JP2016207015A - Travel control device - Google Patents

Abstract

A traveling control apparatus capable of appropriately avoiding a moving obstacle is provided. An acquisition means for acquiring various information including information on a moving obstacle existing around the host vehicle, and a driving scene of the host vehicle prompts the moving obstacle to perform a predetermined action based on the various information. The determination means 160 for determining whether or not the target scene can suppress the approach between the host vehicle and the moving obstacle, and when the target scene is determined, the moving obstacle is prompted to perform a predetermined action. And a control means 160 for controlling the travel of the host vehicle. [Selection] Figure 1

Description

  The present invention relates to a traveling control device that controls traveling of a vehicle.

  2. Description of the Related Art Conventionally, a technique for detecting an obstacle around the host vehicle and controlling the traveling of the host vehicle so as to avoid the obstacle is known (for example, Patent Document 1).

JP 2012-148747 A

  For example, when an oncoming vehicle is going to turn right at an intersection at a certain distance from the own vehicle, the host vehicle can safely drive the intersection by reducing the vehicle speed of the own vehicle and turning the oncoming vehicle to the right first. be able to. Thus, there are cases where the moving obstacle can be appropriately avoided by controlling the traveling of the host vehicle so as to prompt the moving obstacle to perform a predetermined action. However, since the conventional technology does not control the traveling of the host vehicle so as to prompt a predetermined action to the moving obstacle in order to appropriately avoid the moving obstacle, the moving obstacle cannot be appropriately avoided. was there.

  The problem to be solved by the present invention is to provide a travel control device that can appropriately avoid a moving obstacle.

  The present invention determines whether or not the traveling scene of the host vehicle is a target scene that can suppress the approach between the moving obstacle and the host vehicle by encouraging the moving obstacle to perform a predetermined action. When it is determined that, the above problem is solved by controlling the traveling of the host vehicle so as to prompt the mobile obstacle to perform a predetermined action.

  According to the present invention, it is possible to suppress the approach of the moving obstacle and the own vehicle by controlling the traveling of the own vehicle so as to urge the moving obstacle to perform a predetermined action. It can be avoided.

It is a schematic diagram showing an example of a travel control device concerning this embodiment. (A) is a figure which shows the operation example of the traveling control system which concerns on this embodiment, (B) is a figure which shows the operation example of the conventional traveling control system. (A) is a figure which shows the other operation example of the traveling control system which concerns on this embodiment, (B) is a figure which shows the other operation example of the conventional traveling control system. It is a flowchart which shows the traveling control process which concerns on this embodiment. It is a flowchart which shows the control processing of step S107.

  Hereinafter, a travel control device according to an embodiment of the present invention will be described based on the drawings. FIG. 1 is a configuration diagram illustrating a travel control apparatus according to the present embodiment. As shown in FIG. 1, the travel control device 100 according to the present embodiment includes a road detection device 110, an obstacle detection device 120, a host vehicle state detection device 130, a drive device 140, a steering device 150, and a control device 160. ing.

  The road detection device 110 detects various data relating to the road on which the host vehicle is traveling. For example, the road detection device 110 can be composed of a camera that captures an image ahead of the traveling direction of the host vehicle, a navigation device that detects a traveling position on the map of the host vehicle, and the like. For example, the camera constituting the road detection device 110 captures captured image data obtained by capturing a lane mark of a road on which the host vehicle is traveling by capturing an image of the front of the host vehicle in the traveling direction, and data relating to the road on which the host vehicle is traveling. Can be output to the control device 160.

  The obstacle detection device 120 detects various data related to obstacles existing around the host vehicle. For example, the obstacle detection device 120 can be composed of one or more types of sensors such as a camera that captures an image of the surroundings of the host vehicle, a laser scanner, and a radar. The cameras, laser scanners, radars, etc. that constitute the obstacle detection device 120 detect various data indicating the type, shape, position, etc. of the obstacles around the host vehicle, and output the detected data to the control device 160. To do.

  The own vehicle state detection device 130 detects various data relating to the state of the own vehicle. For example, the host vehicle state detection device 130 includes a vehicle speed sensor that detects the vehicle speed of the host vehicle, a steering angle sensor that detects a steering angle, an acceleration sensor that detects acceleration, a vehicle controller that detects operating conditions of various in-vehicle devices, and the host vehicle. The navigation device that detects the position and destination of the vehicle can be used. Various data detected by the own vehicle state detection device 130 is transmitted to the control device 160 as data indicating the state of the own vehicle.

  The drive device 140 includes an electric motor and / or an internal combustion engine as a travel drive source, a power transmission device including a drive shaft and an automatic transmission that transmit output from the travel drive source to drive wheels, and a braking device that brakes the wheels. The drive mechanism is provided. The drive device 140 generates each control signal of these drive mechanisms based on the input signal by the accelerator operation and the brake operation and the control signal acquired from the control device 160, and executes the travel control including acceleration / deceleration of the own vehicle. By sending control information to the driving device 140, traveling control including acceleration / deceleration of the host vehicle can be automatically performed. In the case of a hybrid vehicle, torque distribution output to each of the electric motor and the internal combustion engine corresponding to the traveling state of the vehicle is also sent to the drive device 140.

  The steering device 150 includes a steering actuator such as a motor attached to a column shaft of the steering. The steering device 150 executes turning control of the host vehicle based on an input signal by a steering operation. Further, the control device 160 can execute the turning control by controlling the braking amount of each wheel of the vehicle. In this case, the control device 160 performs turn control of the host vehicle by sending control information including the braking amount of each wheel to the steering device 150.

  The control device 160 includes a ROM (Read Only Memory) in which a program for controlling the traveling of the host vehicle is stored, and a CPU as an operation circuit that executes each function by executing the program stored in the ROM. (Central Processing Unit) and a RAM (Random Access Memory) functioning as an accessible storage device.

  The control device 160 executes a program stored in the ROM by the CPU, thereby obtaining a road information acquisition function for acquiring road information, an obstacle information acquisition function for acquiring obstacle information, and an own vehicle for acquiring own vehicle information. An information acquisition function, a route search function that searches for a route to the destination, an approach degree calculation function that calculates an approach degree between the host vehicle and an obstacle, a scene determination function that determines a traveling scene of the host vehicle, A travel plan creation function for creating a travel plan for the vehicle and a travel control function for controlling the travel of the host vehicle based on the travel plan are realized. Below, each function with which the control apparatus 160 is provided is demonstrated.

  The road information acquisition function of the control device 160 acquires road information related to the road on which the host vehicle travels based on various data detected by the road detection device 110. For example, the road information acquisition function analyzes the image data of the road including the lane mark ahead of the traveling direction of the host vehicle captured by the camera constituting the road detecting device 110, and thereby the type and shape of the road on which the host vehicle travels. Road information such as area can be acquired. The road information acquisition function by the road information acquisition function is repeatedly performed at predetermined intervals.

  The obstacle information acquisition function of the control device 160 acquires obstacle information related to obstacles existing around the host vehicle based on detection data from the obstacle detection device 120. For example, the obstacle information acquisition function is configured to detect obstacles existing around the host vehicle based on image data obtained by imaging the surroundings of the host vehicle from a camera constituting the obstacle detection device 120 and detection data such as a laser scanner and a radar. Obstacle information such as the type, shape, and position of the object can be acquired. The acquisition of obstacle information by the obstacle information acquisition function is repeatedly performed at predetermined intervals.

  The own vehicle information acquisition function of the control device 160 acquires own vehicle information related to the state of the own vehicle based on various data detected by the own vehicle state detection device 130. For example, the vehicle information acquisition function includes the vehicle speed of the host vehicle detected by the vehicle speed sensor constituting the host vehicle state detection device 130, the steering angle of the host vehicle detected by the steering angle sensor, the acceleration detected by the acceleration sensor, and the vehicle controller Based on the detected operation signal of the in-vehicle device and various data indicating the position of the own vehicle detected by the navigation device, the vehicle information such as the vehicle speed, the steering angle, the acceleration, the operation status and the position of the in-vehicle device is acquired. be able to. The acquisition of the vehicle information by the vehicle information acquisition function is repeatedly performed at a predetermined interval.

  The route search function of the control device 160 searches for a travel route to the destination. In this embodiment, a user can input a destination via a navigation device or the like. When the user inputs a destination, the route search function refers to the map information stored in the ROM of the control device 160, and the destination input by the user and the position of the host vehicle acquired by the host vehicle information acquisition function. Based on the information, the travel route to the destination is searched and set as the travel route of the host vehicle.

The approach degree calculation function of the control device 160 calculates the degree of approach between the host vehicle and an obstacle (for example, a four-wheeled vehicle, a two-wheeled vehicle, a pedestrian, a wall, a guardrail, etc.). For example, the approach degree calculation function is based on the own vehicle information including the position P1 and the vehicle speed V1 of the own vehicle and the obstacle information including the position P2 of the obstacle, from the vehicle speed V3 of the obstacle, from the own vehicle to the obstacle. And the relative vehicle speed V2 of the host vehicle with respect to the obstacle are calculated. Furthermore, the approach degree calculation function is based on the calculated distance L from the host vehicle to the obstacle and the relative vehicle speed V2 of the host vehicle with respect to the obstacle as shown in the following formulas (1) and (2). -Headway) and TTC (Time To Contact) are calculated. Then, the approach degree calculation function can calculate the approach degree D between the host vehicle and the obstacle as shown in the following formula (3) based on the calculated THW and TTC. In the following formula (3), α and β are predetermined constants.
THW = distance L from own vehicle to obstacle / vehicle speed V1 of own vehicle (1)
TTC = the distance L from the own vehicle to the obstacle / the relative vehicle speed V2 of the own vehicle with respect to the obstacle (2)
Degree of approach D = α / THW + β / TTC (3)

  The approach degree D between the host vehicle and the obstacle is an index indicating the degree to which the driver feels that the host vehicle is approaching the obstacle. The higher the approach degree D, the more the driver It can be evaluated that you feel that you are approaching an object. As shown in the above formula (3), the shorter the THW or the shorter the TTC, the shorter the time until the host vehicle approaches the obstacle and the higher the degree of approach D. Moreover, the calculation method of the approach degree D of the own vehicle and the obstacle is not limited to the method shown in the above formula (3), and a well-known method can also be used. Further, in the present embodiment, the approach degree calculation function repeatedly calculates the approach degree D between the host vehicle and the obstacle, but the approach degree D is repeatedly calculated only when a moving obstacle is detected around the host vehicle. Alternatively, the approach degree D may be calculated repeatedly only when the host vehicle travels an intersection.

  The scene determination function of the control device 160 determines the traveling scene of the host vehicle. For example, in the scene shown in FIG. 2A, the scene determination function is based on road information, obstacle information, and host vehicle information, and the obstacle ahead of the host vehicle is an oncoming vehicle, and Since it can be determined that the oncoming vehicle passes at the intersection, the traveling scene of the own vehicle can be determined to be a scene where the own vehicle and the oncoming vehicle pass at the intersection. Further, in the scene shown in FIG. 3A, the scene determination function is based on road information, obstacle information, and host vehicle information, and the road on which the host vehicle travels is a road with two or more lanes on one side. It is possible to determine that the obstacle ahead of the vehicle is a preceding vehicle that travels in the adjacent lane adjacent to the lane in which the host vehicle travels, and that the preceding vehicle changes the lane to the traveling lane of the host vehicle. It can be determined that the scene is a scene in which the preceding vehicle changes lanes to the traveling lane of the host vehicle. In the scene shown in FIG. 3A, the scene determination function can determine that the preceding vehicle changes to the lane in which the host vehicle travels by detecting blinking of the direction indicator of the preceding vehicle. .

  Further, the scene determination function determines whether or not the determined traveling scene of the own vehicle is a traveling scene that can suppress the approach between the own vehicle and the moving obstacle by prompting the moving obstacle to perform a predetermined action. Judging. For example, in the driving scene shown in FIG. 2 (A), an oncoming vehicle (moving obstacle) may turn right at the intersection, and by turning the oncoming vehicle to the right first, the approach between the host vehicle and the oncoming vehicle is suppressed. can do. In the driving scene shown in FIG. 3A, the preceding vehicle (moving obstacle) may change to the own lane, and the distance between the own vehicle and the preceding vehicle is increased, and the lane is changed to the preceding vehicle. By doing so, the approach of the own vehicle and the preceding vehicle can be suppressed. In the present embodiment, information on the driving scene that can suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action is stored in the ROM of the control device 160 in advance. Yes. Therefore, the scene determination function refers to the ROM of the control device 160, and the traveling scene of the host vehicle can suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action. It is possible to determine whether or not a predetermined traveling scene is possible.

  The travel plan creation function of the control device 160 creates a travel plan including a target locus and a target speed when the host vehicle travels. Specifically, the travel plan creation function sets an area where the host vehicle is likely to approach an obstacle (for example, a four-wheeled vehicle, a two-wheeled vehicle, a pedestrian, a wall, a guardrail, etc.) as an avoidance region. A target trajectory and a target speed for avoiding the above are created as a travel plan of the host vehicle.

  For example, the travel plan creation function sets the approach degree between the host vehicle and the obstacle calculated by the approach degree calculation function as the approach degree at the reference position of the obstacle in order to set the avoidance area, and the distance from the obstacle increases. The degree of approach is distributed on the two-dimensional plane so that the degree of approach becomes small. The travel plan creation function is distributed on a two-dimensional plane based on the type of obstacle (for example, four-wheeled vehicle, two-wheeled vehicle, pedestrian, wall, guardrail, etc.) and the relative speed between the host vehicle and the obstacle. It is possible to correct the magnitude of each approach degree. For example, when the obstacle is a four-wheeled vehicle, the degree of approach in front of the obstacle in the traveling direction can be made higher than when the obstacle is a pedestrian or a stationary object. Moreover, the higher the relative speed of the obstacle with respect to the host vehicle, the higher the degree of front of the obstacle in the traveling direction can be made. And a travel plan preparation function can set the area | region where the approach degree distributed on the two-dimensional plane becomes more than predetermined value as an avoidance area | region.

  Then, the travel plan creation function creates a target trajectory that the host vehicle travels, a target speed and a target steering angle at each position on the target trajectory as a travel plan so that the avoidance area set by the host vehicle can be avoided. To do. Since the situation around the host vehicle changes from moment to moment, the trip plan creation function repeatedly creates a trip plan for the subject vehicle at predetermined intervals based on the latest road information, obstacle information, and host vehicle information. Is called.

  Furthermore, in the present embodiment, the travel plan creation function is a travel scene in which the travel scene of the host vehicle can suppress the approach between the host vehicle and the travel obstacle by encouraging the mobile obstacle to perform a predetermined action. In some cases, a travel plan for the host vehicle is created so as to prompt the moving obstacle to perform a predetermined action. A method for creating a travel plan for encouraging a moving obstacle to perform a predetermined action will be described later.

  The travel control function of the control device 160 controls the travel of the host vehicle based on the travel plan created by the travel plan creation function. Specifically, the travel control function calculates target control values of the drive device 140 and the steering device 150 so that each position of the target locus determined in the travel plan travels at the target vehicle speed and the target steering angle. Then, the travel control function outputs the calculated target control value to the drive device 140 and the steering device 150, thereby controlling the travel of the host vehicle so that the host vehicle travels the target locus at the target vehicle speed. .

  The travel plan creation function repeatedly creates a travel plan at predetermined intervals based on the latest road information, obstacle information, and own vehicle information. Then, when a travel plan is newly created, the travel control function controls the travel of the host vehicle based on the newly created travel plan. Thus, even when a new moving obstacle appears, a travel plan is created so as to avoid the newly appearing moving obstacle, and the vehicle speed, the steering angle, and the like are controlled based on this travel plan. As a result, even when a new moving obstacle appears, the moving obstacle can be appropriately avoided.

  Next, the travel control process according to the present embodiment will be described with reference to FIG. FIG. 4 is a flowchart showing the travel control process according to the present embodiment.

  In step S <b> 101, various information is acquired by the control device 160. Specifically, the host vehicle information acquisition function of the control device 160 acquires host vehicle information such as the vehicle speed, steering angle, and position of the host vehicle detected by the host vehicle state detection device 130. Further, the obstacle information acquisition function of the control device 160 acquires the detection result of the obstacle detection device 120, and based on the acquired detection result of the obstacle detection device 120, the obstacles existing around the host vehicle are detected. Obstacle information such as shape, position, distance to the host vehicle, and relative speed with respect to the host vehicle is acquired. Furthermore, the detection result of the road detection device 110 is acquired by the road information acquisition function of the control device 160, and the road information of the road on which the host vehicle travels is acquired based on the acquired detection result of the road detection device 110. . The obstacle information acquisition function determines whether the obstacle is a moving obstacle based on the shape and relative speed of the obstacle around the host vehicle, and the obstacle is a moving obstacle. In this case, information indicating that the object is a moving obstacle can be acquired as obstacle information.

  In step S102, an area where the host vehicle and the obstacle are likely to approach each other is set as an avoidance area by the travel plan creation function of the control device 160. In step S103, the travel plan creation function of the control device 160 creates a travel plan for the host vehicle based on the avoidance area set in step S102. For example, the travel plan creation function determines the target trajectory and the target speed and target steering angle at each position on the target trajectory as the travel plan of the host vehicle so as to avoid the avoidance area set in step S102.

  In step S104, the scene determination function of the control device 160 determines the travel scene of the host vehicle based on the road information, host vehicle information, and obstacle information acquired in step S101. For example, in the scene shown in FIG. 2A, the scene determination function can determine that the traveling scene of the host vehicle is a scene in which the host vehicle and the oncoming vehicle pass each other at the intersection. In the scene shown in FIG. 3A, the scene determination function can determine that the traveling scene of the host vehicle is a scene in which the preceding vehicle changes the lane to the traveling lane of the host vehicle.

  In step S105, whether or not the degree of approach between the host vehicle and the moving obstacle may be equal to or greater than a predetermined first threshold in the travel scene determined in step S104 by the travel plan creation function of the control device 160. Judgment is made. For example, the travel plan creation function specifies a movement pattern in which the moving obstacle moves in the traveling scene determined in step S104, and the own vehicle and the moving obstacle when the moving obstacle moves in each movement pattern. Is calculated by simulation. Then, the travel plan creation function determines whether or not the degree of approach between the host vehicle and the moving obstacle in each calculated movement pattern may be a predetermined first threshold value or more.

  For example, in the travel scene shown in FIG. 2A, the travel plan creation function has two movement patterns of an oncoming vehicle that is a moving obstacle: a movement pattern in which the oncoming vehicle goes straight and a movement pattern in which the oncoming vehicle turns right. One movement pattern can be specified. Then, the travel plan creation function predicts the degree of approach between the host vehicle and the oncoming vehicle for each of the movement pattern in which the oncoming vehicle goes straight as it is and the movement pattern in which the oncoming vehicle turns right at the intersection. The travel plan creation function proceeds to step S107 when the degree of approach between the host vehicle and the oncoming vehicle may be a predetermined first threshold or more in any one or more movement patterns, In any of the movement patterns, if the degree of approach between the host vehicle and the oncoming vehicle does not exceed the predetermined first threshold value, the process proceeds to step S106.

  In the travel scene shown in FIG. 3 (A), the travel plan creation function uses the travel pattern of the preceding vehicle, which is a moving obstacle, as a traveling pattern in which the preceding vehicle goes straight without changing lanes, It is possible to specify the movement pattern for changing the lane to the lane of the vehicle. The travel plan creation function is based on a simulation in which the preceding vehicle and the preceding vehicle are moved for each of the movement pattern in which the preceding vehicle goes straight without changing the lane and the movement pattern in which the preceding vehicle changes the lane to the lane of the own vehicle. Predict the degree of approach. The travel plan creation function proceeds to step S107 when the degree of approach between the host vehicle and the preceding vehicle may be a predetermined first threshold or more for any one or more movement patterns, In any of the movement patterns, if the degree of approach between the host vehicle and the preceding vehicle does not exceed the predetermined first threshold value, the process proceeds to step S106.

  The travel plan creation function is based on the travel scene determined by the scene determination function by storing in advance the movement pattern in which the moving obstacle can move in the ROM of the control device 160 for each travel scene. The movement pattern in which the moving obstacle can move can be read from the ROM and specified. In addition, the travel plan creation function calculates the degree of approach between the host vehicle and the moving obstacle by the approach degree calculating function, so that when the moving obstacle moves in each movement pattern, the host vehicle and the moving obstacle The degree of approach can be predicted.

  In step S106, the travel control function of the control device 160 controls the travel of the host vehicle based on the travel plan created in step S103. Specifically, the travel control function sets target control values corresponding to the target speed and target steering angle at each position on the target trajectory so that the host vehicle travels at the target speed on the target trajectory determined in the travel plan. Calculate and output to the driving device 140 and the steering device 150. Thereby, the host vehicle can be made to travel with the target locus and target speed of the travel plan created in step S103.

  As described above, in a traveling scene in which the degree of approach between the host vehicle and the moving obstacle does not exceed the predetermined first threshold, the host vehicle avoids the moving obstacle instead of prompting the moving obstacle to perform a predetermined action. In this way, the traveling of the host vehicle is controlled. This is because in a traveling scene in which the degree of approach between the host vehicle and the moving obstacle is equal to or greater than the first threshold, it is unlikely that the host vehicle and the moving obstacle will approach without prompting the moving obstacle to perform a predetermined action. .

  On the other hand, when it is determined in step S105 that the degree of approach between the host vehicle and the moving obstacle may be equal to or greater than the first threshold in the traveling scene of the host vehicle, the process proceeds to step S107. In step S107, in order to suppress the approach of the own vehicle and the moving obstacle, a control process for controlling the traveling of the own vehicle is performed so as to prompt the moving obstacle to perform a predetermined action. Hereinafter, the control process in step S107 will be described with reference to FIG. FIG. 5 is a flowchart showing the control process according to step S107.

  First, in step S201, the scene in which the control device 160 determines that the traveling scene of the host vehicle can suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action. A determination is made as to whether it is a scene. For example, in the traveling scene shown in FIG. 2A, the approaching vehicle and the oncoming vehicle can be prevented from approaching by turning the oncoming vehicle to the right first. For this reason, the scene determination function allows the traveling scene of the host vehicle to suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle (oncoming vehicle) to perform a predetermined action (right turn). Can be determined. The travel scene shown in FIG. 3A is a travel scene in which the approach of the host vehicle and the preceding vehicle can be suppressed by changing the lane of the preceding vehicle first. For this reason, the scene determination function allows the traveling scene of the host vehicle to suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle (preceding vehicle) to perform a predetermined action (lane change). It can be determined that it is a scene.

  If it is determined that the traveling scene of the host vehicle is a traveling scene that can suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action, step S202. On the other hand, if it is determined that the traveling scene is not capable of suppressing the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action, the process proceeds to step S208. In step S208, the traveling control of the host vehicle is performed based on the traveling plan created in step S103, as in step S106. In other words, the traveling of the host vehicle is controlled so that the host vehicle avoids the moving obstacle instead of prompting the moving obstacle to perform a predetermined action.

  In step S202, a travel plan for prompting a moving obstacle to perform a predetermined action is created by the travel plan creation function of the control device 160. For example, in the scene shown in FIG. 2A, it is possible to urge the oncoming vehicle, which is a moving obstacle, to turn right by reducing the traveling speed of the host vehicle. In this case, the travel plan creation function can create a travel plan for the host vehicle so as to reduce the travel speed of the host vehicle. Further, in the scene shown in FIG. 3A, the lane change of the preceding vehicle that is a moving obstacle can be urged by reducing the traveling speed of the host vehicle. In this case, the travel plan creation function can create a travel plan for the host vehicle so as to reduce the travel speed of the host vehicle. Note that the control device 160 decelerates the behavior pattern of the own vehicle (for example, the scene examples shown in FIGS. 2A and 3A) for prompting the moving obstacle to perform a predetermined behavior for each traveling scene. Are stored in advance in the ROM. Thereby, the travel plan creation function can create a travel plan for encouraging a moving obstacle to perform a predetermined action.

  In step S203, the degree of approach between the host vehicle and another moving obstacle when the travel plan created in step S202 is executed by the travel plan creation function of the control device 160 is performed. For example, in the example shown in FIG. 2A, when control is performed to reduce the traveling speed of the own vehicle in order to urge the oncoming vehicle, which is a moving obstacle, to turn right, the own vehicle and the following vehicle (other movements) There is a possibility that it will approach. Similarly, in the example shown in FIG. 3A, when control is performed to reduce the traveling speed of the host vehicle in order to urge the preceding vehicle, which is a moving obstacle, to change lanes, the host vehicle and the following vehicle ( Other moving obstacles) may approach. Therefore, the travel plan creation function predicts, by simulation, the degree of approach between the host vehicle and another moving obstacle when the travel plan created in step S202 is executed.

  In step S204, when the travel plan created in step S202 is executed based on the approach degree prediction result in step S203 by the travel plan creation function of the control device 160, the host vehicle and other moving obstacles. It is determined whether or not the degree of approach to is equal to or greater than a predetermined second threshold value. If the degree of approach between the host vehicle and another moving obstacle is equal to or greater than the predetermined second threshold value, the process proceeds to step S208, and the traveling control of the host vehicle is performed based on the travel plan created in step S103. That is, the process for controlling the traveling of the host vehicle is performed so that the host vehicle avoids the moving obstacle without performing the control for prompting the moving obstacle to perform the predetermined action. On the other hand, when the travel plan created in step S202 is executed, if the degree of approach between the host vehicle and another moving obstacle is less than a predetermined second threshold, the process proceeds to step S205.

  In step S205, the traveling control of the host vehicle is performed based on the traveling plan created in step S202 by the traveling control function of the control device 160. In step S206, the travel control function of the control device 160 determines whether or not the moving obstacle has performed a predetermined action. For example, in the scene example shown in FIG. 2A, the traveling control function determines whether the oncoming vehicle has made a right turn as a result of the control of the host vehicle reducing the vehicle speed. In the scene example shown in FIG. 3A, the traveling control function determines whether or not the preceding vehicle has changed lanes as a result of the control of the host vehicle reducing the vehicle speed. If the moving obstacle is not performing the predetermined action, the process proceeds to step S208, and the travel of the host vehicle is controlled based on the travel plan created in step S103. On the other hand, if the moving obstacle performs a predetermined action, the process proceeds to step S207.

  In step S207, since it is determined that the moving obstacle is performing an action for suppressing the approach to the host vehicle, the travel control function of the control device 160 is used to create the travel plan based on the travel plan created in step S202. The traveling control of the host vehicle is continuously executed. Accordingly, for example, in the example shown in FIG. 2A, the oncoming vehicle can be turned right first, and after the oncoming vehicle turns right at the intersection, the own vehicle can pass the intersection. In the example shown in FIG. 3A, the lane change can be performed first by the preceding vehicle, and it is possible to continue traveling while maintaining a certain distance between the preceding vehicle and the lane change.

  As described above, in the present embodiment, the traveling scene of the own vehicle is a predetermined traveling scene that can suppress the approach between the own vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action. It is determined whether or not. When the traveling scene of the host vehicle is a traveling scene that can suppress the approach between the host vehicle and the moving obstacle, a traveling plan for encouraging the moving obstacle to perform a predetermined action is created, and Control the running of the vehicle. Thereby, in this embodiment, it can suppress effectively that the own vehicle and a moving obstacle approach itself instead of avoiding a moving obstacle after the own vehicle and a moving obstacle approach. Therefore, the host vehicle can be traveled safely and appropriately.

  That is, conventionally, as shown in FIG. 2B, when the oncoming vehicle makes a right turn and the own vehicle and the oncoming vehicle approach each other, the traveling of the own vehicle is controlled so as to avoid the oncoming vehicle. Therefore, conventionally, even after the oncoming vehicle starts making a right turn, the host vehicle continues traveling without decelerating until the own vehicle approaches the oncoming vehicle to some extent, and when the own vehicle approaches the oncoming vehicle to some extent, Control for suddenly stopping the host vehicle is performed. On the other hand, as shown in FIG. 2 (A), in this embodiment, in order to prompt the oncoming vehicle to make a right turn, it is possible to cause the oncoming vehicle to make a right turn first by reducing the vehicle speed in advance. it can. As a result, the host vehicle can travel through the intersection without approaching the oncoming vehicle.

  Similarly, conventionally, as shown in FIG. 3B, when the preceding vehicle changes lanes and the own vehicle approaches the preceding vehicle, the traveling of the own vehicle is controlled so as to avoid the preceding vehicle. . Therefore, even after the lane change of the preceding vehicle has started, the host vehicle continues to travel without decelerating until the host vehicle approaches the preceding vehicle to some extent, and when the host vehicle approaches the preceding vehicle to some extent, Is controlled to stop suddenly. On the other hand, as shown in FIG. 3A, in this embodiment, the vehicle speed of the host vehicle is reduced in advance in order to prompt the preceding vehicle to change lanes, so that the preceding vehicle that is a moving obstacle is preceded. You can change lanes. As a result, the host vehicle can travel safely with a certain distance from the preceding vehicle.

  Further, in the present embodiment, in the traveling scene of the own vehicle, the movement pattern in which the moving obstacle moves is specified, and the degree of approach between the own vehicle and the moving obstacle is determined when the moving obstacle moves in each movement pattern. When the value is equal to or greater than the predetermined first threshold value, the traveling of the host vehicle is controlled so as to prompt the moving obstacle to perform a predetermined action. Thereby, in this embodiment, only when there exists a possibility that the own vehicle and a moving obstacle approach, the action which does not approach the own vehicle can be urged to a moving obstacle.

  Furthermore, in this embodiment, when the traveling of the host vehicle is controlled so as to prompt the moving obstacle to perform a predetermined action, if the host vehicle and another moving obstacle approach, Control for encouraging action is not performed, and processing for controlling traveling of the host vehicle is performed so that the host vehicle avoids the moving obstacle when the host vehicle approaches the moving obstacle. Thereby, it is possible to effectively prevent the host vehicle from approaching another moving obstacle by controlling the traveling of the host vehicle so as to prompt the moving obstacle to perform a predetermined action.

  As mentioned above, although embodiment of this invention was described, these embodiment was described in order to make an understanding of this invention easy, and was not described in order to limit this invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

  For example, in the above-described embodiment, as illustrated in FIG. 2A and FIG. 3A, the configuration in which the traveling speed of the host vehicle is decelerated in order to urge the moving obstacle to perform a predetermined action is illustrated. For example, depending on the driving scene, the vehicle may be accelerated or the lane may be changed in order to urge the moving obstacle to perform a predetermined action.

  In the embodiment described above, the road information acquisition function, the obstacle information acquisition function, and the vehicle information acquisition function of the control device 160 are the acquisition means of the present invention, and the scene determination function of the control device 160 is the determination means of the present invention. In addition, the travel plan creation function and the travel control function of the control device 160 are the control means of the present invention, the approach degree calculation function of the control device 160 is the calculation means of the present invention, and the ROM of the control device 160 is the storage means of the present invention. , Respectively.

DESCRIPTION OF SYMBOLS 100 ... Traveling control apparatus 110 ... Road detection apparatus 120 ... Obstacle detection apparatus 130 ... Own vehicle state detection apparatus 140 ... Drive apparatus 150 ... Steering apparatus 160 ... Control apparatus

Claims (5)

Acquisition means for acquiring various types of information including information on moving obstacles existing around the host vehicle;
Determination means for determining whether the traveling scene of the host vehicle is a target scene that can suppress the approach between the host vehicle and the moving obstacle by encouraging the moving obstacle to perform a predetermined action based on the various information. When,
A travel control device comprising: control means for controlling travel of the host vehicle so as to prompt the predetermined action to the moving obstacle when it is determined that the scene is the target scene. The travel control device according to claim 1,
A calculation means for calculating the degree of approach between the host vehicle and the moving obstacle;
The control means controls the traveling of the host vehicle so as to prompt the predetermined action to the moving obstacle when it is determined that the degree of approach is a predetermined value or more and the target scene. A travel control device characterized by that. The travel control device according to claim 1 or 2,
For each traveling scene, the vehicle further comprises storage means for storing in advance a behavior pattern of the host vehicle for prompting the predetermined behavior to the moving obstacle,
When it is determined that the target scene is the target scene, the control unit controls the travel of the host vehicle based on the behavior pattern of the host vehicle corresponding to the target scene. The travel control device according to any one of claims 1 to 3,
The control means controls the traveling obstacle to the moving obstacle when the own vehicle and another obstacle approach when the traveling of the own vehicle is controlled so as to prompt the predetermined action to the moving obstacle. A travel control device characterized by not performing control for prompting the user's action. The travel control device according to claim 4,
The control means controls the traveling obstacle so as to prompt the predetermined action to the moving obstacle. When the own vehicle approaches another obstacle, the own vehicle is moved to the moving obstacle. A travel control device that controls the travel of the host vehicle so as to avoid the problem.

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