阅读说明：本技术 车辆用控制装置及车辆用控制方法 (Vehicle control device and vehicle control method ) 是由 中辻修平 竹内佑 一杉和夫 角谷文章 前田和士 于 2019-03-04 设计创作，主要内容包括：本发明获得车辆用控制装置及车辆用控制方法,适应于驾驶员的喜好且能实现安全的车辆自动行驶。基于前方摄像头(21)的摄像头视频,由车道信息检测部(11)对车辆的行驶车道的形状和道路宽度进行检测,由当前横向位置检测部(12)对表示当前正行驶的车辆在行驶车道的宽度方向上的位置的当前横向位置进行检测,由驾驶员对应横向位置设定部(13)设定与驾驶员的驾驶倾向相对应的驾驶员对应横向位置,进一步由上下限值设定部(15)根据道路宽度设定驾驶员对应横向位置所能取得的上下限值后,在检测到道路宽度变化时,由横向位置控制量运算部(14)将反映了该变化的上下限值内的驾驶员对应横向位置作为目标横向位置,运算从车辆的当前横向位置起的车辆的横向位置控制量。(The invention provides a vehicle control device and a vehicle control method, which are suitable for the preference of a driver and can realize safe automatic vehicle running. Based on a camera image of a front camera 21, a lane information detecting section 11 detects a shape of a traveling lane of a vehicle and a road width, a current lateral position detecting section 12 detects a current lateral position indicating a position of the vehicle currently traveling in a width direction of the traveling lane, a driver-corresponding lateral position setting section 13 sets a driver-corresponding lateral position corresponding to a driving tendency of a driver, and an upper and lower limit value setting section 15 sets an upper and lower limit value that can be obtained by the driver-corresponding lateral position according to the road width, when a change in road width is detected, a lateral position control amount calculation unit (14) calculates a lateral position control amount of the vehicle from the current lateral position of the vehicle, using the driver-associated lateral position within the upper and lower limit values reflecting the change as a target lateral position.)

1. A vehicle control device that is mounted on a vehicle and controls traveling of the vehicle, the vehicle control device comprising:

a lane information detection unit that detects a shape and a road width of a driving lane of the vehicle;

a current lateral position detection unit that detects a current lateral position indicating a position of the vehicle currently traveling in a width direction of the travel lane;

a driver-corresponding lateral position setting unit that sets a driver-corresponding lateral position indicating a position of the vehicle in a width direction of the travel lane, in accordance with a driving tendency of a driver of the vehicle;

an upper and lower limit value setting unit that sets an upper and lower limit value that can be obtained by the driver in accordance with the lateral position, based on the road width;

a lateral position control amount calculation unit that calculates a lateral position control amount of the vehicle from a current lateral position of the vehicle, with the driver-corresponding lateral position within the upper and lower limit values set by the upper and lower limit value setting unit as a target lateral position;

a target steering angle calculation unit that calculates a target steering angle of the vehicle based on the lateral position control amount calculated by the lateral position control amount calculation unit and the shape of the traveling lane; and

a vehicle steering unit that steers the vehicle based on the target steering angle calculated by the target steering angle calculation unit,

when the change in the road width is detected, the lateral position control amount calculation unit calculates the lateral position control amount of the vehicle based on the upper and lower limit values reflecting the change in the road width.

2. The control device for a vehicle according to claim 1,

when the change in the road width is detected, the lateral position control amount calculation unit gradually changes the driver's lateral position in accordance with time, and calculates the lateral position control amount of the vehicle so as to be within the upper and lower limit values reflecting the change in the road width.

3. The control device for a vehicle according to claim 1 or 2,

includes a target acceleration/deceleration calculation unit that calculates a target acceleration/deceleration for the vehicle and controls the vehicle speed of the vehicle,

the target acceleration/deceleration calculation unit controls to stop the vehicle from traveling when the width of the upper and lower limit values is larger than the road width.

4. The control apparatus for a vehicle according to claim 3,

the target acceleration/deceleration calculation unit performs control so that the vehicle stops traveling after a predetermined time after determining that the width of the upper and lower limit values is greater than the road width.

5. The control device for a vehicle according to any one of claims 1 to 4,

comprises a road toll gate detection unit for detecting a road toll gate located in front of the vehicle in the traveling direction,

the lateral position control amount calculation unit calculates the lateral position control amount of the vehicle when the change in the road width is detected and the road tollgate door is detected by the road tollgate door detection unit.

6. The control device for a vehicle according to any one of claims 1 to 5,

the upper and lower limit setting unit changes the upper and lower limit values in a direction toward a center of the driving lane in accordance with a decrease in the road width when the decrease in the road width is detected.

7. The control device for a vehicle according to any one of claims 1 to 5,

the upper and lower limit value setting unit changes the upper and lower limit values in a direction opposite to a center direction of the driving lane in accordance with an increase in the road width when the increase in the road width is detected.

8. The control apparatus for a vehicle according to claim 6,

the upper limit value and the lower limit value are changed in the direction toward the center of the driving lane, respectively, in the change of the upper limit value and the lower limit value by the upper limit value setting unit.

9. The control apparatus for a vehicle according to claim 7,

the upper limit value and the lower limit value are changed in directions opposite to a center direction of the driving lane, respectively, in the change of the upper limit value and the lower limit value by the upper limit value setting unit and the lower limit value setting unit.

10. The control apparatus for a vehicle according to claim 6,

in the changing of the upper and lower limit values by the upper and lower limit value setting unit, one of the upper limit value and the lower limit value is set to a fixed value, and the other is changed toward the center of the driving lane.

11. The control apparatus for a vehicle according to claim 7,

in the changing of the upper and lower limit values by the upper and lower limit value setting unit, one of the upper limit value and the lower limit value is set to a fixed value, and the other is changed in a direction opposite to the center direction of the driving lane.

12. A control method for a vehicle, characterized by comprising:

a first step in which a lane information detecting portion detects a road width of a traveling lane of a vehicle, and a current lateral position detecting portion detects a current lateral position indicating a position of the vehicle currently traveling in a width direction of the traveling lane;

a second step of setting a driver-corresponding lateral position indicating a position of the vehicle in a width direction of the travel lane by a driver-corresponding lateral position setting unit in accordance with a driving tendency of a driver of the vehicle;

a third step of setting, by an upper/lower limit setting unit, an upper/lower limit that can be obtained by the driver at a lateral position according to the road width;

a fourth step in which a lateral position control amount calculation unit detects a change in the road width detected in the first step;

a fifth step of changing the upper and lower limit values by the upper and lower limit value setting unit in accordance with the change in the road width when the change in the road width is detected in the fourth step;

a sixth step of calculating a lateral position control amount of the vehicle from a current lateral position of the vehicle, with the driver-corresponding lateral position within the upper and lower limit values changed in accordance with the change in the road width in the fifth step as a target lateral position by the lateral position control amount calculation unit;

a seventh step of calculating a target steering angle of the vehicle by a target steering angle calculation unit based on the lateral position control amount calculated in the sixth step; and

an eighth step of steering the vehicle by a vehicle steering unit based on the target steering angle calculated in the seventh step.

13. The control method for a vehicle according to claim 12,

in the sixth step, when the change in the road width is detected in the fourth step, the driver-associated lateral position is gradually changed according to time, and the lateral position control amount of the vehicle is calculated so as to be within the upper and lower limit values that are changed according to the change in the road width.

14. The control method for a vehicle according to claim 12 or 13,

a ninth step of controlling a vehicle speed of the vehicle by calculating a target acceleration/deceleration for the vehicle by a target acceleration/deceleration calculation unit,

in the ninth step, the vehicle is controlled to stop traveling when the width of the upper and lower limit values is larger than the road width.

15. The control method for a vehicle according to claim 14,

in the ninth step, after it is determined that the width of the upper and lower limit values is greater than the road width, the travel of the vehicle is controlled to be stopped after a predetermined time.

16. The control method for a vehicle according to any one of claims 12 to 15, characterized by comprising:

a tenth step in which a road tollgate gate detection unit detects a road tollgate gate located ahead in a traveling direction of the vehicle; and

an eleventh step of setting the driver-corresponding lateral position as a center of the travel lane when the road tollgate gate is detected in the tenth step,

after the eleventh step is performed, the fourth step is performed.

17. The control method for a vehicle according to any one of claims 12 to 16,

when the reduction in the road width is detected in the fourth step, the fifth step changes the upper and lower limit values in a direction toward the center of the driving lane in accordance with the reduction in the road width.

18. The control method for a vehicle according to any one of claims 12 to 16,

when the increase in the road width is detected in the fourth step, the fifth step changes the upper and lower limit values in a direction opposite to the direction of the center of the driving lane in accordance with the increase in the road width.

19. The control method for a vehicle according to claim 17,

in the fifth step, the upper limit value and the lower limit value are changed in the direction toward the center of the driving lane.

20. The control method for a vehicle according to claim 18,

in the fifth step, the upper limit value and the lower limit value are changed in directions opposite to the center direction of the driving lane.

21. The control method for a vehicle according to claim 17,

in the fifth step, in the changing of the upper and lower limit values, one of the upper limit value and the lower limit value is set to a fixed value, and the other is changed toward the center of the driving lane.

22. The control method for a vehicle according to claim 18,

in the fifth step, in the changing of the upper and lower limit values, one of the upper limit value and the lower limit value is set to a fixed value, and the other is changed in a direction opposite to the center direction of the driving lane.

Technical Field

The present application relates to a vehicle control device and a vehicle control method.

Background

A vehicle control device that performs steering assistance to cause a vehicle to travel along a lane is called a "lane keeping assist system" or the like, for example, and is under development (for example, patent document 1).

Generally, such a vehicle control device basically maintains the lateral position of the vehicle (hereinafter referred to as "lateral position") at the center of the lane, but corrects the lateral position in accordance with the preference of the driver and the tendency (habit) of driving, thereby realizing steering assistance capable of preventing interference with the steering of the driver and reducing the possibility of contact with an obstacle (for example, patent document 2).

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2001-001921 (pages 3-5, FIG. 2)

Patent document 2: japanese patent laid-open No. 2003-44137 (pages 3-4, FIG. 1)

Disclosure of Invention

Technical problem to be solved by the invention

In the vehicle control device of patent document 2, when a shoulder adjacent to a driving lane of a host vehicle is narrow, and when the adjacent lane is under construction, etc., the shoulder and the construction lane are caught in an unsafe feeling as the mind of passengers, and therefore, the target lateral position is automatically changed to realize traveling in which the driver's unsafe feeling is eliminated.

However, in this vehicle control device, when the driver feels an insecurity, the current lateral position of the vehicle is inevitably set to a safe target lateral position that is determined in advance, and therefore, there is a possibility that the vehicle control device is different from the travel route preferred by the driver (in short, the target lateral position is not corrected or changed).

For example, when the current lateral position of the host vehicle is set as the target lateral position based on the preference of the driver, and the road width is narrowed during traveling, the current lateral position of the host vehicle is forcibly set at the predetermined target position even if the current lateral position is the safe position, and there is a problem that the host vehicle tends to travel at a traveling position different from the preference of the driver.

The present application discloses a technique for solving the above-described problems, and an object thereof is to provide a vehicle control device and a vehicle control method that are adapted to the preference of a driver and that realize safe automatic traveling of a vehicle.

Means for solving the problems

A vehicle control device disclosed in the present application is mounted on a vehicle and controls traveling of the vehicle, and includes: a lane information detection unit that detects a shape and a road width of a driving lane of a vehicle; a current lateral position detection unit that detects a current lateral position indicating a position of a vehicle currently traveling in a width direction of a traveling lane; a driver-corresponding lateral position setting unit that sets a driver-corresponding lateral position indicating a position of the vehicle in a width direction of a travel lane, in accordance with a driving tendency of a driver of the vehicle; an upper and lower limit value setting unit that sets an upper and lower limit value that can be obtained by a driver in accordance with a lateral position, based on a road width; a lateral position control amount calculation unit that calculates a lateral position control amount of the vehicle from a current lateral position of the vehicle, with a driver-corresponding lateral position within the upper and lower limit values set by the upper and lower limit value setting unit as a target lateral position; a target steering angle calculation unit that calculates a target steering angle of the vehicle based on the lateral position control amount calculated by the lateral position control amount calculation unit and the shape of the traveling lane; and a vehicle steering unit that steers the vehicle based on the target steering angle calculated by the target steering angle calculation unit, wherein when a change in the road width is detected, the lateral position control amount calculation unit calculates the lateral position control amount of the vehicle based on upper and lower limit values reflecting the change in the road width.

Effects of the invention

According to the vehicle control device disclosed in the present application, safe automatic traveling of the vehicle can be realized while adapting to the preference of the driver.

Drawings

Fig. 1 is a block diagram showing a configuration of a vehicle control device according to embodiment 1.

Fig. 2 is a flowchart showing a vehicle control method in the vehicle control device according to embodiment 1.

Fig. 3 is a schematic diagram showing an operation of the vehicle in which the vehicle control device according to embodiment 1 is mounted.

Fig. 4 is a flowchart showing a vehicle control method in the vehicle control device according to embodiment 2.

Fig. 5 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 2.

Fig. 6 is a flowchart showing a vehicle control method in the vehicle control device according to embodiment 3.

Fig. 7 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 3.

Fig. 8 is a block diagram showing a configuration of a vehicle control device according to embodiment 4.

Fig. 9 is a flowchart showing a vehicle control method in the vehicle control device according to embodiment 4.

Fig. 10 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 4.

Fig. 11 is a block diagram showing a configuration of a vehicle control device according to embodiment 5.

Fig. 12 is a flowchart showing a vehicle control method in the vehicle control device according to embodiment 5.

Fig. 13 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 5.

Fig. 14 is a diagram showing a hardware configuration of the in-vehicle control device according to embodiments 1 to 5.

Detailed Description

Embodiment mode 1

Fig. 1 is a block diagram showing a configuration of a vehicle control device according to embodiment 1.

In fig. 1, the vehicle control device 100 includes a front camera 21, a vehicle control unit 10, and a travel control system 30, which will be described later.

In the following description, a vehicle on which the vehicle control device 100 is mounted is referred to as a "host vehicle". The vehicle control device 100 mainly controls the steering mechanism of the host vehicle.

The front camera 21 is an imaging device mounted on the host vehicle, and captures a front video (front video) viewed from the host vehicle. Then, the front camera 21 outputs the captured image to the lane information detecting unit 11 and the current lateral position detecting unit 12, which will be described later, as a front image.

The travel control system 30 is a system that controls travel of the host vehicle by controlling an acceleration mechanism, a brake mechanism, a steering mechanism, and the like of the host vehicle. The vehicle steering unit 31 controls a steering mechanism to steer the vehicle based on the target steering angle calculated by the target steering angle calculation unit 16 described later.

The vehicle control unit 10 is configured as follows.

The lane information detecting unit 11 analyzes the front video of the host vehicle captured by the front camera 21, and detects the shape (curvature) and road width of the traveling lane in front of the host vehicle.

The current lateral position detection unit 12 analyzes a front video of the vehicle captured by the front camera 21, and detects a current lateral position of the vehicle (hereinafter referred to as "current lateral position") in the driving lane. A method of detecting the curvature and the current lateral position of the traveling lane from the front video of the own vehicle is a well-known technique (for example, japanese patent laid-open No. 2017-74838), and therefore, the description thereof is omitted.

The driver-corresponding lateral position setting unit 13 sets the lateral position of the host vehicle corresponding to the preference or tendency of driving of the driver as the driver-corresponding lateral position.

The driver-corresponding lateral position setting unit 13 may be constituted by, for example, a rotary switch that allows the driver to adjust the driver-corresponding lateral position according to the preference of the driver. In this case, the driver can shift the driver to the left side corresponding to the lateral position by rotating the rotary switch in the left direction. On the other hand, the driver can shift the driver to the right side according to the lateral position by rotating the rotary switch to the right direction.

The driver-corresponding lateral position setting unit 13 may be configured as an arithmetic device that monitors (stores) the lateral position of the host vehicle when the driver manually steers, learns the tendency of the lateral position of the driver during driving, and calculates the driver-corresponding lateral position based on the learning result.

For example, the average value of the amounts of lateral position movement may be set as the driver-corresponding lateral position in consideration of the tendency of the driver-corresponding lateral position setting unit 13 to learn the lateral position when the driver manually steers.

The lateral position control amount calculation unit 14 determines the lateral position control amount based on the current lateral position of the host vehicle and the value of the driver-corresponding lateral position set by the driver-corresponding lateral position setting unit 13.

The upper and lower limit value setting unit 15 sets an upper and lower limit value at which the lateral position corresponding to the driver can be acquired. The center of the lane is used as the origin, and the left direction from the center of the lane is positive and the right direction is negative. Thus, for example, when the own vehicle travels at 0.5m on the left, the flag is +0.5m travel.

The upper and lower limit values are set according to the road width. The road width is usually set to ± 0.7m from the center of the lane (for example, 3.6m), and is set to ± about 0.5m when the road width is a narrow road width (for example, 3.4 m).

The lateral position control amount calculation unit 14 calculates the lateral position control amount of the host vehicle based on the current lateral position of the host vehicle detected by the current lateral position detection unit 12 and a target lateral position described later.

The target lateral position of the host vehicle is calculated based on the driver-corresponding lateral position set by the driver-corresponding lateral position setting unit 13 and the upper and lower limit values of the driver-corresponding lateral position set by the upper and lower limit value setting unit 15.

The lateral position control amount can be calculated using the following equation (1).

[ lateral position control amount ] - [ target lateral position ] - [ current lateral position ] … (1)

That is, the lateral position control amount of the host vehicle is obtained as the deviation between the target lateral position of the host vehicle and the current lateral position.

The target steering angle calculation unit 16 calculates the target steering angle of the host vehicle based on the shape (curvature) of the traveling lane detected by the lane information detection unit 11 and the lateral position control amount calculated by the lateral position control amount calculation unit 14.

In embodiment 1, the target steering angle calculation unit 16 calculates the target steering angle using the following expression (2).

[ target steering angle ] ═ K1 × [ curvature of lane ] + K2 × [ lateral position control amount ] … (2)

In the equation (2), K1 and K2 are parameters, and are values set in advance according to the running characteristics of the vehicle. The target steering angle calculation formula is not limited to the formula (2), and other calculation formulas may be used.

The target steering angle calculated by the target steering angle calculation unit 16 is output to the travel control system 30. The travel control system 30 controls the steering mechanism of the own vehicle according to the target steering angle. As a result, the lateral position of the host vehicle is steered to approach the target lateral position, and eventually the lateral position of the host vehicle becomes the target lateral position.

Fig. 3 is a schematic diagram showing an operation of the vehicle in which the vehicle control device according to embodiment 1 is mounted.

Fig. 3 shows the behavior of the own vehicle with respect to the case where the road width is reduced.

In fig. 3, there is a first lane 40 and a second lane 50 across a center line 60, and the lane center 41 of the first lane 40 is shown. The subject vehicle 70 travels slightly to the left.

Arrow 83 is shown, and arrow 83 indicates that the normal upper and lower limit values 81, the upper and lower limit values 82 for road width reduction, and the upper and lower limit values 82 for road width reduction are set as the target lateral positions.

Next, the operation will be described.

The operation of the vehicle control device 100 according to embodiment 1 will be described with reference to fig. 3 along with fig. 2.

The process of fig. 2 is started when the driver turns on the execution switch of the automatic steering by the vehicle control device 100, and is repeatedly executed while the execution switch is turned on.

First, in step S1 (first step), the lane information detecting unit 11 and the current lateral position detecting unit 12 detect the shape (curvature) of the traveling lane ahead of the host vehicle, the road width, and the current lateral position of the host vehicle in the traveling lane, based on the front image captured by the front camera 21.

Next, in step S2 (second step), the driver corresponding lateral position set by the driver corresponding lateral position setting unit 13 is acquired. Further, in step S3 (third step), the upper and lower limit values of the lateral position corresponding to the driver are set.

Next, in step S4 (fourth step), the lateral position control amount calculation unit 14 checks whether the road width ahead of the host vehicle has decreased.

If the road width ahead of the host vehicle is not decreasing (no in step S4), the lateral position control amount calculation unit 14 sets the driver-corresponding lateral position as the target lateral position in step S7.

When the road width ahead of the host vehicle is reduced (yes at step S4), at step S5 (fifth step), upper and lower limit value setting unit 15 lowers the upper and lower limit values of the lateral position corresponding to the driver.

In step S5, only one of the upper and lower limit values of the lateral position in the road width decreasing direction may be changed according to the preference of the driver, as in the upper and lower limit values 82 for road width decreasing in fig. 3.

In step S6 following step S5, the lateral position control amount calculation unit 14 checks whether or not the driver-associated lateral position exceeds the upper and lower limit values of step S5.

If the upper and lower limit values are not exceeded (no in step S6), in step S7, the lateral position control amount calculation unit 14 sets the driver-corresponding lateral position as the target lateral position.

When the upper and lower limit values are exceeded (yes in step S6), in step S8 (sixth step), the lateral position control amount calculation unit 14 sets the driver-corresponding lateral position that has fallen to the upper and lower limit values as the target lateral position.

As shown in fig. 3, when the road width in front of the host vehicle decreases and the current lateral position exceeds the upper and lower limit values 82 for road width reduction, the target lateral position of the host vehicle returns to the center because it becomes the upper and lower limit values 82 for road width reduction.

In step S9 (sixth step), the lateral position control amount calculation unit 14 calculates the lateral position control amount based on the target lateral position and the current lateral position of the host vehicle.

That is, in step S9, the lateral position control amount calculation unit 14 calculates the lateral position control amount based on the current lateral position of the host vehicle detected in step S1 and the target lateral position of the host vehicle set in step S7 or step S8, using equation (1).

Next, in step S10 (seventh step), the target steering angle calculation unit 16 calculates the target steering angle from the shape (curvature) of the traveling lane detected in step S1 and the lateral position control amount calculated in step S9 using equation (2).

Next, in step S11, the target steering angle calculated in step S10 is output. In step S12 (eighth step), the steering mechanism of the vehicle is controlled by the vehicle steering unit 31 based on the target steering angle. Thereby, the driver becomes the target lateral position corresponding to the lateral position.

According to embodiment 1, when the road width in front of the host vehicle is reduced, the upper and lower limit values of the driver's corresponding lateral position can be lowered.

Therefore, it is possible to drive with a ride feeling that is safe and based on the preference of the driver as priority.

Embodiment mode 2

Fig. 5 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 2.

In fig. 5, reference numerals 40, 41, 50, 60, 70, 81 are the same as those in fig. 3. Fig. 5 is a diagram of the case where the road width in front of the host vehicle increases, and shows upper and lower limit values 84 for increasing the road width.

Embodiment 1 shows an example in which the upper and lower limit values of the driver-corresponding lateral position are lowered when the width of the road in front of the host vehicle is reduced.

In order to travel more based on the preference of the driver when the road width is increased, embodiment 2 shows an example in which the upper and lower limit values of the lateral position are increased when the road width in front of the host vehicle is increased. Hereinafter, embodiment 2 will be described with reference to the drawings.

The configuration of the vehicle control device 100 according to embodiment 2 is the same as that in fig. 1.

Next, the operation of the vehicle control device 100 according to embodiment 2 will be described with reference to fig. 5 along with fig. 4.

Further, steps S1 to S3, S7, and S9 to S12 in fig. 4 are the same processes as those in fig. 2.

Next, in step S3, in step S21 (fourth step), the lateral position control amount calculation unit 14 determines whether or not the road width in front of the host vehicle is increased.

In step S21, when the road width is not increased, the process proceeds to step S7.

When the road width in front of the host vehicle increases, the upper and lower limit values of the driver corresponding to the lateral position are increased by the upper and lower limit value setting unit 15 in step S22 (fifth step).

As shown in fig. 5, when the road width in front of the host vehicle increases, the host vehicle can travel based on the preference of the driver by increasing the upper and lower limit values to the upper and lower limit values 84 for increasing the road width.

As in embodiment 1, only one of the upper and lower limit values of the lateral position may be changed.

Further, similarly to fig. 3, the upper and lower limit values of the lateral position may be increased only in the direction in which the road width increases, and the vehicle may travel according to the preference of the driver.

According to embodiment 2, when the road width in front of the host vehicle increases, the upper and lower limit values of the driver's corresponding lateral position can be increased.

Therefore, the vehicle can travel with priority given to the riding feeling based on the preference of the driver.

Embodiment 3

Fig. 7 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 3.

In fig. 7, reference numerals 40, 41, 50, 60, 70, 81, 82 are the same as those in fig. 3. Fig. 7 shows an arrow 85 indicating a case where the amount of change in the driver's corresponding lateral position becomes gentle corresponding to time as the target lateral position in the case where the road width in front is reduced.

In embodiment 1, when the driver-corresponding lateral position of the host vehicle exceeds the upper and lower limit values in order to lower the upper and lower limit values of the driver-corresponding lateral position when the road width in front of the host vehicle is reduced, the target lateral position of the host vehicle suddenly changes to the upper and lower limit values and returns to near the center.

Therefore, a sense of insecurity of the driver is generated, resulting in traveling not based on the preference of the driver. Embodiment 3 shows an example in which the amount of change in the target lateral position is made variable in accordance with time. Hereinafter, embodiment 3 will be described with reference to the drawings.

The configuration of the vehicle control device 100 according to embodiment 2 is the same as that in fig. 1.

Next, the operation of the vehicle control device 100 according to embodiment 3 will be described with reference to fig. 7 along fig. 6.

Further, steps S1 to S7 and steps S9 to S12 in fig. 6 are the same processes as those in fig. 2.

When the lateral position control amount calculation unit 14 determines in step S6 that the driver-corresponding lateral position exceeds the upper and lower limit values (yes in step S6), in step S31, the lateral position control amount calculation unit 14 sets the target lateral position by smoothing the amount of change in the driver-corresponding lateral position that is decreased to the upper and lower limit values in accordance with time. Then, the process proceeds to step S9.

As shown in fig. 7, when the road width in front of the host vehicle is reduced and the driver-corresponding lateral position exceeds the upper and lower limit values, the amount of change in the driver-corresponding lateral position that becomes the target lateral position is made gentle with time as indicated by an arrow 85, and the vehicle travels so as to eliminate the sense of insecurity of the driver.

According to embodiment 3, when the road width in front of the host vehicle decreases, the upper and lower limit values of the driver-corresponding lateral position are lowered, and the amount of change in the driver-corresponding lateral position lowered to the upper and lower limit values is made gentle in accordance with the time to set the target lateral position.

Therefore, it is possible to drive with a ride feeling that is safe and based on the preference of the driver as priority.

Embodiment 4

Fig. 8 is a block diagram showing a configuration of a vehicle control device according to embodiment 4.

In FIG. 8, reference numerals 10 to 16, 21, 30, 31 and 100 are the same as those in FIG. 1. In fig. 8, the cruise control vehicle speed setting unit 22 is provided in the vehicle control device 100, and the target acceleration/deceleration calculation unit 17 is provided in the vehicle control unit 10.

The cruise control vehicle speed setting portion 22 is used to set a cruise control target vehicle speed desired by the driver. When the cruise control target vehicle speed is output from the cruise control vehicle speed setting unit 22, the target acceleration/deceleration calculation unit 17 instructs the accelerator/brake to perform target acceleration/deceleration and controls the vehicle speed so that the current vehicle speed matches the cruise control target vehicle speed.

Fig. 10 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 4.

In fig. 10, reference numerals 40, 41, 50, 60, 70 are the same as those in fig. 3. Fig. 10 is a diagram of a case where a construction site 90 is present on a road. The upper and lower limits 86 of the driver's corresponding lateral position and the travelable road width 87 in the construction site 90 are shown. When the upper and lower limit values 86 of the driver corresponding to the lateral position are larger than the travelable road width 87, the host vehicle 70 is stopped.

In embodiments 1 and 3, an example is shown in which, when the width of the road in front of the host vehicle is reduced, the upper and lower limit values of the lateral position corresponding to the driver are lowered so as to travel safely and based on the preference of the driver.

However, as shown in fig. 10, when there is a construction site 90 or the like in front of the host vehicle and the travelable road width 87 in front of the host vehicle is smaller than the upper and lower limit values 86 corresponding to the lateral position of the driver, the following vehicle may approach the adjacent lane, giving the passengers an uncomfortable feeling.

Embodiment 4 is an embodiment for coping with this.

Next, the operation will be described.

The operation of the vehicle control device 100 according to embodiment 3 will be described with reference to fig. 10 along with fig. 9.

Further, steps S1 to S5, S7, and S9 to S12 in fig. 9 are the same processes as those in fig. 2.

In step S41 following step S5, in order to safely drive on the road, the lateral position control amount calculation unit 14 compares the upper and lower limit values 86 of the lateral position corresponding to the driver with the travelable road width 87, and determines whether or not the upper and lower limit values 86 of the lateral position corresponding to the driver are greater than the travelable road width 87.

If no, the process proceeds to step S7, and the subsequent processing is the same as in embodiments 1 and 3. If yes, the process proceeds to step S42.

In step S42, the target acceleration/deceleration calculation unit 17 calculates the target vehicle speed using the value of the cruise control target vehicle speed output by the cruise control vehicle speed setting unit 22.

Next, in step S43 (ninth step), the target acceleration/deceleration calculation unit 17 calculates and outputs the target acceleration/deceleration.

Then, in step S44 (ninth step), the travel control system 30 controls the host vehicle in accordance with the target acceleration/deceleration.

For example, as shown in fig. 10, a construction site 90 or the like exists in front of the host vehicle, the road width in front of the host vehicle is reduced, the travelable road width 87 is compared with the upper and lower limit values 86 of the lateral position corresponding to the driver, and when the upper and lower limit values 86 of the lateral position corresponding to the driver are large, the speed of the host vehicle is controlled in accordance with the target acceleration/deceleration to stop the host vehicle.

Here, the time for parking is set to several seconds after it is determined that upper and lower limit values 86 of the lateral position corresponding to the driver as the condition are large.

According to embodiment 4, when the road width in front of the host vehicle is reduced and the upper and lower limit values 86 of the lateral position corresponding to the driver are larger than the available road width 87, the host vehicle 70 is stopped.

Therefore, it is possible to drive with a ride feeling that is safe and based on the preference of the driver as priority.

Embodiment 5

Fig. 11 is a block diagram showing a configuration of a vehicle control device according to embodiment 5.

In FIG. 11, reference numerals 10 to 16, 21, 30, 31 and 100 are the same as those in FIG. 1. In fig. 11, the vehicle control unit 10 is provided with a road toll gate detection unit 18. The road toll gate detection unit 18 detects the position of the road toll gate in front of the vehicle from the front video image captured by the front camera 21.

Fig. 13 is a schematic diagram showing an operation of the vehicle equipped with the vehicle control device according to embodiment 5.

In fig. 13, reference numerals 40, 41, 70, 81, 82 are the same as those in fig. 3. Fig. 13 shows an arrow 88, and this arrow 88 indicates a case where the own vehicle 70 returns to the center of the lane when the road tollgate gate 91 is detected by the road tollgate gate detecting section 18.

In embodiment 5, when the road tollgate gate 91 in front of the host vehicle is detected, the lane center 41 is set as the target lateral position in order to safely pass through the road tollgate gate 91.

When the road width in front of the host vehicle changes, the upper and lower limit values of the driver-corresponding lateral position corresponding to the road width are set, as in embodiments 1 and 2.

In this way, the driver can safely drive through the road tollgate gate 91 and based on the preference.

Next, the operation will be described.

The operation of the vehicle control device 100 according to embodiment 5 will be described with reference to fig. 13 along with fig. 12.

Further, steps S1 to S3, S7, and S9 to S12 in fig. 12 are the same processes as those in fig. 2.

In step S51 (tenth step) following step S3, the road tollgate gate detection unit 18 determines whether or not the road tollgate gate 91 in front of the host vehicle is detected, based on the front video of the front camera 21.

If the road tollgate door 91 is not detected (no in step S51), the process proceeds to step S7.

When the road tollgate gate 91 is detected (yes in step S51), in step S52 (eleventh step), the lateral position control amount calculation unit 14 sets the position of the lane center 41 to the driver-corresponding lateral position in order to safely pass through the road tollgate gate 91, and proceeds to step S53.

In step S52, as shown in fig. 13, since the road tollgate gate 91 is detected in front of the own vehicle, the own vehicle 70 is returned to the lane center 41.

In step S53, the lateral position control amount calculation unit 14 determines whether the road width ahead of the host vehicle increases or decreases based on the front video image of the front camera 21.

In the case of no increase or decrease (no in step S53), it proceeds to step S7.

On the other hand, when there is an increase or decrease (yes in step S53), in step S54, the upper and lower limit value setting unit 15 sets the upper and lower limit values for the increase and decrease of the road width so as to be based on the preference of the driver.

In step S54, as in embodiments 1 and 2, the driver may be caused to travel in accordance with only one change in the upper and lower limit values of the lateral position, depending on preference.

In the example of fig. 13, when the road tollgate gate 91 is detected and the road width in front of the host vehicle is reduced, the upper and lower limit values of the driver-corresponding lateral position are reduced to the upper and lower limit values 82 for reducing the road width, so that the vehicle can travel safely and according to the preference of the driver.

According to embodiment 5, when the road tollgate gate 91 in front of the host vehicle is detected and the road width in front of the host vehicle increases or decreases, the driver-corresponding lateral position is set at the center of the lane, and then the vehicle can freely travel within the upper and lower limit values of the driver-corresponding lateral position for increasing or decreasing the road width.

Therefore, it is possible to drive with a ride feeling that is safe and based on the preference of the driver as priority.

In the above description of the embodiment, the lateral position control amount calculation unit 14 sets the upper and lower limit values of the driver-corresponding lateral position to ± 0.5m when the road width ahead of the host vehicle decreases, but this value is not necessarily required. For example, when the following vehicle is present in the adjacent lane and approaches the host vehicle, the upper and lower limit values may be set to ± 0.3m or the like.

In the above description of embodiment 3, when the road width ahead of the host vehicle decreases and the driver-corresponding lateral position exceeds the upper and lower limit values, the lateral position control amount calculation unit 14 sets the amount of change in the driver-corresponding lateral position to be gentle in order to avoid sudden return of the host vehicle to the center, but may set the amount of change to be steep if the driver feels that he/she wants to improve the speed responsiveness.

In the above description of the embodiment, the road width in front of the host vehicle is increased or decreased, and the upper and lower limit values of the lateral position corresponding to the driver are changed. Can also be selected according to the intention of the driver.

In the above description of the embodiment, the lateral position control amount calculation unit 14 may notify the driver of the host vehicle of an increase or decrease in the width of the road ahead of the host vehicle and a change in the upper and lower limit values of the lateral position corresponding to the driver, using a display or a speaker mounted on the host vehicle.

The change of the upper and lower limit values of the corresponding transverse position is informed to the driver, so that the driver can be provided with a sense of safety.

In the above description of the embodiment, the front camera 21 analyzes the video in front of the host vehicle to detect the current lateral position of the host vehicle and the lane shape of the road, but may detect the host vehicle position using an artificial satellite and detect the relative position between the host vehicle and the road and the lane shape of the road using road map data.

As an example of hardware shown in fig. 14, the vehicle control device 100 includes a processor 101 and a storage device 102. Although not shown, the storage device includes a volatile storage device such as a random access memory and a non-volatile auxiliary storage device such as a flash memory. Instead of the flash memory, an auxiliary storage device such as a hard disk may be provided. The processor 101 executes a program input from the storage device 102. In this case, the program is input from the auxiliary storage device to the processor 101 via the volatile storage device. The processor 101 may output data such as the operation result to a volatile storage device of the storage device 102, or may store the data in an auxiliary storage device via the volatile storage device.

Various exemplary embodiments and examples are described in the present disclosure, but the various features, forms, and functions described in 1 or more embodiments are not limited to the application to the specific embodiments, and may be applied to the embodiments alone or in various combinations.

Therefore, it is considered that numerous modifications not illustrated are also included in the technical scope disclosed in the present specification. For example, the present invention includes a case where at least one of the components is modified, added, or omitted, and a case where at least one of the components is extracted and combined with the components of the other embodiments.

Description of the reference symbols

10 control unit for vehicle

11 lane information detecting unit

12 current lateral position detecting section

13 driver-corresponding lateral information setting unit

14 lateral position control amount calculating part

15 upper and lower limit setting unit

16 target steering angle calculation unit

17 target acceleration/deceleration calculating section

18 road toll gate detection part

21 front camera

22 cruise control vehicle speed setting unit

30 travel control system

31 vehicle steering section

40 first lane

Center of lane 41

50 second lane

60 center line

70 own vehicle

81 normal upper and lower limit values

82 upper and lower limit values for road width reduction

83 arrow head

Upper and lower limit values for 84 road width increase

85 arrow head

86 upper and lower limit values of driver corresponding to lateral position

87 width of road capable of running

88 arrow head

90 construction site

91 road toll station door

100 vehicle control device

101 processor

102 storage device