step S108, the control device 10 calculates a target control value based on the actual lateral position of the vehicle in question V1, the target lateral position corresponding to the current position and the feedback gain of step S107. The target control value refers to a steering angle, steering angular velocity and other parameters necessary to move the vehicle in question V1 in the target lateral position. Then, in step S112, the control device 10 outputs the calculated target control value to the on-board device 200. This allows the vehicle in question V1 to travel on the target route RT, which is defined by the target lateral position. When several target coordinates are calculated in step S105, the process of steps S106 to S112 is repeated each time the target lateral position is obtained, and the target control value for each target lateral position obtained is output to the on-board device 200.
[105] In step S109, the control device 10 obtains the target longitudinal position or positions from the one or more target coordinates calculated in step S105. In step S110, the control device 10 compares the current longitudinal position and vehicle speed and acceleration at the current position of the vehicle in question V1 to the desired longitudinal position corresponding to the current longitudinal position and the vehicle speed and acceleration in the longitudinal position target and calculates a feedback 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 feedback 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 desired longitudinal position is obtained, and the target control value for each desired longitudinal position is output to the on-board device. 200.
[106] Here, the target control value for the longitudinal position (in the longitudinal direction) refers to a control value for each of the drive mechanism operation (which includes the operation of an internal combustion engine, in the 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 an electric motor in the case of a hybrid car) and the operation braking system to obtain the acceleration, deceleration and vehicle speed corresponding to the desired longitudinal position. For example, in a motor car, the control function is used to calculate a target amount of intake air (target degree of throttle opening) and target amount of fuel injection based on calculated values of acceleration, deceleration current and target vehicle speed and speed and send them to drive device 80. Alternatively, the control function can be used to calculate vehicle acceleration, deceleration and speed and send them to vehicle controller 70, which calculates a control value for each of the 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 includes also the distribution of torque for an internal combustion engine and an electric motor, in the case of a hybrid automobile) and the braking operation to obtain this acceleration, deceleration and speed of vehicle.
[107] The routine then proceeds to step S112, in which the control device 10 outputs the desired control value for the longitudinal direction calculated in step S111 to the on-board device 200. The vehicle controller 70 performs the direction control and the drive control to operate the vehicle in question to travel on the target route RT, which is defined by the target lateral position and target longitudinal position.
[108] In step S113, control device 10 controls output device 110 to present information. The information presented by the output device 110 may be the location/speed of the area or object areas calculated in step S104, the target route format calculated in step S105 or the target control value output to the on-board device 200 in step S112.
[109] In step S114, it is determined whether the driver intervenes in the operation, such as whether the driver performs the steering operation. When the operator's operation is detected, the routine returns to step S101, from where the definition of one or more new object areas, the calculation of the target route and the route control are repeated. On the other hand, when driver operation is detected, the routine proceeds to step S115, in which route control is suspended. Step S115 is followed by step S116, in which the presentation of information is done so that course control is suspended.
[110] Referring now to the flowchart of FIG. 9, a process for specifying the objects to avoid and the group of objects to avoid from step S103 is illustrated. This process will be described below.
[111] First, in step S201, the control device 10 extracts objects to be avoided situated within a predetermined distance from the vehicle in question V1. More specifically, the control device 10 extracts objects to avoid situated within a predetermined distance from the vehicle in question V1 based on the positional information of the objects to avoid obtained from the detection device 50 in step S103 of FIG. 8.
[112] In step S202, the control device 10 determines whether or not there are multiple avoidance objects on the same lane among the avoidance objects extracted in step S201. More specifically, when there are at least two objects to avoid on a lane, the control device 10 determines that there are multiple objects to avoid on the same lane. When, in step S202, it is determined that there are several objects to avoid on the same track, the routine proceeds to step S203. When it is determined that there are not multiple objects to avoid on the same track, the routine proceeds to step S205.
[113] In step S203, for each of several avoidance objects that have been determined to exist on the same lane in step S202, the control device 10 determines whether the distance to an adjacent avoidable object is or is not within a predetermined distance limit. More specifically, when, as described above with reference to FIG. 3B, the other vehicles from V4 to V7 are detected as objects to avoid present in the same lane, the control device 10 obtains the closest distances (distances from d21 to d23 illustrated in FIG. 3B), which are the distances in relation to the other vehicles closer to the other vehicles. Then the control device 10 determines whether or not there are objects to avoid whose closest distances are within the distance limit based on the closest distances obtained. When, in step S203, it is determined that there are objects to avoid whose nearest distances are within the distance limit, the routine proceeds to step S204. When it is determined that there are no objects to avoid whose nearest distances are within the distance limit, the routine proceeds to step S205.
[114] In step S204, the control device 10 specifies several objects to avoid whose closest distances are determined within the distance limit in step S203 as a group of objects to avoid. In addition, the control device 10 also specifies the avoidance object that is excluded from the avoidance object group as an individual avoidance object.
[115] On the other hand, when it is determined in step S202 that there are no objects to avoid on the same track or when it is determined in step S203 that there are no objects to avoid whose nearest distances are within the distance limit, the routine proceeds to step S205, in which the control device 10 specifies each avoidable object as an individual avoidable object based on the positional information of the avoidable objects obtained from the detection device 50 in step S102 of FIG. 8 without specifying a group of objects to avoid.
[116] Steps S204 and S205 are followed by step S206, in which the control device 10 starts, as necessary, the process of calculating a target route in step S104 of FIG. 8 for the specified avoidable objects and/or group of avoidable objects and then runs the process of step S105 and subsequent steps.
[117] The path control device 100 according to one or more embodiments of the present invention is configured and operated as described above and therefore has the following effects.
[118] In accordance with the route control device 100 in one or more embodiments of the present invention, several objects to avoid that lie within a predetermined distance from the vehicle in question V1 and are in the same adjacent lane to the lane on which the vehicle in question is traveling are specified as an avoidance object group, and the lateral position of the target route RT1 is planned to avoid the avoidance object group based on the position of the avoidance object that satisfies a predetermined condition among the avoidable objects that make up the group of avoidable objects. Therefore, even when there are several objects to avoid around the vehicle in question V1, it is possible to prevent the swerving of the vehicle in question V1 by individually executing the course control for the objects to avoid. Thus, a feeling of discomfort for passengers is mitigated when performing route control for the vehicle in question V1.
[119] (2) In accordance with the course control device 100 in one or more embodiments of the present invention, a number of avoidable objects whose relative speeds Vr for the vehicle in question V1 are within a predetermined range are specified as a group of objects to avoid, thus excluding an object to avoid whose relative speed Vr is particularly high and an object to be avoided whose relative speed Vr is particularly low in relation to the group of objects to be avoided. Therefore, the vehicle in question V1 can avoid these avoidable objects as individual avoidance objects. Thus, course control for the vehicle in question V1 can be properly performed according to the relative speeds Vr of objects to be avoided.
[120] (3) In accordance with the path control device 100 in one or more embodiments of the present invention, multiple avoidance objects whose closest distances to adjacent avoidance objects are within a predetermined distance limit are thus as a avoid object group to prevent the defined avoid object group from being unnecessarily large. Therefore, the course control for the vehicle in question V1 can be performed properly according to the relative positions of the objects to be avoided.
[121] (4) In accordance with the course control device 100 in one or more embodiments of the present invention, various avoidance objects whose distances between the avoidance objects and a lane marker on the side of the vehicle in question V1 from a pair of lane markers that define a lane in which the avoidance objects are specified as an avoidance object group to thereby exclude from the avoidance object group an avoidance object that is particularly close to the vehicle in question V1 along the lane width direction and an object to avoid that is particularly far from the vehicle in question V1 along the lane width direction. Therefore, the vehicle in question V1 can avoid these avoidable objects as individual avoidance objects. Thus, the route control for the vehicle in question V1 can be performed properly according to the positions of the objects to be avoided.
[122] (5) In accordance with the route control device 100 in one or more embodiments of the present invention, each of the objects to avoid is extracted in order of distance to the vehicle in question V1 along the direction of travel of the vehicle in question. vehicle in question V1 and its avoidance object groups are specified for the extracted avoid objects. Therefore, the target route RT1 is planned according to the groups of objects to avoid that are specified in front of the vehicle in question V1 in displacement. As a result, swerving of the vehicle in question V1 can be more adequately prevented.
[123] (6) In accordance with the path control device 100 in one or more embodiments of the present invention, the number of avoidable objects included in a group of avoidable objects is equal to or less than a predetermined number for thus prevent the defined group of avoid objects from being unnecessarily large. Therefore, the route control for the vehicle in question V1 can be performed properly according to the positions of the objects to be avoided.
[124] (7) In accordance with the route control device 100 in one or more embodiments of the present invention, the specified group of objects to avoid is updated according to the travel distance or travel time of the vehicle in question. V1. Therefore, an appropriate avoidance group and appropriate target route RT1 can be planned according to the situations around the vehicle in question V1 when it is traveling. Thus, course control for the vehicle in question V1 can be performed properly.
[125] (8) According to the path control device 100 in one or more embodiments of the present invention, the lateral position of the target route RT1 is planned according to the position, width or lane occupation ratio of a object to avoid that is closest to the vehicle in question V1 along the direction of travel of the vehicle in question V1 among the various objects to avoid included in the group of objects to avoid. Therefore, the target route RT1 can be planned according to information about an object to avoid that is close to the vehicle in question V1 and is easy to detect. Thus, course control for the vehicle in question V1 can be performed properly.
[126] (9) According to the route control device 100 in one or more embodiments of the present invention, an object to avoid that is closest to the vehicle in question V1 along the lane width direction among the various objects to avoid included in the group of objects to avoid is extracted, and the closer the extracted object to avoid is to the vehicle in question V1 along the width direction, the lateral position of the target route RT1 is planned in a more separate position from the group of objects to avoid. Therefore, the target route RT1 can be planned according to the object to avoid that is close to the vehicle in question V1 and whose need to be avoided by the vehicle in question V1 is high. Thus, course control for the vehicle in question V1 can be performed properly.
[127] (10) According to the route control device 100 in one or more embodiments of the present invention, the higher the relative speed Vr of the Vehicle in question V1 for the avoidable objects included in the group of avoidable objects, the lateral position of the target route RT1 is planned in a position more separate from the group of objects to avoid. Therefore, the target route RT1 can be planned according to the object to be avoided whose relative speed Vr is high and whose need to be avoided by the vehicle in question V1 is high. Thus, course control for the vehicle in question V1 can be performed properly.
[128] (11) According to the path control device 100 in one or more embodiments of the present invention, an object area is defined for the group of objects to avoid and a route to avoid the object area is planned as the desired route. Hence, the object to avoid can be more adequately avoided when performing course control for the vehicle in question V1. Also, when planning a route to avoid the object area as the target route, the size or the like of the object area defined for the group of objects to avoid can be varied to allow the target route to be flexibly adjusted.
[129] (12) In accordance with the route control device 100 in one or more embodiments of the present invention, information regarding route control to avoid the objects to avoid and the group of objects to avoid are issued to the outside, and passengers in the vehicle in question and/or other vehicles can thus be informed in advance of 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.
[130] (13) 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 as in the path control device 100 described above can be obtained.
[131] The embodiments explained so far have been described with the intention of facilitating the understanding of the present invention and not with the intention of limiting it. Therefore, the elements disclosed in the above embodiments are intended to include all design changes and equivalents that fall within the technical scope of the present invention.
[132] For example, in the present description, one or more embodiments of the route control device according to the present invention are described exemplifying the route control device 100 which, together with the on-board device 200, constitutes the navigation system. path control 1, but the present invention is not limited thereto.
[133] In the examples described above, when the vehicle in question V1 passes through objects to avoid (for example, the three other vehicles from V4 to V6 illustrated in FIG. 3A) that are in front of the vehicle in question V1, these Avoid objects are specified as a group of avoid objects but, in one or more embodiments of the present invention, multiple avoid objects approaching from behind the vehicle in question V1 may be specified as a group of avoid objects. For example, in a situation where three other vehicles are passing by the vehicle in question V1 from behind in the right-hand lane in relation to the vehicle in question V1, the control device 10 can specify these other vehicles as a group of objects to avoid. and plan a target route RT1 to avoid the group of objects to avoid.
[134] In the examples described above, a method is exemplified in which the control device 10 of the route control device 100 first specifies a group of objects to avoid based on various objects to avoid and then plans a target route. RT1 according to the specified avoidance object group, but the RT1 target route planning method is not limited to these examples. For example, in one or more embodiments of the present invention, the control device 10 of the route control device 100 can be configured to first plan a target route RT1 based on individual objects to avoid, then specify the objects that satisfy a predetermined condition among the individual avoidance objects as an avoidance object and correct the planned RT1 target route according to the specified avoidance object group.
[135] In the present description, the route control device 100 comprising the control device 10 which performs the object information obtaining function, the object area definition function, the route planning function and the control function is described as an example of a path control device comprising an information gathering unit, a planning unit, a setting unit and a control unit, but the present invention is not limited to that. 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 limited thereto. Description of Reference Numbers 1 - Course control system 100 - Course control device 10 - Control device 20 - Communication device 30 - Output device 31 - Display 32 - Loudspeaker 200 - On-board device 40 - Device communication device 50 - Detection device 60 - Sensor 70 - Vehicle controller 80 - Drive device 90 - Steering device 110 - Output device 120 - Navigation device

权利要求:
Claims (14)
[0001]
1. A route control device (100) comprising: an information acquisition unit configured to obtain object information, which includes a position of an object to avoid that a vehicle in question (V1) must avoid; a control unit configured to issue command information to drive the vehicle in question (V1) on the desired route (RT1), and a planning unit configured to: specify, as a group of objects to avoid, a plurality of objects to avoid located within a predetermined distance from the vehicle in question (V1) and present in the same lane adjacent to a lane in which the vehicle in question (V1) travels; plan a target route (RT1) for the vehicle in question (V1) according to the position of the object to avoid in order to avoid the object to avoid and the group of objects; define, when planning the target route (RT1), a lateral position of the target route (RT1) along a width direction of a lane in which the vehicle in question (V1) travels, the lateral position of the target route ( RT1) being planned in order to avoid the group of avoidable objects based on the position of the avoidable object that satisfies a predetermined condition among the avoidable objects that make up the group of avoidable objects, and CHARACTERIZED by the fact that the avoidance unit planning specifies the group of objects to avoid such that a number of objects to avoid is included in a group of objects to avoid equal to or less than a predetermined number.
[0002]
2. Route control device (100), according to claim 1, CHARACTERIZED by the fact that the planning unit specifies the plurality of objects to avoid whose relative speeds in relation to the vehicle in question (V1) are within of a predetermined range as the group of objects to avoid.
[0003]
3. Path control device (100), according to claim 1 or 2, CHARACTERIZED by the fact that the planning unit specifies the plurality of objects to avoid whose distances from the adjacent objects to avoid lie within a predetermined distance limit as the group of objects to avoid.
[0004]
4. Course control device (100), according to any one of claims 1 to 3, CHARACTERIZED by the fact that the planning unit specifies the objects to avoid whose distances between the objects to avoid and a lane marker to the along the width direction lie within a predetermined range as the group of objects to avoid, and the lane marker is one on one side of the vehicle in question (V1) among a pair of lane markers that define a lane in the which objects to avoid meet.
[0005]
5. Route control device (100), according to any one of claims 1 to 4, CHARACTERIZED by the fact that the planning unit extracts each of the objects to avoid in order of distance from the vehicle in question ( V1) along a direction of travel of the vehicle in question (V1) and specifies, for extracted avoid objects, respective groups of avoid objects, each of which includes the extracted avoid objects.
[0006]
6. Travel control device (100) according to any one of claims 1 to 5, CHARACTERIZED in that the planning unit updates the specified group of objects to avoid according to a travel distance or travel time. route of the vehicle in question (V1).
[0007]
7. Route control device (100), according to any one of claims 1 to 6, CHARACTERIZED by the fact that the planning unit defines the lateral position of the target route (RT1) in such a way that a distance between the target route (RT1) and the group of objects to avoid in the width direction is longer the closer a position of the object to avoid is in relation to the vehicle in question (V1) in the width direction, and the object to avoid is the closest to the vehicle in question (V1) along a direction of travel of the vehicle in question (V1) among the plurality of objects to be avoided included in the group of objects to be avoided.
[0008]
8. Route control device (100), according to any one of claims 1 to 7, CHARACTERIZED by the fact that the planning unit defines the lateral position of the target route (RT1) in such a way that a distance between the target route (RT1) and the group of objects to avoid in the width direction is longer the greater the width of the object to avoid, and the object to avoid is the closest to the vehicle in question (V1) along a direction path of the vehicle in question (V1) among the plurality of objects to be avoided included in the group of objects to be avoided.
[0009]
9. Route control device (100), according to any one of claims 1 to 8, CHARACTERIZED by the fact that the planning unit defines the lateral position of the target route (RT1) in such a way that a distance between the target route (RT1) and the group of objects to avoid in the width direction is longer the higher the lane occupation ratio of the object to avoid, and the object to avoid is the closest to the vehicle in question (V1) along a direction of travel of the vehicle in question (V1) from among the plurality of objects to be avoided included in the group of objects to be avoided, where the lane occupation ratio is defined as a ratio of a width of the object to be avoided to a width of a lane in which the object to avoid lies.
[0010]
10. Route control device (100), according to any one of claims 1 to 9, CHARACTERIZED by the fact that the planning unit defines the lateral position of the target route (RT1) in such a way that a distance between the target route (RT1) and the group of objects to avoid in the width direction is longer the closer a position of the object to avoid is in relation to the vehicle in question (V1) in the width direction, and the object to avoid is the closest to the vehicle in question (V1) along the width direction among the plurality of objects to be avoided included in the group of objects to be avoided.
[0011]
11. Route control device (100), according to any one of claims 1 to 10, CHARACTERIZED by the fact that the planning unit defines the lateral position of the target route (RT1) in such a way that a distance between the target route (RT1) and the group of objects to avoid in the width direction is longer the higher the relative speed of the vehicle in question (V1) in relation to the objects to avoid included in the group of objects to avoid.
[0012]
12. Path control device (100) according to any one of claims 1 to 11, CHARACTERIZED in that it further comprises a definition unit configured to define respective object areas based on the positions of a plurality of groups object to avoid, where the planning unit plans a route to avoid the respective object areas as the target route (RT1).
[0013]
13. Route control device (100), according to any one of claims 1 to 12, CHARACTERIZED by the fact that it also comprises an output unit configured to issue, abroad, one or more items of information among according to object information, information according to a position of the group of objects to avoid, information according to a target route location (RT1) and information according to the command information to drive the vehicle in question (V1) on the targeted route (RT1).
[0014]
14. Method of course control performed by a computer, the computer issuing command information to drive a vehicle in question (V1) on a target route (RT1), the method of course control comprising: obtaining object information including a position an object to avoid that the vehicle in question (V1) must avoid; specify, as a group of avoidable objects, a plurality of avoidable objects located within a predetermined distance from the vehicle in question (V1) and present in the same lane adjacent to a lane in which the vehicle in question (V1) traffic; and defining a target route lateral position (RT1) along a width direction of a lane on which the vehicle in question (V1) travels, the target route lateral position (RT1) being planned in order to avoid the group of objects to avoid based on the position of the object to avoid that satisfies a predetermined condition among the objects to avoid that make up the group of objects to avoid, and CHARACTERIZED by the fact that the path control method also comprises: specifying the group of objects to avoid in such a way that a number of objects to avoid is included in a group of objects to avoid equal to or less than a predetermined number.

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