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WO2018199075A1 - Dispositif de commande de véhicule et procédé de commande de véhicule - Google Patents

Dispositif de commande de véhicule et procédé de commande de véhicule Download PDF

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Publication number
WO2018199075A1
WO2018199075A1 PCT/JP2018/016571 JP2018016571W WO2018199075A1 WO 2018199075 A1 WO2018199075 A1 WO 2018199075A1 JP 2018016571 W JP2018016571 W JP 2018016571W WO 2018199075 A1 WO2018199075 A1 WO 2018199075A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
host vehicle
intersection
blue
traffic light
Prior art date
Application number
PCT/JP2018/016571
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English (en)
Japanese (ja)
Inventor
康司 杉浦
Original Assignee
いすゞ自動車株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by いすゞ自動車株式会社 filed Critical いすゞ自動車株式会社
Priority to CN201880026450.4A priority Critical patent/CN110536818A/zh
Publication of WO2018199075A1 publication Critical patent/WO2018199075A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present disclosure relates to a vehicle control device and a vehicle control method, and more particularly, to a vehicle control device and a vehicle control method for executing an automatic driving traveling in which a host vehicle follows a preceding vehicle to travel.
  • Patent Document 2 can be cited as another prior art document related to the present disclosure.
  • the traffic light for the pedestrian at the intersection in front of the host vehicle blinks in blue.
  • a driver assistance device that forcibly stops the vehicle when it is determined that the vehicle cannot be stopped before the intersection as a result of the driver's braking operation receiving a warning to the vehicle driver. It is disclosed.
  • the present disclosure has been made in view of the above, and the purpose of the present disclosure is to respond to the fact that the vehicle traffic signal is displayed in yellow at the time of execution of the automatic driving traveling in which the preceding vehicle travels following the host vehicle.
  • a vehicle control device is provided that can slowly decelerate the host vehicle and stop it before the intersection.
  • a vehicle control device for a vehicle at an intersection in front of the host vehicle during execution of automatic driving that causes the host vehicle to travel by following the host vehicle.
  • a vehicle traffic signal determination unit that determines whether or not the traffic signal is displayed in blue, and a pedestrian crossing the intersection in the traveling direction of the host vehicle when the vehicle traffic signal is determined to be in the blue display
  • a pedestrian traffic light determining unit for determining whether or not the pedestrian traffic signal is blue flashing display or red display, and the pedestrian traffic signal is determined to be blue flashing display or red display.
  • a vehicle control method is a vehicle control method for a vehicle including a control device, wherein the method causes the control device to cause a preceding vehicle to follow the host vehicle.
  • the step of determining whether or not the vehicle traffic signal at the intersection in front of the host vehicle is displayed in blue, and when it is determined that the vehicle traffic signal is displayed in blue Determining whether the pedestrian traffic light for crossing the intersection in the traveling direction of the host vehicle is blinking blue or red, and the pedestrian traffic light is blinking blue or red. If it is determined that the vehicle is not accelerated based on the distance between the intersection and the host vehicle and the speed of the host vehicle, the vehicle traffic signal is displayed in yellow until the vehicle signal is displayed in yellow.
  • the pedestrian traffic signal is displayed in blue blinking or red (that is, When the vehicle traffic signal is predicted to turn yellow)
  • the vehicle traffic signal cannot be crossed until the vehicle traffic signal turns yellow, the vehicle will start decelerating.
  • the host vehicle can be stopped before the intersection.
  • the preceding vehicle starts decelerating and then the host vehicle starts decelerating earlier than the prior art.
  • the deceleration of the host vehicle can be started. As a result, the host vehicle can be slowly decelerated and stopped before the intersection.
  • FIG. 1A is a schematic diagram illustrating a schematic configuration of the host vehicle according to the embodiment.
  • FIG. 1B is a schematic diagram for explaining the state of the vehicle during automatic driving.
  • FIG. 2 is a functional block diagram of the host vehicle.
  • FIG. 3A is a schematic diagram for explaining a method for determining the signal state of the traffic signal for a vehicle and the traffic signal for a pedestrian, and schematically illustrates an image captured by the camera when the distance between the own vehicle and the intersection is relatively far.
  • Shown in FIG. 3B is a schematic diagram for explaining a method for determining the signal state of the traffic signal for the vehicle and the traffic signal for the pedestrian, and schematically shows an image taken by the camera when the distance between the own vehicle and the intersection is relatively close.
  • FIG. 4 is an example of a flowchart executed by the vehicle control device during automatic driving.
  • FIG. 1A is a schematic diagram illustrating a schematic configuration of a host vehicle 1 having a vehicle control device 10 according to the present embodiment.
  • FIG. 1A right-handed XYZ orthogonal coordinates are shown for reference.
  • the X direction corresponds to the front of the host vehicle 1
  • the Z direction corresponds to the upper side.
  • the host vehicle 1 according to the present embodiment is, as an example, a commercial vehicle (specifically, a truck) having a cab 2 and a loading platform 3 disposed on the rear side of the cab 2.
  • the specific type of the host vehicle 1 is not limited to such a commercial vehicle.
  • FIG. 1B is a schematic diagram for explaining a state when the host vehicle 1 is traveling in an automatic driving mode.
  • FIG. 1B shows a first road 100 and a second road 105 as examples of roads.
  • the first road 100 has a travel lane 101 and an opposite lane 102.
  • the first road 100 and the second road 105 intersect at an intersection 110.
  • the road which concerns on this embodiment should just be a road which has the intersection 110, and is not limited to the road as illustrated in this FIG. 1B.
  • the own vehicle 1 is traveling on the traveling lane 101.
  • a preceding vehicle 5 is traveling ahead of the host vehicle 1.
  • the host vehicle 1 is traveling automatically so as to follow the preceding vehicle 5.
  • a pedestrian crossing 120 a for a pedestrian to cross the first road 100 is provided at the intersection 110 of the first road 100.
  • the pedestrian crossing 120a is located on the first road 100 at a location in front of the traveling direction of the host vehicle 1 relative to the location where the second road 105 of the first road 100 intersects. It is provided so as to cross in a direction perpendicular to.
  • a pedestrian crossing 120 b for a pedestrian to cross the second road 105 is also provided at the intersection 110 of the second road 105.
  • the pedestrian crossing 120b when viewed in the ⁇ Y direction, places the second road 105 at a location before the location where the first road 100 of the second road 105 intersects. 1 is provided so as to cross in the direction of travel.
  • a stop line 130 for the vehicle is provided at a location in front of the pedestrian crossing 120a in the travel lane 101 of the first road 100.
  • a vehicle traffic signal 140 and a pedestrian traffic signal 150 are provided at the intersection 110 of the road.
  • the vehicle traffic signal 140 is a traffic signal for a vehicle (the host vehicle 1 and the preceding vehicle 5) traveling on the traveling lane 101 to cross the intersection 110.
  • the pedestrian traffic light 150 is a traffic signal for a pedestrian to cross the intersection 110 (specifically, the pedestrian crossing 120b of the intersection 110) in the traveling direction of the host vehicle 1.
  • the vehicle traffic signal 140 has a blue signal 141, a yellow signal 142, and a red signal 143, a state where only the blue signal 141 is lit (blue display), a state where only the yellow signal 142 is lit (yellow display), The state in which only the red signal 143 is lit (displayed in red) is sequentially switched.
  • the blue display of the vehicle traffic signal 140 corresponds to a display that permits the vehicle to travel through the intersection 110
  • the yellow signal 142 and the red signal 143 correspond to a display that prohibits the vehicle from traveling through the intersection 110.
  • the yellow signal 142 basically prohibits the vehicle from progressing, but may proceed exceptionally when the vehicle cannot stop safely at the intersection 110 (for example, when it must stop suddenly). Means.
  • the pedestrian traffic light 150 has a green signal 151 and a red signal 152. Only the blue signal 151 is lit (blue display), the blue signal 151 is blinking (blue blinking display), and only the red signal 152 is displayed. The lighted state (displayed in red) switches in order.
  • the blue display of the pedestrian traffic light 150 corresponds to a display that allows the pedestrian to cross the pedestrian crossing 120b, and the red display corresponds to a display that prohibits the pedestrian from crossing the pedestrian crossing 120b.
  • the blue blinking display is a display indicating that the display is switched from blue display to red display after a few seconds.
  • FIG. 2 is a functional block diagram showing each function of the host vehicle 1 in a block diagram.
  • the host vehicle 1 includes a camera 20, a radar sensor 30, sensors 40, a navigation system 50, and a vehicle travel system 60.
  • the camera 20 is a camera that can photograph the front of the host vehicle 1 with a predetermined angle of view.
  • the angle of view of the camera 20 is set to a value that allows the camera 20 to photograph the road lane (white line), the preceding vehicle 5, the pedestrian crossing 120a, the pedestrian crossing 120b, the traffic signal 140 for the vehicle, and the traffic signal 150 for the pedestrian.
  • An image detected by the camera 20 is transmitted to the vehicle control device 10.
  • the vehicle control device 10 identifies the lane (white line) from the image detected by the camera 20 using an image processing technique, and the presence / absence of the preceding vehicle 5, the presence / absence of the pedestrian crossing 120a and the pedestrian crossing 120b, the traffic signal for the vehicle 140 and the signal display state of the pedestrian traffic light 150 are identified.
  • the frame rate of the camera 20 is, for example, 10 fps or more, it is sufficient to accurately identify the blinking blue display.
  • the radar sensor 30 detects a distance between the preceding vehicle 5 and the host vehicle 1 by sensing a predetermined area in front of the host vehicle 1. The detection result of the radar sensor 30 is transmitted to the vehicle control device 10.
  • a radar sensor using millimeter wave radar is used as an example of the radar sensor 30.
  • Sensors 40 are sensors other than the radar sensor 30. Examples of the sensors 40 include a speed sensor that detects the speed of the host vehicle 1.
  • the navigation system 50 stores map information and is configured to detect the position of the host vehicle 1 using an in-vehicle GPS. The detection result of the navigation system 50 is transmitted to the vehicle control device 10.
  • the vehicle traveling system 60 is a system for traveling the host vehicle 1.
  • the vehicle travel system 60 includes a vehicle drive system that is a system that drives the host vehicle 1 such as an engine and a transmission, a brake system that is a system that performs brake braking of the host vehicle 1, and the like.
  • a diesel engine is used as an example of the engine.
  • AMT Automatic Manual Transmission
  • the vehicle control device 10 includes a microcomputer having a CPU 11 (an example of a processor) that executes various control processes, and a storage device 12 that stores programs and various data used for the operation of the CPU 11. Note that a ROM, a RAM, or the like can be used as the storage device 12.
  • FIG. 3A and FIG. 3B are schematic diagrams for explaining a method of determining the signal states of the vehicle traffic signal 140 and the pedestrian traffic signal 150.
  • FIG. 3A schematically shows an image 21 taken by the camera 20 when the distance between the host vehicle 1 and the intersection 110 is relatively long
  • FIG. 3B shows a distance between the host vehicle 1 and the intersection 110.
  • An image 21 photographed by the camera 20 when is relatively close is schematically shown.
  • the vehicle control device 10 performs image processing on a predetermined determination area 22 in the image 21 in front of the host vehicle 1 captured by the camera 20, thereby displaying signals of the vehicle traffic light 140 and the pedestrian traffic light 150. Determine.
  • the vehicle control device 10 acquires the distance between the host vehicle 1 and the intersection 110 based on the detection result of the navigation system 50, and as the distance between the host vehicle 1 and the intersection 110 acquired in this way becomes shorter.
  • the determination area 22 is enlarged. For this reason, the determination area 22 in FIG. 3B is larger than the determination area 22 in FIG. 3A.
  • the vehicle control device 10 performs an automatic driving traveling in which the preceding vehicle 5 travels following the host vehicle 1. Specifically, the vehicle control device 10 according to the present embodiment controls the vehicle traveling system 60 based on the detection results of the camera 20, the radar sensor 30, and the sensors 40, whereby the preceding vehicle 5 and the host vehicle 1 are controlled. The vehicle 1 is caused to travel within a preset range of the vehicle speed 1 while maintaining a certain distance between the vehicle and the vehicle.
  • working can apply a well-known automatic driving
  • the vehicle control apparatus 10 performs the above-described automatic driving traveling when receiving a request for starting automatic driving traveling from the driver of the host vehicle 1.
  • the driver's seat of the own vehicle 1 is provided with a switch for transmitting the start and stop of the automatic driving travel to the vehicle control device 10.
  • the driver desires to start the automatic driving travel, the driver turns on this switch to notify the vehicle control device 10 of the start request for the automatic driving traveling.
  • the vehicle control device 10 that has received the signal for requesting the start of automatic driving travel starts execution of automatic driving.
  • the driver desires to end the automatic driving travel, the driver turns off this switch to notify the vehicle control device 10 of the end request for the automatic driving travel.
  • the vehicle control device 10 that has received the automatic driving travel end request signal ends execution of the automatic driving travel.
  • the vehicle control device 10 is connected to a setting device (not shown) for the driver to set a vehicle speed range (for example, an upper limit speed is 100 km / h, etc.) during automatic driving.
  • the vehicle control device 10 executes automatic driving within the vehicle speed range set in the setting device.
  • the vehicle control device 10 executes a flowchart shown in FIG. 4 described below during automatic driving. Specifically, the vehicle control device 10 starts the execution of the flowchart in FIG. 4 together with the start of the automatic driving travel. Note that each step of FIG. 4 is specifically executed by the CPU 11 of the vehicle control device 10.
  • the vehicle control device 10 determines whether or not the vehicle traffic signal 140 is displayed in blue when the automatic driving travel is being performed (that is, while the automatic driving travel is being performed). judge. Specifically, the vehicle control device 10 acquires an image 21 in front of the host vehicle 1 detected by the camera 20, and performs image processing on a predetermined determination area 22 in the acquired image 21, so that the vehicle traffic signal 140 color indications are acquired.
  • the vehicle control device 10 determines whether or not the obtained color display of the vehicle traffic signal 140 is blue display, and if it is determined that the vehicle traffic signal 140 is blue display as a result of the determination, the vehicle control device 10 performs a step. It determines with YES by S10.
  • step S10 when it is determined that the vehicle traffic signal 140 is displayed in blue), the vehicle control device 10 determines whether the pedestrian traffic signal 150 is displayed in blue blinking or red. Is determined (step S20). Specifically, the vehicle control device 10 acquires an image 21 in front of the host vehicle 1 detected by the camera 20, and performs image processing on a predetermined determination region 22 in the acquired image 21, so that the pedestrian is used. The color display of the traffic light 150 is acquired. And the vehicle control apparatus 10 determines whether the color display of this acquired pedestrian traffic light 150 is a blue blink display or a red display. The vehicle control apparatus 10 determines YES when it is determined that the pedestrian traffic light 150 is blue blinking display or red display.
  • the vehicle control device 10 expands the determination region 22 as the distance between the host vehicle 1 and the intersection 110 becomes shorter as described above with reference to FIG. Thereby, the color display of the traffic signal 140 for vehicles and the traffic signal 150 for pedestrians can be determined with sufficient accuracy.
  • the vehicle control apparatus 10 may execute the following processing when acquiring the color display of the pedestrian traffic light 150 in step S20. Specifically, the vehicle control device 10 estimates the position of the intersection 110 based on the detection result of the navigation system 50 when it is determined YES in step S10. Next, when the vehicle control device 10 recognizes the intersection 110 based on the detection result of the camera 20, the vehicle control device 10 is drawn on a road (second road 105) in a direction orthogonal to the travel lane 101 of the host vehicle 1. "Zebra pattern" is acquired by image processing. And the vehicle control apparatus 10 recognizes this acquired zebra pattern as the pedestrian crossing 120b.
  • the vehicle control device 10 recognizes the traffic light above the pedestrian crossing 120b recognized in this way by image processing, and recognizes this as a traffic light 150 for pedestrians. And the vehicle control apparatus 10 acquires the color display of the pedestrian traffic light 150 recognized in this way by image processing. Through the above processing, the vehicle control device 10 may obtain the color display of the pedestrian traffic light 150.
  • step S20 when it is determined that the pedestrian traffic light 150 is blinking blue or red), the vehicle control device 10 determines that the intersection 110 is based on the detection result of the navigation system 50. While acquiring the distance with the own vehicle 1, the speed of the own vehicle 1 is acquired based on the detection result of the vehicle speed sensor (sensors 40), and the distance between the intersection 110 and the own vehicle 1 and the speed of the own vehicle 1 are obtained. Based on this, it is determined whether or not the vehicle 110 cannot pass through the intersection 110 until the vehicle traffic signal 140 becomes yellow unless the vehicle 1 accelerates (step S30).
  • the first signal change prediction time and the second signal change prediction time are, for example, about several seconds.
  • the first signal change prediction time is longer than the second signal change prediction time.
  • an appropriate numerical value this is strictly accurate time in advance by experiments or the like. (It is not necessary to be present) and stored in the storage device 12.
  • step S30 determines in step S30 that the pedestrian traffic light 150 is blinking blue. Whether or not the vehicle cannot pass through the intersection 110 at the current speed of the host vehicle 1 (that is, while keeping the current speed of the host vehicle 1 without acceleration) within the time until the first signal change prediction time elapses. Is calculated. On the other hand, when it is determined in step S20 that the pedestrian traffic light 150 is displayed in red, the vehicle control device 10 determines in step S30 the second time after it is determined in step S20 that the pedestrian traffic signal 150 is displayed in red.
  • step S30 It is calculated whether or not it is not possible to pass the intersection 110 at the current speed of the host vehicle 1 within the time until the predicted signal change time elapses. If the vehicle control device 10 determines that it cannot pass through the intersection 110 at the current speed of the host vehicle 1 as a result of this calculation, it determines YES in step S30.
  • step S30 When it is determined YES in step S30 (that is, when it is determined that the vehicle 1 cannot accelerate until the vehicle traffic signal 140 turns yellow until the vehicle traffic light 140 is displayed in yellow), the vehicle control device 10 is The host vehicle 1 is started to decelerate, and the host vehicle 1 is controlled so that the host vehicle 1 stops before the intersection 110 (step S40).
  • the vehicle control device 10 controls the vehicle travel system 60 of the host vehicle 1 to start deceleration of the host vehicle 1 and stop the host vehicle 1 before the intersection 110. Further, the vehicle control device 10 stops the host vehicle 1 in front of the stop line 130 in front of the intersection 110.
  • step S40 the vehicle control device 10 executes the flowchart from the start (return). Moreover, also when it determines with NO by step S10, step S20, and step S30, the vehicle control apparatus 10 performs a flowchart from a start (return).
  • CPU11 of the vehicle control apparatus 10 which determines whether the vehicle signal apparatus 140 is blue display in step S10 is corresponded to the member which has a function as a "vehicle signal determination part.”
  • step S20 the CPU 11 of the vehicle control device 10 that determines whether or not the pedestrian traffic light 150 is blinking blue or red is equivalent to a member having a function as a “pedestrian traffic light determination unit”.
  • CPU11 of the vehicle control apparatus 10 which performs step S30 and step S40 is corresponded to the member which has a function as a "own vehicle stop control part.”
  • the operational effects of the present embodiment are as follows.
  • the vehicle traffic signal 140 is displayed in blue (YES in step S10) during execution of automatic driving in which the host vehicle 1 follows the preceding vehicle 5 to travel, the pedestrian traffic signal 150 is displayed. Is flashing blue or red (YES in step S20), that is, when the vehicle traffic signal 140 is predicted to change to yellow, the vehicle traffic signal 140 will be yellow unless acceleration is performed. If it is determined that the vehicle cannot pass through the intersection 110 before the display is made (YES in step S30), the host vehicle 1 can be decelerated and the host vehicle 1 can be stopped before the intersection 110 (step S40). ).
  • the preceding vehicle 5 starts decelerating, and then the host vehicle 1 starts decelerating.
  • the deceleration of the host vehicle 1 can be started at an earlier time.
  • the host vehicle 1 can be slowly decelerated and stopped before the intersection 110.
  • the own vehicle 1 can be gently decelerated and stopped before the intersection 110 as described above, the energy loss of the own vehicle 1 can be reduced to improve fuel efficiency. it can. Further, since the host vehicle 1 can be slowly decelerated, the mental burden on the driver can be reduced. Moreover, the load added to the load of the own vehicle 1 can also be reduced.
  • the predetermined determination area 22 is enlarged as the distance between the host vehicle 1 and the intersection 110 becomes shorter, so the vehicle traffic signal 140 and the pedestrian traffic signal 150. Can be accurately determined. As a result, the host vehicle 1 can be slowly decelerated and stopped before the intersection 110 with high accuracy.
  • the present invention has an effect that the host vehicle can be slowly decelerated and stopped before an intersection, and is useful for a vehicle control device, a vehicle control method, and the like.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

La présente invention concerne un dispositif de commande de véhicule (10) pourvu d'une unité de commande d'arrêt de véhicule hôte (11). Lorsqu'une conduite automatique est exécutée, au cours de laquelle le véhicule hôte (1) se déplace en suivant un véhicule précédent (5) et, au niveau d'une intersection (110) en avant du véhicule hôte, un feu de circulation pour véhicules (140) est vert et un feu pour piétons (150) clignote en vert ou est rouge, l'unité de commande d'arrêt de véhicule hôte (11) détermine si oui ou non le véhicule hôte doit accélérer afin de dégager l'intersection avant que le feu de circulation pour véhicules passe à l'orange, et s'il est déterminé que le véhicule hôte doit accélérer afin de dégager l'intersection avant que le feu de circulation pour véhicules passe à l'orange, commande au véhicule hôte de commencer la décélération du véhicule et amène ledit véhicule à s'arrêter avant l'intersection.
PCT/JP2018/016571 2017-04-28 2018-04-24 Dispositif de commande de véhicule et procédé de commande de véhicule WO2018199075A1 (fr)

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JP2017089966A JP6838483B2 (ja) 2017-04-28 2017-04-28 車両制御装置
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CN111047871A (zh) * 2019-11-19 2020-04-21 北京航空航天大学 一种基于车联网的人机驾驶混合交通协同控制系统及方法

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CN113554874B (zh) * 2021-07-30 2022-06-28 新石器慧通（北京）科技有限公司 无人车控制方法、装置、电子设备及存储介质

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JP2007241469A (ja) * 2006-03-06 2007-09-20 Toyota Motor Corp 画像処理システム
JP2009026189A (ja) * 2007-07-23 2009-02-05 Honda Motor Co Ltd 車両運転支援装置
JP2010225075A (ja) * 2009-03-25 2010-10-07 Denso Corp 運転支援装置
JP2016110593A (ja) * 2014-12-10 2016-06-20 ボッシュ株式会社 車両用制御装置
JP2016222096A (ja) * 2015-05-29 2016-12-28 三菱自動車工業株式会社 追従走行制御装置

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111047871A (zh) * 2019-11-19 2020-04-21 北京航空航天大学 一种基于车联网的人机驾驶混合交通协同控制系统及方法

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