• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
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    • 专利摘要:
    [Problem to be solved] Prevent acceleration, deceleration and lane departure due to excessive maneuvering intervention during a process of transition to back-up control by deviating from the operational design domain of the system during a change of automated lane. [Solution] In a driving control device for a vehicle having an ACC function to perform a constant speed trip in accordance with a target speed when there is no other vehicle ahead in its own lane. movement of a vehicle and performs a follow-up trip by maintaining a predetermined inter-vehicle distance when there is another vehicle ahead, a function of LKA to keep the trip in the vehicle's own lane by follow-up control on a target path, a function to perform an automated lane change to a neighboring lane when there is no other vehicle within a predetermined range in the neighboring lane, a neutralization function to stop the lane change function lane automated by intervention by driver maneuver, and a function to perform an emergency check of the automated lane change function, with notification to the driver of the stop of the automated lane change function and maneuver control, at the time of a deviation from an operational design domain of the system during the operation of the automated lane change function, the neutralization threshold values used criteria for determining the intervention per maneuver to stop the automated lane change function at the time of deviation from the operational design domain of the system are configured to be modified to take a value greater than that taken during normal operation in the field of operational design of the system. 4
    公开号:FR3093056A1
    申请号:FR2001064
    申请日:2020-02-03
    公开日:2020-08-28
    发明作者:Katsuhiko Sato
    申请人:Suzuki Motor Co Ltd；
    IPC主号:
    专利说明:

    [0001] The present invention relates to a drive control device for a vehicle, and more particularly, relates to an override function in a partially automated lane change system.
    [0002] Various technologies to reduce the burden on drivers and to support safe driving, e.g. adaptive cruise control systems (ACCS) and lane keeping assist systems (or LKAS, in English "lane keeping assistance systems"), have been put into practice. In addition, the practical implementation and international standardization of a "partially automated in-lane driving system" (PADS) and a partially automated lane changing system partially automated lane change system (or PALS) based on these technologies are encouraged.
    [0003] Such a drive control system is for driving support only and is different from fully automatic driving. A driver is required to place his hands on the steering wheel and keep an eye on the driving situation so that he can drive manually at any time, the driver must be able to react according to the situation, and the driving control system presents a neutralization function that switches to manual driving by intervention by the driver even when the system is in operation. Patent Document 1 describes a vehicle lateral displacement control device which determines the change speed (emergency speed) of an emergency control amplitude to switch to manual driving according to a change speed of a amplitude of steering maneuver introduced by a driver.
    [0004] Technical problem
    [0005] In Patent Document 1, if the change in the speed of the amplitude of the steering maneuver is significant, this is considered to be a steering intervention desired by the driver and the steering switches to manual steering within a period of short time, and if the shift of the amplitude of the steering maneuver is small, the emergency control is carried out by taking relatively longer time and the driving changes to manual driving. However, the significant change in the speed of the amplitude of the steering maneuver does not necessarily mean that it is a steering intervention desired by the driver, nor that an emergency control corresponding to the change in the speed of the amplitude of the steering maneuver does not necessarily mean suitable control for the state of movement of the vehicle.
    [0006] For example, in the partially automated lane changing system (PALS), an operational design domain (ODD) that is a condition for performing the automated lane changing is defined by a designer's intent, and if a condition of driving the vehicle deviates from the ODD during the automated lane change, the driver is informed by an advance notification of the stop of the automated lane change function and a request for maneuver takeover, and the ACC and automatic steering backup control are started after several seconds have elapsed.
    [0007] When the driver is informed by the advance notification of stopping the automated lane change function and requesting operation takeover due to deviation of the ODD, it can be assumed that the behavior of the vehicle becomes unstable due to override by excessive steering maneuver and override by excessive brake operation/throttle operation by the driver who is overwhelmed by the notification.
    [0008] For example, as shown in Figure 5B, if a vehicle 1 receives a gust of wind in a sideways direction during an automated lane change and the driving condition is determined to have deviated from the ODD, the driver is notified when the automated lane change has stopped and the steering and braking/steering takeover request has been requested, and if the driver who is overwhelmed by the notification makes excessive left steering (subtractive steering ) so as to cause a neutralization, the behavior may become unstable due to the steering and the vehicle may deviate to a left lane as indicated by the reference sign OL in Fig. 5C. In addition, if the driver who is overwhelmed by the notification makes an excessive rightward steering (additive steering) in such a way as to cause an override, the behavior may become unstable due to the steering and the vehicle may deviate into a straight lane. as indicated by the reference sign OR in FIG. 5C.
    [0009] In addition, as shown in Figure 6B, if the driver who is overwhelmed by the notification performs an excessive braking maneuver in such a way as to cause an override, the behavior may become unstable due to deceleration and the vehicle may approach d 'a following vehicle 4 (4') as indicated by the reference sign OB in FIG. 6C. In addition, if the driver overwhelmed by the notification makes an excessive maneuver of the accelerator to cause a neutralization, the acceleration can cause the vehicle to approach a vehicle in front 2 (2') or cause the vehicle to s move out of the way as indicated by a reference sign OA in FIG. 6C.
    [0010] The present invention has been made considering the actual situation described above, and an object of the invention is to prevent acceleration/deceleration and lane departure which are due to excessive shunting intervention during a process of transition to backup control by a deviation from the operational design domain of the system during an automated lane change.
    [0011] Technical solution
    [0012] In order to solve the problems described above, the present invention is a driving control device for a vehicle, comprising: a surrounding condition estimating part including a surrounding recognition function for recognizing a lane of the vehicle and neighboring lanes and other vehicles in the lanes and a function for obtaining the traveling state of the vehicle; a trajectory generating part for generating a target trajectory based on information obtained by the surrounding condition estimating part; and a vehicle control part for performing speed control and steering control to cause the vehicle to follow the target course, and having: an ACC function for performing a constant speed course in accordance with the target speed when there is no other vehicle ahead in the lane of the vehicle, and for performing a following course maintaining the inter-vehicle distance predetermined when there is another vehicle ahead; an LKA function for maintaining a course in the vehicle lane by tracking control to the target trajectory; a function for performing an automated lane change to a neighboring lane when there is no other vehicle within a predetermined range in the neighboring lane; a neutralization function to stop the lane change function by intervention by the driver; and a function for carrying out a backup control of the automated lane change function, with notification to the driver of the stopping of the automated lane change function and taking control of maneuvers, at the time of a departure from an area of operational design of the system during operation of the automated lane change function, wherein the override threshold values serving as criteria for determining maneuver intervention to stop the automated lane change function at the time of a deviation from the operational design domain of the system are configured to be changed to a value greater than that taken during normal operation within the operational design domain of the system.
    [0013] In another aspect, the deviation from the operational design domain of the system is determined based on whether any of the vehicle states obtained by the surrounding condition estimating part, traffic environments, including lane insertions and sudden braking of other vehicles, surrounding conditions, including a change in roadway, and road conditions, including the disappearance of a lane marking, reduction in the number of lanes, and a section lane merging section and a lane separating section obtained by the surrounding condition estimating part using the map information and the positioning means deviates from the operational design domain of the system.
    [0014] In another aspect, the priority threshold values include a throttle override threshold value serving as a throttle intervention determining criterion and/or a brake override threshold value serving as a determination of intervention by brake operation.
    [0015] In another aspect, the override threshold values include a steering override threshold value serving as a criterion for determining steering maneuver intervention.
    [0016] In another aspect, the override threshold values at the time of departure from the operational design domain of the system are configured to be retained from notification of shutdown of the automated lane change function and taking Maneuver Control to terminate Emergency Control.
    [0017] Benefits provided
    [0018] According to the driving control device for a vehicle according to the present invention, because the neutralization threshold values serving as a criterion for determining an intervention by maneuver relating to steering and braking/driving are modified to take a value greater than that taken during normal operation within the operational design domain of the system when a driving condition is determined to be a deviation from the operational design domain of the system during an automated lane change, if a driver who is overwhelmed by Automated lane change function shutdown early notification and shunting takeover notification performs excessive shunting intervention, override can be avoided, allowing switch to back-up control of the automated lane change function automated lane change, can prevent acceleration/deceleration, lane departure and the like resists excessive maneuvering intervention, and is advantageous for smooth maneuvering takeover.
    [0019] Other characteristics, details and advantages of the invention will appear on reading the detailed description below, and on analyzing the appended drawings, in which:
    [0020] Fig. 1
    [0021] is a schematic view showing a driving control system of a vehicle;
    [0022] Fig. 2
    [0023] is a schematic plan view showing a group of external sensors of the vehicle;
    [0024] Fig. 3
    [0025] is a block diagram showing the driving control system of the vehicle;
    [0026] Fig. 4
    [0027] is a flowchart showing the override prevention control due to oversteering at the time of an ODD deviation during an automated lane change;
    [0028] Fig. 5
    [0029] Fig. 5A is a schematic plan view illustrating an example of an automated lane change, FIG. 5B is a schematic plan view illustrating an example of ODD deviation during an automated lane change, and FIG. 5C is a schematic plan view illustrating an example of oversteering override at the time of ODD deviation during automated lane change and preventive control thereof;
    [0030] Fig. 6
    [0031] Fig. 6A is a schematic plan view illustrating an example of an automated lane change, FIG. 6B is a schematic plan view illustrating an example of ODD deviation during an automated lane change, and FIG. 6C is a schematic plan view illustrating an example of overriding excessive braking/acceleration at the time of ODD deviation during automated lane change and preventive control thereof;
    [0032] Fig. 7
    [0033] Fig. 7A is a schematic plan view illustrating an example of an automated lane change, and FIG. 7B is a schematic plan view illustrating an example of oversteering override at the time of ODD deviation (lane marking loss) during automated lane change and preventive control thereof;
    [0034] Fig. 8
    [0035] Fig. 8A is a schematic plan view illustrating an example of an automated lane change, and FIG. 8B is a schematic plan view illustrating an example of braking override/excessive override at the time of ODD deviation (lane marking loss) during automated lane change and preventive control thereof;
    [0036] Fig. 9
    [0037] Fig. 9A is a schematic plan view illustrating an automated lane change in a merge section, FIG. 9B is a schematic plan view illustrating an example of ODD deviation during an automated lane change in the merge section, and FIG. 9C is a schematic plan view illustrating an example of overriding prevention control of excessive braking/acceleration at the time of ODD deviation during automated lane change in the merge section;
    [0038] Fig. 10
    [0039] Fig. 10A is a schematic plan view illustrating an automated lane change in a separation section, FIG. 10B is a schematic plan view illustrating an example of ODD deviation during an automated lane change in the separation section, and FIG. 10C is a schematic plan view illustrating an example of overriding prevention control of excessive braking/acceleration at the time of departure from the ODD during an automated lane change in the separation section.
    [0040] Hereinafter, an embodiment of the present invention is described in detail with reference to the drawings.
    [0041] In Fig. 1, a vehicle 1 equipped with a driving control system according to the present invention comprises, in addition to common components, such as an engine and a vehicle body, of an automobile, an external sensor 21 for detecting an environment around the vehicle, an internal sensor 22 for detecting vehicle information, a controller/actuator group for speed control and steering control, an ACC controller 14 for inter-vehicle distance control, a controller of LKA 15 for lane keeping support control and 10 automated driving controller to control them and perform lane following control and partially automated lane driving (PADS) and partially automated lane changing (PALS) in order to carry out, on the vehicle side, recognitions, determinations and actuations conventionally carried out by a driver.
    [0042] The controller/actuator group for speed control and steering control includes an EPS controller 31 (Electric Power Steering) for steering control, a motor controller 32 for acceleration/deceleration control and an ESP/ABS controller 33. An ESP (registered trademark: Electronic Stability Program, or Electronic Stabilization Program) includes an ABS (in English Antilock Brake System, or Antilock Braking System) for form a stability control system (vehicle behavior stabilization control system).
    [0043] The external sensor 21 is composed of a plurality of detection means for sensing lane markings on a road defining the vehicle's own lane of travel and the neighboring lane, and the presence of other vehicles, obstacles, people and the like. , and their relative distance, around the vehicle in the automated driving controller 10 as image data or point cloud data.
    [0044] For example, as shown in Fig. 2, the vehicle 1 comprises a millimeter wave radar (211) and a camera (212) forming front detection means 211 and 212, LIDAR (in English Laser Imaging Detection And Ranging, or Detection and Location by Light) forming means front side direction detecting means 213 and rear side direction detecting means 214, and a camera (rear camera) forming rear detecting means 215, cover 360 degrees around the vehicle, and can detect positions and distances from vehicles, obstacles and the like, and positions of lane markings within a predetermined distance in the front, rear, left and right directions of the vehicle.
    [0045] The internal sensor 22 is composed of a plurality of sensing means, such as a vehicle speed sensor, a yaw rate sensor, and an acceleration sensor, for measuring physical quantities representing the motion state of the vehicle, and their measured values are input to the automated driving controller 10, the ACC controller 14, the LKA controller 15 and the EPS controller 31 as shown in FIG. 3.
    [0046] The automated driving controller 10 includes a surrounding condition estimation part 11, a trajectory generating part 12 and a vehicle control part 13, and includes a computer for performing functions as described below. i.e. a ROM (Read-Only Memory) for storing programs and data, a CPU (Central Processing Unit) for processing arithmetic, a RAM (Random Access Memory) for reading programs and data and storing dynamic data and arithmetic processing results, an input/output interface, and the like.
    [0047] The surrounding condition estimating part 11 acquires the absolute position of the vehicle itself by combining the own position information of the vehicle by positioning means 24 such as GPS and map information, and on the basis of data such as image data and point cloud data obtained by the external sensor 21, estimates the lane marking positions of the vehicle's own lane and neighboring lanes, as well as the positions and speeds of others vehicles. In addition, it acquires the state of movement of the vehicle itself from internal data measured by the internal sensor 22.
    [0048] The trajectory generating part 12 generates a target trajectory from the vehicle's own position estimated by the surrounding condition estimating part 11 to an arrival target. It refers to map information 23 and generates a target trajectory from the vehicle's own position to a target arrival point by changing lanes based on the positions of the lane markings of the neighboring lane, the positions and speeds of other vehicles and the moving state of the vehicle itself estimated by the surrounding condition estimating part 11.
    [0049] The vehicle control part 13 calculates a target speed and a target steering angle based on the target trajectory generated by the trajectory generating part 12, transmits a speed command for constant speed travel or distance keeping inter-vehicle and tracking course to the ACC controller 14, and transmits a steering angle command for course tracking to the EPS controller 31 via the LKA controller 15.
    [0050] Vehicle speed is also input to EPS controller 31 and ACC controller 14. Because steering torque changes depending on vehicle speed, EPS controller 31 refers to a torque map of steering-steering angle for each vehicle speed and transmits a torque command to a steering mechanism 41. The motor controller 32, the ESP/ABS controller 33 and the EPS controller 31 control a motor 42, a brake 43 and the steering mechanism 41 and thus control the movement of the vehicle 1 in a longitudinal direction and a lateral direction.
    [0051] (Overview of Partially Automated Lane Driving System and Partially Automated Lane Changing System)
    [0052] Next, the outlines of a Partially Automated Lane Driving System (PADS) and a Partially Automated Lane Changing System (PALS) are explained assuming driving on a highway.
    [0053] Partially Automated in-Lane Driving (PADS) is activated in a state in which both the ACC controller 14 included in the ACCS and the LKA controller 15 included in LKAS works in conjunction with the Automated Driving Controller 10.
    [0054] Simultaneously with the operation of the lane partially automated driving system, the automated driving controller 10 (trajectory generation part 12) generates a target trajectory within a single lane and a target speed based on the external information (lanes, position of the vehicle, and positions and speeds of other vehicles traveling in the own lane and in the neighboring lane) obtained by the surrounding conditions estimation part 11 via the external sensor 21, and the internal information (speed of the vehicle, yaw rate and acceleration) obtained by the internal sensor 22.
    [0055] The automated driving controller 10 (vehicle control part 13) estimates the speed, attitude and lateral displacement of the vehicle after Δt seconds from a relationship between a yaw rate γ and a lateral acceleration (d²y/dt² ) arising due to vehicle motion by the vehicle's own motion and position characteristics, i.e., a front wheel steering angle δ occurring when a steering torque T is applied to the mechanism direction 41 during travel at a vehicle speed V, gives a steering angle command to the EPS controller 31 via the LKA controller 15, causing the lateral displacement to reach "yt" after Δt seconds, and giving a speed command to the ACC controller 14, changing the speed to "Vt" after Δt seconds.
    [0056] Although the ACC controller 14, LKA controller 15, EPS controller 31, engine controller 32 and ESP/ABS controller 33 work independently of automatic steering, they can also be used depending on command input from the automated driving controller 10 while a partially automated lane driving function (PADS) and the automated lane changing system (PALS) are operating.
    [0057] The ESP/ABS controller 33 which has received a deceleration command from the ACC controller 14 sends a hydraulic command to an actuator and controls the braking force of the brake 43 so as to control the speed of the vehicle. Further, a motor controller 32 which has received an acceleration/deceleration command from the ACC controller 14 controls an actuator output (throttle valve opening degree) to give the motor 42 a torque command and controls the driving force to control vehicle speed.
    [0058] The ACC function (ACCS) works with a combination of hardware and software, such as the millimeter wave radar forming the front sensing means 211 included in the external sensor 21, the ACC controller 14, the engine controller 32 and the ESP/ABS controller 33.
    [0059] That is, in a case where there is no vehicle ahead, the ACC function performs a constant speed course by setting a set course control speed as the target speed; and in a case of following up the vehicle in front (in a case where a speed of the vehicle in front is less than the set course control speed), the ACC function performs a following course by following the vehicle in front while maintaining an inter-vehicle distance corresponding to a time interval (inter-vehicle time = inter-vehicle distance/vehicle speed) defined as a function of the speed of the vehicle in front .
    [0060] The LKA (LKAS) function detects the lane markings and the vehicle's own position via the surrounding condition estimation part 11 of the automated driving controller 10 based on image data obtained via the external sensor 21 (cameras 212 and 215), and performs steering control via LKA controller 15 and EPS controller 31 so as to be able to run in the center of a lane.
    [0061] That is, the EPS controller 31 which received the steering angle command from the LKA controller 15 refers to a steering torque-steering angle-vehicle speed map, issues a torques to an actuator (EPS motor), and gives a front wheel steering angle targeted by the steering mechanism 41.
    [0062] The partially automated lane driving (PADS) function is implemented by combining longitudinal control (speed control and inter-vehicle distance control) by means of the ACC controller 14 and lateral control (direction control and inter-vehicle distance control). lane keeping driving) by means of the LKA controller 15 as described above.
    [0063] Partially Automated Lane Change System (PALS) allows the system to automatically perform a lane change by driver instruction or approval and is implemented by combining longitudinal control (speed control and distance between vehicles) by the ACC controller 14 and lateral control (target path following control by automatic steering) by the LKA controller 15 in the same way as for partially automated driving (PADS driving).
    [0064] At the same time as the partially automated lane change system is activated, the automated driving controller 10 (trajectory generation part 12) constantly generates a target trajectory for a lane change from a current traffic lane to an adjacent one. based on external information (lane markings of the vehicle's own traffic lane and the adjacent lane, and positions and speeds of other vehicles traveling in the vehicle's own traffic lane and the adjacent lane) obtained by the party estimation of surrounding conditions 11 through the external sensor 21, and internal information (vehicle speed, yaw rate and acceleration) obtained by the internal sensor 22.
    [0065] The automated lane change target trajectory is a trajectory that leads from the current driving lane to a driving state in the center of the neighboring lane via a lane change; for other vehicles traveling in the neighboring lane, their future positions and speeds are predicted, and an automated lane change to the neighboring lane by automatic steering is performed if it is determined that there is no other vehicle in a front zone ZF, a rear zone ZR, and the side zone ZL of the neighboring lane configured according to the speed of the vehicle and the driver orders the lane change by actuating a turn signal or the like as shown in FIG. 5A to 10C.
    [0066] (Monitoring and Detection of a Deviation from the ODD)
    [0067] Conditions routières : autoroute (deux voies ou plus d'un côté, marquages de voie en pointillés et courbure de la ligne principale de 300 R ou plus), et route générale (trois voies ou plus d'un côté, marquages de voie en pointillés, largeur de voie de 3,25 m ou plus, et ligne droite) ; Conditions géographiques : différentes des zones urbaines et des zones montagneuses (géorepérage) ; Conditions environnantes : météo (ciel clair, nuageux, ou pas de vent) et fuseau horaire (restrictions nocturnes) ; Environnements de circulation : déplacement d’autres véhicules (insertions dans la voie et freinage brusque) et règles de circulation (limitation de vitesse et interdiction de changement de voie) Etats du véhicule : vitesse du véhicule (dans la limite de vitesse), accélération /décélération longitudinale et latérale (dans les limites d'accélération /décélération), dans les autres limites du système, et absence de défaillance du système ; et Etats du conducteur : absence d’anomalie du conducteur, absence de manœuvre erronée du conducteur, etc. In the Partially Automated Lane Driving System (PADS) and Partially Automated Lane Changing System (PALS), an Operational System Design Domain (ODD) that is a condition for performing the Partially Automated Lane Driving and an automated lane change is defined by designer intent. The Operational Design Domain (ODD) includes the following. Road conditions: highway (two or more lanes on one side, dashed lane markings and main line curvature of 300 R or more), and general road (three or more lanes on one side, dashed lane markings , track width of 3.25 m or more, and a straight line); Geographical conditions: different from urban areas and mountainous areas (geofencing); Surrounding conditions: weather (clear sky, cloudy, or no wind) and time zone (night restrictions); Traffic environments: movement of other vehicles (entry into the lane and sudden braking) and traffic rules (speed limit and lane change ban) Vehicle states: vehicle speed (within speed limit), longitudinal and lateral acceleration/deceleration (within acceleration/deceleration limits), within other system limits, and no system faults; and Driver states: absence of driver anomaly, absence of erroneous driver maneuvers, etc.
    [0068] The conditions that should be especially monitored from the above include suddenly changing surrounding conditions such as precipitation, snowfall, gusts and crosswinds, and a change in the road surface (wet and snow accumulation), and they can be detected from image analysis or the like of the camera included in the front detection means 212 (e.g., image analysis of the road surface for precipitation and snowfall). snow, and image analysis of a flow detector for crosswind), and it is also determined that an ODD deviation has occurred when the ESP (vehicle behavior stabilization control system / skid prevention device) is activated due to a change in the road surface or a slope on the side of the road.
    [0069] In addition, as a driving maneuver environment, it is determined that a deviation of the ODD also occurred when a pursuit of a hands-free period (steering torque sensor), when a release a seat belt (seat belt switch), when high speed operation of the windshield wipers (wiper switch), when opening a door (door switch), when the power off (system stop switch) or gear shift (gear switch) is detected.
    [0070] Additionally, for the Partially Automated Lane Change System (PALS), it is determined that an ODD deviation also occurred upon detection of the intrusion, lane insertion or the like of another vehicle in the front zone ZF, the rear zone ZR and the side zone ZL of the neighboring lane comprising the target trajectory described above.
    [0071] During the operation of the partially automated lane driving system (PADS) or during a lane change automated by the partially automated lane changing system (PALS), the surrounding condition estimating part 11 monitors whether the driving states of the vehicle, road conditions, geographical conditions, surrounding conditions and traffic conditions such as the movement of other vehicles are kept within the range of the ODD based on the external information obtained through the external sensor 21, vehicle information obtained through the internal sensor 22, map information 23 and position information obtained by the positioning means 24, and if a deviation of the ODD is detected, the driving maneuver authority is delegated from the system to the driver, and driving has changed from partially automated lane driving or automated lane changing to manual driving her. This point will be described later.
    [0072] (Neutralization function)
    [0073] During operation of the Partially Automated Lane Driving System (PADS) or during an automated lane change by the Partially Automated Lane Changing System (PALS), Longitudinal Control System (ACCS) and Lateral Control System (LKAS) ) can be neutralized by the driver.
    [0074] The longitudinal control system (ACCS) is neutralized if an engine torque request by operation of the driver's accelerator pedal or a deceleration request by operation of the brake pedal is equal to or greater than a corresponding neutralization threshold value. These neutralization threshold values are defined on an accelerator maneuver amplitude (engine torque command value) or on a brake maneuver amplitude (ESP hydraulic command value) on the basis of which it is determined that the driver intentionally performed an acceleration/deceleration maneuver, and both are defined according to the acceleration/deceleration characteristic and the running state of the vehicle.
    [0075] In other words, overriding ACC stops ACC control if a maneuvering range or maneuvering speed, on the basis of which it is determined that the driver has performed an accelerator pedal maneuver or a brake pedal with the intention of accelerating or decelerating relative to the vehicle's control speed, is applied to the accelerator pedal or the brake pedal, and switches to driving by maneuvering the accelerator and brake by the driver.
    [0076] The lateral control system (LKAS) for performing automatic steering in support of lane keeping and for automated lane change is overridden if a steering torque by manual steering by the driver 34 is equal to or greater than the override threshold value . The steering intervention override threshold value is set according to the steering characteristic and the running state of the vehicle.
    [0077] That is, steering override stops automatic steering and LKA control if a maneuvering range or maneuvering speed on the basis of which it is determined that the driver has made a steering with an intention to Additive steering (in the same direction) or subtractive steering (in the opposite direction) with respect to the control steering torque is applied to a steering system, and switches to manual steering by the driver.
    [0078] (Stop of the System Function and Switch to Emergency Control Mode in the event of Deviation from the ODD)
    [0079] During automated lane changing by the Partially Automated Lane Changing System (PALS), if a deviation from the ODD due to, for example, a gust is detected, the automated lane changing function (functions of ACC and auto steering) switches to an emergency control mode. At this time, the driver is first notified of the automatic stop of the lane change function (stop of the ACC and automatic steering functions) and of a request to take control of maneuvers (request to take control of control), and the automated lane change function backup control (ACC and auto-steering functions) is initiated after a prescribed wait time (e.g., four seconds) has elapsed.
    [0080] The backup control of ACC gradually reduces an acceleration/deceleration command value (vehicle speed command) input to the motor controller 32 down to 0 km/h/s with a predetermined inclination, and also reduces progressively a deceleration command value entered in the ESP controller down to 0 m/s² with a predetermined inclination.
    [0081] The automatic steering backup control gradually reduces the steering torque command value (steering angle command) input to the EPS controller to 0 Nm with the predetermined inclination. When the backup control of ACC and automatic steering are completed, the acceleration/braking maneuver and the steering maneuver are taken over by the driver.
    [0082] As described above, when an ODD deviation is detected during an automated lane change, the ACC and autosteer functions switch to backup control mode; and at this time, as already described above, lane departure due to excessive steering intervention (steering override) and acceleration/deceleration behavior due to throttle/brake intervention excessive (ACC override) may occur, by the driver being overwhelmed by notification of automated lane change stop and takeover request.
    [0083] (Excessive Operation Prevention Function in the event of deviation from the ODD)
    [0084] The automated driving controller 10 according to the present invention has an oversteer prevention function which, at the time of stopping the automated lane change and taking over steering and braking/steering control by the driver when an event that deviates from the ODD is detected during the automated lane change, changes the ACC override threshold value and the steering override threshold value to take on a value greater than that taken during normal operation during a period from early notification of automated lane change termination to automated lane change termination (e.g. lapse of four seconds after notification-initiation of ACC backup control and auto-steering-end of ACC and auto-steering backup control).
    [0085] By increasing the ACC override threshold value and steering override threshold value at the time of ODD deviation, an override condition is avoided and ACC and auto steering control are continued, as well as excessive acceleration/deceleration and steering are suppressed, and lane departure and the like can be avoided even if the driver is overwhelmed by stopping the automated lane change performs excessive throttle/coil intervention brake or steering maneuver and applies a wide range of maneuver that would cause acceleration/deceleration and lane departure before the threshold value change.
    [0086] 1. ACC Neutralization Threshold Value
    [0087] First, a function of over-steer prevention by modifying the ACC override threshold value is described below. An excessive steering prevention function by modifying the steering neutralization threshold value will be described later.
    [0088] (Throttle Override Threshold value in system ODD/during Normal Operation)
    [0089] If an engine torque command value by pressing the accelerator by the driver is greater than an engine torque command value for maintaining the speed defined by the ACC (defined speed of movement, or speed following the vehicle located front) or the acceleration defined by the ACC, a neutralization of the accelerator is reached and priority is given to the operation of the accelerator by the driver. The threshold value is obtained from an engine torque map defined as a function of the vehicle speed and the position of the gearbox, and an engine torque command value which gives an acceleration corresponding to, for example, a speed of 4 km/h, at the speed set by the ACC or an engine torque command value causing an acceleration corresponding to 0.3 m/s² on the acceleration set by the ACC is set as the value Td threshold.
    [0090] (Brake Override Threshold value in system ODD/during Normal Operation)
    [0091] If an ESP hydraulic control causing a deceleration in relation to the set speed of the ACC (set speed of travel or following speed of the vehicle in front) or a set acceleration of the ACC is given by pressing the brake by the driver, a neutralization of the brake is reached and priority is given to the brake operation by the driver. An ESP hydraulic control value that causes a deceleration corresponding to, for example, a speed of 2 km/h from the speed set by ACC or an ESP hydraulic control value that causes a deceleration corresponding to 0.2 m/s² relative to the acceleration set by ACC is set as the Pd threshold value.
    [0092] (Accelerator Neutralization Threshold value during Deviation from ODD)
    [0093] A value greater than the threshold value for ACC override of the throttle during normal operation, preferably in the range of 120% to 250%, and more preferably in the range of 150% to 220% of the value Throttle override threshold by ACC during normal operation is selected. For example, an engine torque command value that gives an acceleration corresponding to a speed of 8 km/h compared to the speed set by the ACC or an engine torque command value that causes an acceleration corresponding to 0.6 m /s2 relative to the acceleration set by ACC is set as the threshold value To.
    [0094] (Brake Neutralization Threshold value during Deviation from ODD)
    [0095] A value greater than the ACC brake override threshold value during normal operation, preferably within the range of 120% to 250%, and more preferably within the range of 150% to 220% of the threshold value of brake override by ACC during normal operation is selected. For example, an ESP hydraulic control value that causes a deceleration corresponding to a speed of 4 km/h compared to the speed set by the ACC or an ESP hydraulic control value that causes a deceleration corresponding to 0 .4 m/s² relative to the acceleration set by ACC is set as threshold value Po.
    [0096] 2. Steering Override Threshold Value
    [0097] The over-steering prevention function by changing the steering override threshold value is described below.
    [0098] (Steering Override Threshold value in system ODD/during Normal Operation)
    [0099] For an additive steering neutralization threshold value in the ODD of the system during normal operation, a steering torque (steering torque calculated from the steering torque-steering angle-vehicle speed map) corresponding to a steering angle by which a virtual lateral displacement "y't" to reach a virtual lateral position after "t" seconds becomes "yt+α" is set to an additive steering override threshold value T1d, where "α" is a constant determined on the basis of vehicle speed.
    [0100] In the case of subtractive steering, a value that is perceptible (determined by steering angle, steering angle speed, or the like) and is applied in the direction of a reduction in steering torque to take on a value (steering torque target value) obtained by converting a steering angle by which a virtual lateral displacement "yt" to reach a virtual lateral position after "t" seconds becomes "yt+α" into a steering torque is defined on a subtractive steering override threshold value T2d, where "α" is a determined constant based on vehicle speed.
    [0101] (Steering Neutralization Threshold value during Deviation from ODD)
    [0102] For an additive steering neutralization threshold value, a value obtained by converting a steering angle calculated from the virtual lateral displacement "y''t" (= yt + β, where β>α) at the time of deviation from the ODD and with the vehicle displacement characteristics from the virtual lateral displacement "yt" in the system ODD/during normal operation in a steering torque is set to an additive steering override threshold value T1o.
    [0103] For a subtractive steering override threshold value, a value obtained by converting a steering angle calculated from the virtual lateral displacement "y"t" (= yt - γ, where "γ" is greater than a lateral displacement corresponding to a steering torque X' Nm) at the time of ODD deviation and with the vehicle displacement characteristic relative to the virtual lateral displacement "yt" in the system ODD/during normal operation into a steering torque is defined on a subtractive steering neutralization threshold value T2o.
    [0104] (Excessive Maneuvering Prevention Flow at the time of a deviation from the ODD during an Automated Lane Change)
    [0105] In the following, an override prevention flow by overriding threshold value change when an ODD deviation event occurs during an automated lane change is described with reference to Fig. 4.
    [0106] (1) Automated Lane Change by Partially Automated Lane Change System (PALS)
    [0107] When the driver performs a turn signal operation in the direction of a neighboring lane in a state in which it is determined that there is no other vehicle in the front zone ZF, the rear zone ZR and the side zone ZL of the neighboring lane (the automated lane change signal is activated) during PADS driving (ACCS and LKAS) by the partially automated lane driving system, an automated lane change is started in the direction of the center of the neighboring lane as the target position (step 100).
    [0108] (2) Determination of a Deviation from the ODD
    [0109] During the partially automated lane changing system (PALS), it is monitored by the surrounding condition estimating part 11 whether the vehicle driving states, road conditions, geographical conditions, surrounding conditions and traffic conditions such as the movement of other vehicles are kept within the range of the ODD based on the external information obtained via the external sensor 21, the vehicle information obtained via the internal sensor 22, the map information 23 and position information obtained by the positioning means 24 (step 101).
    [0110] (3) Deviation Signal to ODD
    [0111] During PALS automated lane change, if it is determined that an ODD deviation has occurred based on, for example, that a gust in the lateral direction is received as shown in Fig. 5B and 6B, a lane marking loss condition such that the disappearance of a lane marking continues for a predetermined time as illustrated in FIG. 7B and 8B, an intrusion, insertion or the like of another vehicle in the front zone ZF, the rear zone ZR and the side zone ZL is detected as illustrated in FIG. 9B and 10B, an ODD gap indicator is set (step 102).
    [0112] (4) Automated Lane Change Stop and Maneuver Takeover Notification
    [0113] At the same time, the driver is notified of stopping automated lane change (stopping ACC and auto-steering functions) and taking control of maneuvers due to ODD deviation by display on a head-up display or by a panel of indicators or by a voice. Simultaneously, the countdown of a waiting time (for example, four seconds) until a transition to the emergency control of ACC and automatic steering is started.
    [0114] (5-1) Change of ACC Neutralization Threshold Value
    [0115] Simultaneously, the throttle override threshold value Td and the brake override threshold value Pd of the ACC in the system ODD / during normal operation are changed to take the throttle override threshold value To (To>Td) and threshold value for neutralizing the brake Po (Po>Pd) at the time of the deviation from the ODD, respectively (step 103).
    [0116] (5-2) Change of Steer Override Threshold Value
    [0117] Simultaneously, the steering override threshold values (T1d additive steering and T2d subtractive steering) in the system ODD/during normal operation are changed to the steering override threshold values (T1o additive steering and T2o subtractive steering) at the time of deviation from the ODD (step 203).
    [0118] In other words, a value is calculated converting a steering angle calculated from the lateral displacement distance "yt" at that time and the vehicle's displacement characteristics into a steering torque, and the threshold values of steering neutralization (steering additive T1o and subtractive steering T2o) at the time of system ODD are set.
    [0119] (6) Determination if an Acceleration/Braking Maneuver and a Manual Steering are Performed
    [0120] At this point, the ACC and automatic steering are still in operation, and it is determined whether an accelerator or brake operation is performed by the driver or not with position sensors attached to the accelerator and brake pedals. brake; and simultaneously, it is determined whether a manual steering 34 is performed, with a torque sensor attached to the EPS controller 31 (step 104).
    [0121] (7-1) Determination of Acceleration/Deceleration Request
    [0122] When the accelerator operation or the brake operation by the driver is detected in step 104, it is determined whether the neutralization by the driver is an acceleration request or a deceleration request (step 105).
    [0123] (8-1) Determination of accelerator neutralization
    [0124] In the case of the acceleration request, the engine torque command value by the driver's accelerator depression is compared with the priority threshold value To (step 106). i) If the engine torque command value T > the neutralization threshold value To, it is determined that the maneuver is an accelerator neutralization and the neutralization is executed immediately, by switching to manual driving. ii) If the engine torque command value T ≤ To, override is not executed and ACC and auto steering continue.
    [0125] (9-1) Determination of Brake Neutralization
    [0126] In the case of the deceleration request, the value of ESP hydraulic control by pressing the brake by the driver is compared with the neutralization threshold value Po (step 107). i) If the ESP hydraulic control value P > Po, it is determined that the maneuver is a braking neutralization and the neutralization is carried out immediately, by switching to manual operation. (ii) If ESP hydraulic control value P ≤ Po, override is not executed and ACC and auto steering continue.
    [0127] (7-2) Determination of Steering Direction
    [0128] When it is determined that a manual steering is performed from a detection value of the torque sensor connected to the EPS controller 31 in step 104, a steering direction of the manual steering 34 is determined (step 205 ).
    [0129] For the determination of the steering direction, it is determined that it is an additive steering if the torque is applied to the steering torque value calculated in step 203 in a direction of increasing the torque of steering, and it is determined that it is a subtractive steering if the torque is applied in a direction of decreasing the steering torque.
    [0130] (8-2) Determination of Additive Steering Neutralization
    [0131] If it is determined that the steering direction is additive steering when determining the steering direction, the steering torque is compared with the additive steering override threshold value T10 (step 206). i) If the steering torque > the additive steering neutralization threshold value T1o, it is determined that the maneuver is a neutralization and the neutralization is executed immediately, switching to manual steering. ii) If the steering torque < the additive steering neutralization threshold value T1o, neutralization is not performed and driving by ACC and automatic steering continues.
    [0132] (9-2) Determination of Subtractive Steering Override
    [0133] If it is determined that the steering direction is a subtractive steering when determining the steering direction, the steering torque is compared with the subtractive steering override threshold value T20 (step 207). i) If the steering torque > the subtractive steering neutralization threshold value T2o, it is determined that the maneuver is a neutralization, and the neutralization is executed immediately, switching to manual steering. ii) If the steering torque ≤ the subtractive steering override threshold value T2o, override is not executed and ACC and autosteering continue.
    [0134] (10) Determination of Takeover Elapsed Duration - Initiation of Backup ACC Control and Auto Steering
    [0135] In the case where the ACC and the automatic steering continue with the neutralization determinations (steps 105-107 and steps 205-207), the count of an elapsed time from the notification of a stoppage of the lane change (stopping the ACC and automatic steering functions) and the maneuvering control of step 102 continues (step 108), and the backup control of ACC and automatic steering is initiated when the duration of wait (four seconds) has elapsed (step 110).
    [0136] ACC backup control: the acceleration/deceleration command value (vehicle speed command) input to the motor controller 32 is gradually reduced to 0 km/h/s with the predetermined inclination, and the deceleration command value input to the ESP controller 33 is also reduced to 0 m/s² with the predetermined inclination.
    [0137] Automatic steering backup control: A steering torque command value entered into the EPS controller is gradually reduced to 0 Nm with a predetermined inclination.
    [0138] (11) End of ACC and Auto-Steering Emergency Control - Termination of ACC and Auto-Steering Functions and Taking Control of Maneuvers
    [0139] When the ACC and auto-steering backup control ends, the ACC and auto-steering functions are stopped and the driver's maneuver takeover is executed (step 111), proceeding to a maneuver of the accelerator/brake and steering by the driver (step 112).
    [0140] Although oversteer override at the time of ODD deviation can be fundamentally prevented by changing the override threshold value as described above, if the oversteer override is equal to or greater than the threshold value of Override Upon determining override described above (steps 206 and 207), the ACC and automatic steering functions will be overridden by manual steering.
    [0141] When the neutralization threshold value is modified at the time of the deviation from the ODD (step 203), by modifying an upper limit value of the steering torque or of the steering angle (in inverse proportion to the speed of the vehicle/ decreases as the vehicle speed increases) set in accordance with the vehicle speed in the EPS controller 31 to take a lower value than that taken during normal operation in the system ODD, excessive steering may be prevented when overridden by manual steering.
    [0142] When the threshold value of neutralization at the time of the deviation from the ODD is modified (step 203), by changing a steering gain of the manual steering to give it a small value via the EPS controller 31, it It is also possible to partially reflect the steering amplitude on the steering torque when it is neutralized by the manual steering.
    [0143] It is preferable that the override threshold values at the time of ODD deviation be retained from the advance notification of the termination of ACC and automated steering functions and the notification of maneuver takeover until the end of the backup check. By doing so, maneuvering control can be gradually performed in a state in which steering control by the auto-steering function and acceleration/deceleration control by the ACC function are partially active, a smooth maneuvering control can be performed, and additionally, because the override threshold values during normal operation are restored when the backup control of ACC and automatic steering is completed and a changeover to manual driving is completed, and thus, an advantage is that the state of override capability by maneuver intervention during normal operation is immediately achieved when the system is brought back into the ODD.
    [0144] (Operation and Effects)
    [0145] As detailed above, because the driving control device for the vehicle according to the present invention is configured such that the override threshold values serving as the criterion for determining maneuver intervention to stop the ACC function and the automatic steering function if an event that deviates from the ODD occurs during automated lane change by the Partially Automated Lane Change System (PALS) are changed to a higher value than that taken during normal operation In the ODD system, the effects of preventing excessive maneuvers can be expected in the cases illustrated below.
    [0146] (Example 1: Surrounding conditions; at the Moment of Deviation from ODD caused by a Gust)
    [0147] For example, as shown in Fig. 5A, in a situation in which there is another vehicle 2 at the front in a lane 52 of vehicle 1 and there is another vehicle following 4 at the rear of a neighboring lane on the right side 53 but the other following vehicle 4 is out of the rear zone ZR and there is no other vehicle in the front zone ZF, the rear zone ZR and the side zone ZL of the neighboring lane 53, while vehicle 1 makes a change automated lane LC from own lane 52 to neighboring lane 53, vehicle 1 receives a burst from the lateral direction as illustrated in FIG. 5B and it is determined that an ODD Deviation has occurred; when the automated lane change stop and braking/steering takeover request are notified, even if the driver who is overwhelmed by the notification performs an excessive steering maneuver, because the steering override threshold values serving as a criterion for determining the steering intervention are modified to take a value greater than that taken during normal operation in the ODD system, the neutralization can be avoided, which makes it possible to switch to a backup control (Fb ) in a state in which the functions of ACC and automatic steering continue as shown in Fig. 5C, and can prevent right-side (OR) lane departure and left-side (OL) lane departure due to excessive steering intervention.
    [0148] As shown in Fig. 6A, in the same situation as in Fig. 5A, while vehicle 1 performs an automated lane change LC from own traffic lane 52 to neighboring lane 53, vehicle 1 receives a gust from the lateral direction as illustrated in FIG. 6B and it is determined that an ODD Deviation has occurred; when the automated lane change stop and braking/steering takeover request is notified, even if the driver who is overwhelmed by the notification performs a braking maneuver or an excessive acceleration maneuver, because the ACC braking/acceleration override threshold values serving as a criterion for determining maneuver intervention are changed to a higher value than that taken during normal operation in the ODD system, override can be avoided , which makes it possible to switch to standby control (Fb) in the state in which the functions of ACC and automatic steering continue as shown in Fig. 6C, and can prevent acceleration (OA) and deceleration (OB) and the associated approach of other 2' and 4' vehicles due to excessive steering intervention.
    [0149] (Example 2: State of the road; at the time of a Deviation from the ODD due to a Loss of Lane Marking)
    [0150] As illustrated in Fig. 7A, in a situation in which there is another vehicle following 3 at the rear of a lane 51 of vehicle 1 and there is another vehicle following 4 at the rear of the neighboring right-hand lane 52 but the other following vehicle 4 is out of the rear zone ZR and there is no other vehicle in the front zone ZF, the rear zone ZR and the side zone ZL of the neighboring lane 53, while vehicle 1 performs an automated lane change LC from one's own traffic lane 51 to the neighboring lane 52, a lane marking 5c of the neighboring lane disappears as illustrated in FIG. 7B and it is determined that an ODD Deviation has occurred; when the automated lane change stop and braking/steering takeover request are notified, even if the driver who is overwhelmed by the notification performs an excessive steering maneuver, because the steering override threshold values serving as a criterion for determining the steering intervention are modified to take a value greater than that taken during normal operation in the ODD system, the neutralization can be avoided, which makes it possible to switch to a backup control (Fb ) in a state in which the ACC and auto-steering functions continue, and can prevent right-side (OR) lane departure and left-side (OL) lane departure due to excessive steering intervention.
    [0151] As illustrated in Fig. 8A, in the same situation as in Fig. 7A, while the vehicle 1 performs an automated lane change LC from its own traffic lane 51 to the neighboring lane 52, the lane marking 5c of the neighboring lane 52 disappears as illustrated in FIG. 8B and it is determined that an ODD Deviation has occurred; when the automated lane change stop and braking/steering takeover request is notified, even if the driver who is overwhelmed by the notification performs a braking maneuver or an excessive acceleration maneuver, because the ACC braking/acceleration override threshold values serving as a criterion for determining maneuver intervention are changed to a higher value than that taken during normal operation in the ODD system, override can be avoided , which can switch to emergency control (Fb) in the state in which the functions of ACC and automatic steering continue, and can prevent acceleration (OA) and deceleration (OB) and the approach associated with other 2' and 4' vehicles due to excessive maneuvering intervention.
    [0152] (Example 3; Traffic Environment; at the Time of Deviation from ODD due to Sudden Braking of Another Vehicle in Lane Merge Section)
    [0153] As shown in Fig. 9A, in a merging section of a ramp lane to a main branch at an interchange, junction or the like, in a situation where there is another vehicle preceding 2 in front in a lane 50 (lane forming a ramp) of vehicle 1 and in which there is another vehicle which precedes 3 at the front and another vehicle which follows 4 at the rear of the neighboring lane on the right side 51 (main branch) but in which they are all outside the front zone ZF and the rear zone ZR and no other vehicle is in the front zone ZF, the rear zone ZR and the side zone ZL of the neighboring lane 53, when vehicle 1 enters from the own lane of circulation 50 (lane forming a ramp) towards the neighboring lane on the right side 51 (main branch) by automated lane change LC, the other vehicle in front 2 enters the neighboring lane 51 (main branch) and the other vehicle in front 3 in the neighboring lane 51 brakes suddenly and enters the zone front ZF as shown in Fig. 9B and it is determined that a deviation from the ODD has occurred; when the stop of the automated lane change and the request for steering and braking/driving takeover is notified, even if the driver who is overwhelmed by the notification performs an excessive steering or braking maneuver, because the steering override threshold values serving as the criterion for determining the steering intervention and the ACC brake/accelerator override threshold values serving as the criterion for determining the maneuver intervention are changed to take a value higher than that taken during normal operation in the ODD system at the time of the ODD deviation, an override can be avoided, thereby switching to the standby control (Fb) in the state in which the ACC and auto steering functions continue as shown in Fig. 9C, and can prevent lane departure and meandering due to excessive steering intervention and acceleration (OA), deceleration (OB) and associated approach to other vehicles 3 and 4 due to intervention by excessive maneuver.
    [0154] As illustrated in Fig. 9C, a lane merge section Zc can be set to be out of the ODD, and at the same time vehicle 1 enters the lane merge section Zc based on the map information 23 and position information obtained by the positioning means 24, the steering neutralization threshold values serving as a criterion for determining steering intervention and the braking/ACC acceleration neutralization threshold values serving as a criterion for determining steering intervention. maneuver can be modified to take a higher value than that taken during normal operation in the ODD system.
    [0155] (Example 4; Traffic environment; at the time of a deviation from the ODD due to the Insertion of Another Vehicle into the Lane Separation Section)
    [0156] As illustrated in Fig. 10A, in a separation section from a main branch to a ramp lane at an interchange, a junction or the like, in a situation where there is another vehicle preceding 2 in front in the lane 51 (main branch) of vehicle 1 but it is outside the ZF front zone and there is no other vehicle in the ZF front zone of the neighboring left-hand lane 50 (ramp lane), when vehicle 1 deviates from vehicle lane 51 (main branch) to neighboring lane 50 (ramp-forming lane) by automated lane change LC, the other vehicle in front 2 decelerates and moves onto the left lane, enters the front and enters the forward area ZF as shown in Fig. 10B and it is determined that an ODD Deviation has occurred; when the stop of the automated lane change and the request for steering and braking/driving takeover is notified, even if the driver who is overwhelmed by the notification performs an excessive steering or braking maneuver, because the steering override threshold values serving as the criterion for determining the steering intervention and the ACC brake/accelerator override threshold values serving as the criterion for determining the maneuver intervention are changed to take a value higher than that taken during normal operation in the ODD system at the time of the ODD deviation, an override can be avoided, thereby switching to the standby control (Fb) in the state in which the ACC and auto steering functions continue as shown in Fig. 10C, and can prevent lane departure and meandering due to excessive steering intervention and acceleration (OA), deceleration (OB) and associated approach to other vehicles 3 and 4 due to intervention by excessive maneuver.
    [0157] As illustrated in Fig. 10C, a lane separation section Zd can be defined as being outside the ODD, and at the same time as the vehicle 1 enters the lane separation section Zc, the steering neutralization threshold values serving as the criterion for determining steering intervention and the ACC acceleration/brake override threshold values serving as the criterion for determining maneuver intervention can be changed to a higher value than that taken during normal operation in the steering system. SDGs.
    [0158] The embodiment shows the case that both ACC (longitudinal control) function and auto steering (lateral control) function switch to backup control at the time of ODD deviation, it is can be configured to switch a single function to the standby control based on the content of an ODD deviation event.
    [0159] Further, although the embodiment is usable even in a form in which only one of ACC disable threshold value and steering disable threshold value changes is applied, a form in which only one of the threshold value throttle override and brake override threshold value is applied, or a form in which only one of additive steering override threshold value and subtractive steering override threshold value is applied, it is preferable to Simultaneously perform all threshold value changes as described above.
    [0160] Although the embodiment has been described in the case where the throttle override threshold value is set based on the engine torque demand by the accelerator pedal operation by the driver, the threshold value Accelerator override can also be configured to be set based on the driver's accelerator pedal step, i.e. accelerator pedal position.
    [0161] Similarly, although the embodiment has been described in the case where the brake disabling threshold value is set based on the deceleration request by the driver's brake pedal operation, the threshold value brake override can also be configured to be defined based on the driver pressing the brake pedal, i.e. a position of the brake pedal.
    [0162] Although this embodiment has illustrated the case where the steering override threshold value is set based on the steering torque, the steering override threshold value can also be configured to be set based on the steering angle. steering, steering angle speed, or the like.
    [0163] Although some embodiments of the present invention have been described above, the present invention is not limited to these embodiments, various modifications and changes are possible within the scope of the present invention.
    [0164] - 10 Automated Driving Controller 11 Estimation part of surrounding conditions 12 Trajectory generation part 13 Vehicle control part 14 ACC controller 15 LKA Controller 21 External sensor 22 Internal sensor 31 EPS Controller 32 Motor Controller 33 ESP/ABS controller 34 Manual steering (steering wheel) 41 Steering mechanism 42 Engine 43 Brake
    [0165] For convenience, the following patent document is cited: - [Patent Document 1] JP 2012-096569 A.
    权利要求:
    Claims (5)
    [0001]
    A driving control device for a vehicle, comprising: a surrounding condition estimation part (11) comprising a surrounding recognition function for recognizing a lane of the vehicle and neighboring lanes and other vehicles in the respective lanes and a function of obtaining the travel state of the vehicle; a trajectory generating part (12) for generating a target trajectory on the basis of information obtained by the surrounding condition estimation part (11); and a vehicle control part (13) for performing speed control and steering control to cause the vehicle to follow the target path, and having: an ACC function for performing a constant speed course in accordance with the target speed when there is no other vehicle ahead in the vehicle lane, and for performing a following course maintaining an inter-vehicle distance predetermined when there is another vehicle ahead; an LKA function to maintain a course in the vehicle lane by following control towards the target trajectory; a function for performing an automated lane change to a neighboring lane when there is no other vehicle within a predetermined range in the neighboring lane; a neutralization function for stopping the lane change function by intervention by maneuver of the driver; and a function for performing an emergency check of the automated lane change function, with notification to the driver of the stop of the automated lane change function and the taking of control of the maneuvers, at the moment of a deviation of an operational design area of the system during the operation of the automated lane change function, characterized in that the neutralization threshold values serving as the criterion for determining the intervention per maneuver to stop the automated lane change function at the time of a deviation from the operational design domain of the system are configured to be modified by a value greater than that taken during normal operation in the operational design domain of the system.
    [0002]
    A driving control device for a vehicle according to claim 1, wherein the deviation from the operational design domain of the system is determined on the basis that any one of the vehicle states obtained by the environmental condition estimation part , traffic environments, including lane entries and the sudden braking of other vehicles, surrounding conditions including a change of pavement, and road conditions including disappearance of lane markings, reduction in the number of lanes, and a lane merging section and a lane separation section obtained by the environmental condition estimation part (11) by means of the map information and the positioning means deviates from the domain of operational design of the system.
    [0003]
    A driving control device for a vehicle according to claim 1 or 2, wherein the neutralization threshold values comprise an accelerator neutralization threshold value serving as a criterion for determining intervention by maneuvering the accelerator and / or a threshold value brake neutralization used as a criterion for determining intervention by brake operation.
    [0004]
    A driving control device for a vehicle according to any one of claims 1 to 3, in which the neutralization threshold values comprise a steering neutralization threshold value serving as a criterion for determining the intervention by steering maneuver.
    [0005]
    A vehicle driving control device according to any one of claims 1 to 4, wherein the threshold values for neutralization at the time of deviation from the operational design domain of the system are configured to be retained from the notification of the vehicle. '' stop the automated lane change function and the maneuver control to end the emergency control.
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    法律状态:
    2020-12-21| PLFP| Fee payment|Year of fee payment: 2 |
    2021-12-16| PLFP| Fee payment|Year of fee payment: 3 |
    2021-12-31| PLSC| Publication of the preliminary search report|Effective date: 20211231 |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2019-030600|2019-02-22|
    JP2019030600A|JP2020132045A|2019-02-22|2019-02-22|Travelling control device of vehicle|
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