JP2011025862A - Drive control apparatus - Google Patents

Abstract

Provided is a travel control device that does not start deceleration even when an intention to exit is detected before the exit road, and that performs deceleration after passing the leading position of the exit road.
A travel control device 1 detects an intention to exit from a main line 110 to an exit path 120, determines whether or not a vehicle 2 has passed a leading position 123 of the exit path 120, and the exit intention is detected. When it is determined that the vehicle 2 has passed the leading position 123 of the exit path 120, the vehicle speed control unit 50 performs deceleration control.
[Selection] Figure 3

Description

  The present invention relates to a travel control device that performs travel control of a vehicle.

  As a device that controls the running of the vehicle, when there is a preceding vehicle, it performs follow-up running control that follows the preceding vehicle so that the distance between the preceding vehicle and the preceding vehicle is constant, and when there is no preceding vehicle There is known a technology of a vehicle travel control device that performs constant speed travel control that causes the vehicle to travel at a set vehicle speed, and in addition to the curve according to the curve shape of the vehicle traveling road in conjunction with the car navigation device. It has been proposed to add a function of automatically decelerating (see, for example, Patent Document 1).

  In Patent Document 1, it is detected based on information from the navigation device that the own vehicle has approached a deceleration node such as an exit lane of an interchange or an entrance lane of a service area while traveling on the main road of the highway, and the own vehicle. A technique for performing deceleration control when it is detected that there is a turn signal operation is disclosed.

JP 2000-285392 A

  However, in the case of the technique disclosed in Patent Document 1, deceleration control is performed by performing a turn signal operation around the deceleration node even before the exit road that branches from the main line and leads to the interchange or service area. Resulting in. Therefore, there is a possibility that deceleration will be started before the vehicle travels from the main line to the exit road, that is, while traveling on the main line before the exit road.

  If deceleration is started while traveling on the main line before the exit road, the driver of the vehicle may be uncomfortable. In addition, there is a concern that the brake lamp is lit by the deceleration operation, which affects the running of the following vehicle.

  Therefore, in order not to disturb the following vehicle and not disturb the natural traffic flow, it is desirable to start deceleration after reaching the exit path or entering the exit path as much as possible.

  The present invention has been made in view of the above points. The purpose of the present invention is to immediately prevent a natural traffic flow from being disturbed even if an intention of exit is detected before the exit path. An object of the present invention is to provide a travel control device that performs deceleration after reaching the exit path without starting deceleration control.

  A travel control device of the present invention that solves the above-described problem is a travel control device that causes a vehicle to travel at a preset travel speed, detects an intention to exit from the main road to the exit road, and is the head of the exit path. When it is determined that the vehicle has passed the position, control is performed to reduce the traveling speed of the vehicle.

  According to the traveling control device of the present invention, even if the intention to leave is detected, the deceleration control is not performed until the head position of the exit path is passed, and the deceleration control is performed after passing the head position of the exit path. It is possible to control the vehicle speed suitable for passing the exit road without disturbing the natural traffic flow.

The functional block diagram of the traveling control apparatus concerning this Embodiment. The figure explaining the structure of the road where a vehicle drive | works. The flowchart explaining a cooperative control method. State transition diagram from constant speed travel of main line to deceleration of exit path. The figure explaining an example of the method of detecting a leaving intention. The figure explaining another example of the method of detecting a leaving intention. The figure explaining another example of the method of detecting a leaving intention. The figure explaining an example of the method of determining whether it passed the head position of the exit path. The figure explaining another example of the method of judging whether it passed the head position of the exit path. The figure which shows an example of the method of judging whether it entered into the exit path. The figure which shows another example of the method of determining whether it entered into the exit path. The figure which shows another example of the method of determining whether it entered into the exit path. The figure which shows another example of the method of determining whether it entered into the exit path.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
FIG. 1 is a functional block diagram of a travel control apparatus according to the present embodiment, and FIG. 2 is a diagram for explaining a configuration of a road on which a vehicle travels.

  The travel control device 1 is mounted on the vehicle 2, and performs control to reduce the vehicle speed when the vehicle 2 travels from the main line 110 to the exit path 120 during automatic travel control, for example. The travel control device 1 includes an in-vehicle camera 10, an image recognition device 20, a navigation device 30, a cooperative control unit 40, a vehicle speed control unit 50, an actuator 60, and a vehicle state information acquisition unit 70.

  The in-vehicle camera 10 is attached to the front part or the rear part of the vehicle 2 and images the road surface of the road 100 to acquire the video information. The number of in-vehicle cameras 10 is not limited to one, but may be a plurality.

  The image recognition device 20 digitizes the road surface image information acquired by the in-vehicle camera 10 and performs image processing and recognition processing, thereby acquiring information such as the position of the white line drawn on the road 100 and the type of white line. Information acquired by the image recognition device 20 is output from the image recognition device 20 to the cooperative control unit 40.

  The navigation device 30 includes vehicle position detection means for detecting the position of the vehicle such as GPS, and map data including road shape, curvature radius, node information, link information, and the like. By inputting, it has a function of performing route guidance from the vehicle position to the destination. The navigation device 30 determines the current position on the map, obtains information on the curve shape (curvature radius) and the like from information on the road existing ahead of the host vehicle, and outputs the information to the cooperative control unit 40.

  The cooperative control unit 40 performs determination processing that is a subject of the present invention, and the vehicle 2 travels such as deceleration timing and deceleration so that the vehicle 2 can appropriately decelerate when the vehicle 2 enters the exit path 120. Information on the speed is output to the vehicle speed control unit 50.

  The vehicle speed control unit (vehicle speed control means) 50 controls the traveling speed of the vehicle 2 based on the control signal from the cooperative control unit 40, and the target passing through the exit path 120 based on the curve shape information of the exit path 120. The actuator 60 is controlled in order to obtain the speed and reach the target speed. Here, the function of the vehicle speed control unit 50 includes a function of constant speed travel capable of acceleration / deceleration. That is, it is assumed that a set speed is set and a traveling function is set according to the set speed. The actuator 60 controls a throttle valve, a brake, a transmission, and the like (not shown) of the vehicle 2 based on a command from the vehicle speed control unit 50 to control the traveling speed of the vehicle 2 to a control value.

  The vehicle state information acquisition unit (vehicle state information acquisition unit) 70 acquires information indicating the state of the vehicle 2 (vehicle state information) and outputs the information to the cooperative control unit 40. For example, the direction indicator 3 of the vehicle 2 Information on the movement of the vehicle 2 in the vehicle width direction, such as the operation state of the vehicle, the steering angle, the yaw rate, and the like are acquired.

  FIG. 2 is a diagram illustrating a configuration of a road on which a vehicle travels. The road 100 is a left-handed highway, and has a main line 110 extending in a substantially straight line and an exit road 120 branched from the main line 110. The main line 110 is two lanes on one side, and a white line 114 consisting of a long broken line is painted at the center, and is divided into two lanes, an overtaking lane 112 on the right side in the traveling direction and a traveling lane 113 on the left side in the traveling direction.

  The exit route 120 is for entering an interchange or a service area (not shown) from the main line 110, and has a parallel part 121 extending in parallel with the main line 110 and a branch part 122 branching from the main line 110. Yes.

  The parallel part 121 extends in parallel to the main line 110 from the head position 123 of the exit path 120 by a predetermined distance, and the branch part 122 curves leftward from the branch point 124 and gradually curves toward the minimum curvature point 125. It has a shape with a small radius. A white line 103 consisting of a thick broken line is painted between the parallel part 121 and the main line 110.

  The road 100 is divided into a pre-branch section 101 and a branch section 102. The pre-branch section 101 is a section up to the head position 123 of the exit path 120, and the branch section 102 is a section where the main line 110 and the exit path 120 are parallel. The branch section 102 ends in the zebra zone, and thereafter becomes the exit path 120 separated from the main line 110.

  As shown in FIG. 2, when it is found that the vehicle 2 enters the exit path 120 by blinking the left turn indicator 3 in the pre-branch section 101, the radius of curvature of the exit path 120 from the navigation device 30 is determined. The information is received, and deceleration toward the passing speed of the minimum curvature point 125 is started. In this case, deceleration is started while the main line 110 is traveling, and the brake lamp is lit.

  However, even if the deceleration does not start immediately, if it is possible to determine the time when the vehicle has passed the leading position 123 of the exit path 120, the deceleration can be started from that point. In normal operation, deceleration is often started near the head position 123 of the exit path 120. Therefore, if this method can be realized, it can be said that a control method without a sense of incongruity can be realized.

  Next, the processing content of the cooperation control part 40 is demonstrated using FIG. FIG. 3 is a flowchart for explaining a cooperative control method by the cooperative control unit.

  First, in step S <b> 10, information on the radius of curvature of the exit path 120 is obtained from the navigation device 30. This is because preparation is made so that vehicle speed control corresponding to the radius of curvature of the exit path 120 can be realized immediately.

  Next, in step S20, an intention to exit from the main line 110 of the vehicle 2 to the exit path 120 is obtained (exit intention detecting means). The intention to leave is detected based on the operating state of the direction indicator 3 that is vehicle state information and the route set by the navigation device 30. For example, when the left turn indicator 3 is operating in the pre-branch section 101, it is detected that there is an intention to leave.

  In step S30, it is determined whether or not the vehicle 2 has passed the leading position 123 of the exit path 120 (passage determining means). Whether or not the vehicle 2 has passed the head position 123 of the exit path 120 is determined by a method based on image recognition, a method based on the vehicle position information of the navigation device 30 and map data, or the like.

  If it is detected in step S20 that there is an intention to exit, and if it is determined in step S30 that the vehicle 2 has passed the leading position 123 of the exit path 120, the process proceeds to step S40 in order to reduce the traveling speed of the vehicle. To do.

  In step S30, in addition to determining whether or not the vehicle 2 has passed the leading position 123 of the exit path 120 (passage detection means), whether or not the vehicle 2 has entered the exit path 120 from the main line 110 (exit). (Road entry determination means) may be determined. Then, when it is detected that there is an intention to leave, it is determined that the vehicle 2 has passed the head position 123 of the exit path 120, and it is determined that the vehicle 2 has entered the exit path 120, the process proceeds to step S40. May be performed.

  In step S <b> 40, information on the radius of curvature of the exit path 120 is output to the vehicle speed control unit 50. As a result, the vehicle speed control unit 50 starts control to decelerate to the target speed of the exit path 120. In step S50, the cooperative control unit 40 continues the process of outputting the radius of curvature on the exit path 120 side for a certain period (for example, several hundreds of meters).

  The above-described flowchart is a processing flow when the passage determination of the leading position 123 has proceeded smoothly. Therefore, the state transition diagram of FIG. 4 includes the scenes in which the passage determination does not proceed in order. FIG. 4 is a state transition diagram from constant speed travel on the main line to deceleration on the exit road, and is described by complementing possible patterns.

  As shown in the state transition diagram of FIG. 4, when the vehicle 2 is traveling at a constant speed C11 and the intention of leaving is detected, the vehicle 2 is waiting for deceleration C12, and the vehicle is decelerating after passing the head position 123 of the exit path 120. It becomes. And a process is complete | finished after passing through a designated area.

  Further, in the state of waiting for deceleration C12, when the passage of the leading position 123 of the exit path 120 cannot be detected and the entry into the exit path 120 is detected, the process proceeds to C13 during deceleration. Then, when the entry to the exit path 120 is detected without detecting the exit intention during the constant speed traveling C11, the process proceeds to the deceleration C13.

  The cooperative control unit 40 determines that the exit intention is detected and it is determined that the vehicle 2 has entered the exit path 120, or that the exit intention is detected and the vehicle 2 has passed the leading position 123 of the exit path 120. When it is done, control which decelerates the traveling speed of the vehicle 2 is performed.

  Accordingly, when the passage of the head position 123 of the exit path 120 cannot be detected, or when the entrance judgment to the exit path 120 is detected without detecting the exit intention, the passage determination does not proceed smoothly. However, the cooperative control unit 40 can appropriately decelerate by performing processing based on the state transition diagram shown in FIG.

  Next, a specific example of a method for detecting the intention of leaving the vehicle 2 will be described below with reference to FIGS. 5 and 6 are diagrams illustrating a method of detecting an exit intention according to an operating state of the direction indicator, and FIG. 7 is a diagram illustrating a method of detecting an exit intention using route guidance of the navigation device.

  For example, when an image captured by the in-vehicle camera 10 is subjected to image processing and recognition processing, a white line 115 made of a solid line is recognized on the left side of the vehicle traveling direction, and a white line 114 made of a long broken line is recognized on the right side of the vehicle traveling direction. 2, it can be determined that the vehicle is traveling in the travel lane 113 of the pre-branch section 101 as shown in FIG. Further, when the white line 103 made of a thick broken line is recognized on the left side in the vehicle traveling direction and the white line 114 made of a long broken line is recognized on the right side in the vehicle traveling direction, the vehicle 2 is shown in FIG. It can be determined that the vehicle is traveling on the driving lane 113 of the vehicle. If the left direction indicator 3 is blinking (actuated) in such a state, it is determined that there is an intention to leave. Further, when route guidance is performed by the navigation device 30 and a route (traveling route) is set so as to proceed from the main line 110 to the exit route 120 as shown in FIG. To be judged.

  Next, a specific example of a method for determining whether or not the vehicle 2 has passed the head position 123 of the exit path 120 will be described below with reference to FIGS. 8 and 9.

  FIG. 8 is a diagram illustrating a method for determining using information of the navigation device. For example, in the map data of the navigation device 30, information on the branch node P 1 that separates the main line 110 and the exit path 120 and information on the distance L 1 from the branch node P 1 to the head position 123 of the exit path 120 are stored as link information. ing. As shown in FIG. 8, the navigation device 30 can grasp the distance Lx from the vehicle 2 to the branch node P1 based on the vehicle position detection means and the map data when traveling toward the branch node P1. Then, the remaining distance (Lx−L1) to the branch node P1 is counted, and the remaining distance is compared with the distance L1 from the head position 123 of the exit path 120 to the branch node P1. It is estimated whether it passed.

  Also, in order to adjust the map data branch node P1 and the actual situation on the map, the adjustment values from the head position 123 of the exit path 120 to the branch node P1 are associated with each branch and embedded in the map data. You can also.

  FIG. 9 is a diagram illustrating a method of detecting the head position of the exit path by image recognition. For example, as shown by a circle in FIG. 9, the leading position 123 of the exit path 120 starts from an inclined line 116 that is bent to the left side from the white line (solid line) 115 and gradually shifts to the left. The line 117 continues. Therefore, the inclined line 116, the bending point from the white line (solid line) 115 to the inclined line 116, or the inclined line 116 is detected by the image recognition of the in-vehicle camera 10 and detected as the head position 123 of the exit path 120. Therefore, when the head position 123 of the exit path 120 is detected by image recognition, it is determined that the head position 123 has been passed. The determination methods shown in FIGS. 8 and 9 may be adopted as an OR condition as long as one of them is satisfied, or may be adopted as an AND condition of two or more means.

  Next, a specific example of a method for determining whether or not the vehicle 2 has entered the exit road 120 from the main line 110 will be described below with reference to FIGS.

  For example, as indicated by a circle in FIG. 10, when the vehicle 2 enters the exit path 120 from the main line 110 in the branch section 102, the vehicle 2 crosses over the white line (thick broken line) 103. Therefore, it is possible to determine the approach to the exit path 120 by recognizing the crossing of the white line (thick broken line) 103 by image processing.

  For example, as shown by a thick arrow in FIG. 11, when the vehicle 2 moves from the main line 110 to the left in the vehicle traveling direction in the pre-branch section 101, the vehicle 2 crosses over the white line (solid line) 115 or the inclined line 116. Therefore, the approach of the vehicle 2 to the exit path 120 can be determined by recognizing the crossing of the white line (solid line) 115 or the inclined line 116 by image processing.

  For example, as shown by a thick arrow in FIG. 12, when the vehicle 2 enters the exit road 120 from the main line 110 and travels along the parallel part 121 of the exit road 120, a white line (thick (Broken line) 103 is located. Therefore, by recognizing that the white line (bold broken line) 103 is positioned on the right side in the traveling direction of the vehicle 2 by image processing, it is possible to determine whether the vehicle 2 has entered the exit path 120.

  For example, as indicated by a thick arrow in FIG. 13, when the vehicle 2 enters the exit road 120 from the main line 110, the movement distance Dw in the vehicle width direction of the vehicle 2 is generated substantially by the road width (about 3 m). Therefore, by monitoring the movement distance Dw in the vehicle width direction of the vehicle 2 on the basis of the vehicle state information such as the steering angle and the yaw rate acquired by the vehicle state information acquisition means 70, the vehicle 2 is detected by detecting the movement beyond the predetermined width. It is possible to determine the approach to the exit route 120.

  According to the travel control device 1 having the above configuration, the intention to exit from the main line 110 to the exit path 120 is detected, it is determined whether or not the head position 123 of the exit path 120 has been passed, the exit intention is detected, and the exit is detected. When it is determined that the vehicle has passed the leading position 123 of the road 120, deceleration control is performed.

  Therefore, it is possible to prevent the deceleration control from being performed in the pre-branch section 101 before passing the head position 123 of the exit path 120. In other words, when an intention to enter the exit path 120 is detected before reaching the head position 123 of the exit path 120, it is possible to prevent the vehicle from being decelerated immediately. Then, deceleration control is started when the vehicle has passed the leading position 123 of the exit path 120. In addition, if an approach to the exit path 120 is detected after passing the head position 123 of the exit path 120, the vehicle immediately decelerates. Accordingly, the vehicle 2 can be appropriately decelerated without causing the driver of the vehicle 2 to feel uncomfortable and without affecting the subsequent vehicle.

  In addition, this invention is not limited to the above-mentioned embodiment, A various change is possible in the range which does not deviate from the meaning of this invention. For example, the method of determining the exit intention shown in FIGS. 5 to 7 is not limited to any one, and may be determined in combination. Similarly, the method for detecting the passage of the head position 123 of the exit path 120 shown in FIGS. 8 and 9 and the method for determining the entrance to the exit path 120 shown in FIGS. It is not limited and may be determined in combination.

DESCRIPTION OF SYMBOLS 1 Traveling control apparatus 2 Vehicle 3 Direction indicator 10 Car-mounted camera 20 Image recognition apparatus 30 Navigation apparatus 40 Cooperation control part 50 Vehicle speed control part (vehicle speed control means)
60 Actuator 70 Vehicle state information acquisition unit (vehicle state information acquisition means)
100 Road 101 Section before branch 102 Branch section 103 White line (thick broken line)
110 main line 114 white line (long broken line)
120 exit path 121 parallel part 122 branch part 123 head position 124 branch point

Claims (10)

A travel control device that causes a vehicle to travel at a preset travel speed,
An exit intention detecting means for detecting an exit intention from the main line of the road on which the vehicle runs to an exit path;
Passage determining means for determining whether or not the vehicle has passed the leading position of the exit path;
Vehicle speed control means for performing control to reduce the traveling speed of the vehicle when the exit intention is detected by the exit intention detection means and the passage determination means determines that the vehicle has passed the leading position of the exit path. And a travel control device characterized by comprising: A travel control device that causes a vehicle to travel at a preset travel speed,
An exit intention detecting means for detecting an exit intention from the main line of the road on which the vehicle runs to an exit path;
Passage determining means for determining whether or not the vehicle has passed the leading position of the exit path;
Exit path entry determining means for determining whether the vehicle has entered the exit path;
The exit intention detection means detects the exit intention, the passage determination means determines that the vehicle has passed the leading position of the exit path, and the exit path entry determination means causes the vehicle to enter the exit path. And a vehicle speed control unit that performs control to reduce the travel speed of the vehicle when it is determined that the vehicle has entered. Vehicle state information acquisition means for acquiring vehicle state information of the vehicle;
The travel control device according to claim 1, wherein the leaving intention detecting unit detects the leaving intention based on the vehicle state information acquired by the vehicle state information acquiring unit. The vehicle state information acquisition means acquires information relating to the operating state of the direction indicator of the vehicle as the vehicle state information,
The travel control device according to claim 3, wherein the leaving intention detecting unit detects the leaving intention based on information on an operation state of the direction indicator acquired by the vehicle state information acquiring unit. It has a navigation device that provides route guidance based on the vehicle location information and map information,
The travel control device according to claim 1, wherein the leaving intention detection unit detects the leaving intention based on a route set by the navigation device. It has a navigation device with own vehicle position information and map information,
3. The travel control according to claim 1, wherein the passage determination unit determines whether or not the vehicle has passed the leading position of the exit path based on the vehicle position information and map information of the navigation device. apparatus. An in-vehicle camera that images a road on which the vehicle travels;
An image recognition device that performs image processing on an image captured by the in-vehicle camera and recognizes a type of the white line of the road;
The said passage judgment means judges whether it passed through the head position of the said exit route based on the classification of the white line of the said road recognized by the said image recognition apparatus. Travel control device. An in-vehicle camera that images a road on which the vehicle travels;
An image recognition device that performs image processing on an image captured by the in-vehicle camera and recognizes the white line of the road,
The travel according to claim 2, wherein the exit path entry determination means determines whether the exit path has been entered based on the position and type information of the white line recognized by the image recognition device. Control device.   The exit path entry determination means is based on the information on the position and type of the white line recognized by the image recognition device and information on movement of the vehicle in the vehicle width direction acquired by the vehicle state information acquisition means. The travel control device according to claim 8, wherein it is determined whether or not the vehicle has entered an exit road. It has a navigation device with own vehicle position information and map information,
The travel control device according to claim 1, wherein the vehicle speed control unit performs acceleration / deceleration based on information on a curvature radius of the road included in map information acquired from the navigation device.

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