阅读说明：本技术 驾驶辅助车辆的目标车速生成方法以及目标车速生成装置 (Target vehicle speed generation method and target vehicle speed generation device for driving assistance vehicle ) 是由 后藤明之 福重孝志 田家智 于 2017-07-03 设计创作，主要内容包括：本发明的目标车速生成装置,在通过驾驶辅助进行行驶时,不管在本车行驶道路的侧方是否存在障碍物,都防止对乘员带来不适感。作为安装了根据对本车行驶产生妨碍的障碍物生成本车的目标车速的自动驾驶控制单元(2)(控制器)的自动驾驶车辆(驾驶辅助车辆)的目标车速生成装置,自动驾驶控制单元(2)具有目标行驶路径生成单元(21)、周围物体信息获取单元(22)、目标车速生成单元(23)。目标行驶路径生成单元(21)生成本车的目标行驶路径。周围物体信息获取单元(22)获取本车行驶道路上的障碍物的位置信息以及本车行驶道路外的侧方的障碍物的位置信息。目标车速生成单元(23)计算相对目标行驶路径的至本车行驶道路上的障碍物的横向偏差以及相对目标行驶路径的至本车行驶道路外的障碍物的横向偏差,与横向偏差大的障碍物相比,对于横向偏差小的障碍物生成更低的目标车速。(The present invention provides a target vehicle speed generation device that prevents an occupant from being inconvenienced regardless of whether an obstacle is present on a side of a road on which the vehicle is traveling when traveling with driving assistance. As a target vehicle speed generation device of an automatic driving vehicle (driving auxiliary vehicle) provided with an automatic driving control unit (2) (controller) for generating a target vehicle speed of the vehicle according to an obstacle obstructing the running of the vehicle, the automatic driving control unit (2) is provided with a target running path generation unit (21), a surrounding object information acquisition unit (22) and a target vehicle speed generation unit (23). A target travel path generation unit (21) generates a target travel path of the vehicle. A peripheral object information acquisition unit (22) acquires position information of an obstacle on the vehicle travel road and position information of an obstacle on the side outside the vehicle travel road. A target vehicle speed generation unit (23) calculates a lateral deviation to an obstacle on the host vehicle traveling road from the target traveling path and a lateral deviation to an obstacle outside the host vehicle traveling road from the target traveling path, and generates a lower target vehicle speed for an obstacle having a small lateral deviation than for an obstacle having a large lateral deviation.)

1. A method for generating a target vehicle speed of a driving assistance vehicle, the target vehicle speed of the vehicle being generated on the basis of an obstacle that interferes with the traveling of the vehicle,

a target travel path of the host vehicle is generated,

acquiring position information of an obstacle on a vehicle traveling road and position information of an obstacle outside the vehicle traveling road,

a lateral deviation to an obstacle on the host vehicle running road from the target running path and a lateral deviation to an obstacle outside the host vehicle running road from the target running path are calculated, and a lower target vehicle speed is generated for an obstacle having a small lateral deviation than for an obstacle having a large lateral deviation.

2. The target vehicle speed generation method of the drive assist vehicle according to claim 1,

when the target vehicle speed is generated, the target vehicle speed is generated from a vehicle speed distribution in which an obstacle having a lateral deviation from the target travel path of a predetermined value or less stops in front of the obstacle.

3. The target vehicle speed generation method of the drive assist vehicle according to claim 1 or 2,

when the target vehicle speed is generated, the adjustment degree of the target vehicle speed according to the lateral deviation from the target travel path is changed according to the front distance between the vehicle and the obstacle, and the target vehicle speed is reduced as the front distance between the vehicle and the obstacle is closer than the target vehicle speed when the front distance between the vehicle and the obstacle is farther.

4. The target vehicle speed generation method of the drive assist vehicle according to any one of claims 1 to 3,

when the target vehicle speed is generated, the adjustment degree of the target vehicle speed corresponding to the lateral deviation from the target running path is changed according to the limit vehicle speed of the road, and when the target vehicle speed is an obstacle with the same lateral deviation, the target vehicle speed is increased when the target vehicle speed is a road with a high limit vehicle speed compared with the target vehicle speed when the target vehicle speed is a road with a low limit vehicle speed.

5. The target vehicle speed generation method of the drive assist vehicle according to any one of claims 1 to 4,

when the target vehicle speed is generated, a lateral deviation between a target travel path and an obstacle is calculated, a front distance addition amount is calculated from the lateral deviation, a virtual distance is calculated by adding the addition amount to an actual distance between the obstacle and the vehicle, and the target vehicle speed is generated from the virtual distance.

6. The target vehicle speed generation method of the drive assist vehicle according to claim 5,

selecting an obstacle having the smallest calculated virtual distance to each obstacle when generating the target vehicle speed, calculating a virtual shortest distance,

and generating a target vehicle speed based on the virtual shortest distance.

7. The target vehicle speed generation method of the drive assist vehicle according to claim 5 or 6,

in calculating the amount of replenishment, the amount of replenishment is increased if the lateral deviation between the target travel path and the obstacle is larger than a prescribed deviation, and the amount of replenishment is decreased if the lateral deviation is smaller than the prescribed deviation.

8. The target vehicle speed generation method of the drive assist vehicle according to any one of claims 5 to 7,

when the offset between the target travel path and the obstacle in the lateral direction is equal to or less than a fixed value, the amount of the offset is set to zero when the amount of the offset is calculated.

9. The target vehicle speed generation method of the drive assist vehicle according to any one of claims 5 to 8,

when calculating the amount of replenishment, the amount of replenishment is changed in accordance with the vehicle speed limit of the road, and if the vehicle speed limit is high, the amount of replenishment is increased, and if the vehicle speed limit is low, the amount of replenishment is decreased.

10. The target vehicle speed generation method of the drive assist vehicle according to any one of claims 5 to 9,

when calculating the amount of compensation, the amount of compensation is changed according to the distance to the front of the vehicle, and when the distance between the vehicle and the obstacle is near, the amount of compensation is reduced, and the amount of compensation is increased as the distance to the front of the vehicle and the obstacle is farther.

11. A target vehicle speed generation device for a driving assistance vehicle, having a controller for generating a target vehicle speed of the vehicle based on an obstacle that interferes with the traveling of the vehicle,

the controller includes:

a target travel path generation unit that generates a target travel path of the host vehicle;

a surrounding object information acquiring unit that acquires position information of an obstacle on a vehicle traveling road and position information of an obstacle outside the vehicle traveling road; and

and a target vehicle speed generation unit that calculates a lateral deviation to an obstacle on the host vehicle travel road from the target travel path and a lateral deviation to an obstacle outside the host vehicle travel road from the target travel path, and generates a lower target vehicle speed for an obstacle having a small lateral deviation than for an obstacle having a large lateral deviation.

Technical Field

The present disclosure relates to a target vehicle speed generation method and a target vehicle speed generation device for a driving assistance vehicle that generate a target vehicle speed of a host vehicle from an obstacle that interferes with the traveling of the host vehicle.

Background

Conventionally, a vehicle travel control device is known that generates a target vehicle speed based on a remaining road width in consideration of an obstacle on a traveling road of a vehicle (see, for example, patent document 1).

Disclosure of Invention

Problems to be solved by the invention

However, in the conventional apparatus, only the obstacle on the traveling road of the host vehicle is considered, and the obstacle (wall or the like) on the side outside the traveling road of the host vehicle is not considered. Therefore, when the remaining amount of the lane width is the same due to an obstacle on the traveling road of the host vehicle, a vehicle speed plan based on the target vehicle speed at which the vehicle decelerates in the same manner is prepared regardless of the presence or absence of an obstacle on the side of the traveling road of the host vehicle. Therefore, when an obstacle is present on the side of the road on which the vehicle is traveling, the side wall gives a sense of discomfort that the member is approaching. On the other hand, when there is no obstacle on the side of the vehicle traveling road, there is a problem that a feeling of slow swallowing traveling on a road where there is nothing is given to the members.

The present disclosure has been made in view of the above problems, and an object of the present disclosure is to prevent an occupant from being inconvenienced regardless of the presence or absence of an obstacle in a side portion of a vehicle traveling road when traveling with driving assistance.

Means for solving the problems

In order to achieve the above object, the present disclosure provides a target vehicle speed generation method for a driving assistance vehicle that generates a target vehicle speed of the vehicle from an obstacle that interferes with the traveling of the vehicle.

A target travel path of the host vehicle is generated.

Position information of an obstacle on a vehicle traveling road and position information of an obstacle on a side outside the vehicle traveling road are acquired.

A lateral deviation to an obstacle on the host vehicle traveling road from the target traveling path and a lateral deviation to an obstacle outside the host vehicle traveling road from the target traveling path are calculated, and a lower target vehicle speed is generated for an obstacle having a small lateral deviation than for an obstacle having a large lateral deviation.

ADVANTAGEOUS EFFECTS OF INVENTION

As described above, the vehicle speed plan is prepared in consideration of not only the obstacle on the vehicle traveling road but also the obstacle on the side outside the vehicle traveling road, and it is possible to prevent the occupant from being inconvenienced when traveling by the driving assistance, regardless of whether or not the obstacle is present on the side of the vehicle traveling road.

Drawings

Fig. 1 is an overall system diagram showing an automatic driving control system to which a target vehicle speed generation method and a target vehicle speed generation device of embodiment 1 are applied.

Fig. 2 is a block diagram showing the detailed configuration of the target vehicle speed generation means of the target vehicle speed generation method and the target vehicle speed generation device of embodiment 1.

Fig. 3 is a flowchart showing the flow of vehicle speed control processing using the target vehicle speed executed by the automatic driving control unit of embodiment 1.

Fig. 4 is a flowchart showing the flow of the virtual distance calculation process in step S2 in the flowchart of fig. 3.

Fig. 5 is a vehicle speed distribution characteristic diagram showing a vehicle speed distribution (profile) generated in the vehicle speed command calculation process in step S3 of the flowchart of fig. 3.

Fig. 6 is a map showing an example of a patch (foot しこみ) amount map (map) a and a patch amount map B used in the virtual distance calculation process.

Fig. 7 is a map showing an example of the complement amount map C and the complement amount map D used in the virtual distance calculation process.

Fig. 8 is an explanatory view showing a vehicle speed control operation in a comparative example in which an obstacle is present in front of a vehicle traveling road and a wall (obstacle) is present on a side of the vehicle traveling road.

Fig. 9 is an explanatory view showing a vehicle speed control operation in the comparative example in which an obstacle is present in front of the vehicle traveling road and no wall (obstacle) is present on the side of the vehicle traveling road.

Fig. 10 is a flowchart showing the flow of the target vehicle speed generation process executed in the automatic driving control unit of embodiment 1.

Fig. 11 is an explanatory view showing a vehicle speed control operation in a case where the vehicle is traveling sufficiently away from a side obstacle when there is an obstacle in front of the vehicle traveling road (a gentle curve) and there is a wall (obstacle) on the side of the vehicle traveling road in example 1.

Fig. 12 is an explanatory view showing a vehicle speed control operation in a case where the vehicle travels in the vicinity of a side obstacle when there is an obstacle in front of the vehicle traveling road (a gentle curve) and there is a wall (an obstacle) in the side of the vehicle traveling road in embodiment 1.

Detailed Description

Hereinafter, a preferred embodiment of a target vehicle speed generation method and a target vehicle speed generation device for realizing the driving assistance vehicle according to the present disclosure will be described based on embodiment 1 shown in the drawings.