CN110103962A - Controller of vehicle, control method for vehicle and storage medium - Google Patents
Controller of vehicle, control method for vehicle and storage medium Download PDFInfo
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- CN110103962A CN110103962A CN201910071593.3A CN201910071593A CN110103962A CN 110103962 A CN110103962 A CN 110103962A CN 201910071593 A CN201910071593 A CN 201910071593A CN 110103962 A CN110103962 A CN 110103962A
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- 238000004891 communication Methods 0.000 description 13
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- 238000012544 monitoring process Methods 0.000 description 12
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- 238000001514 detection method Methods 0.000 description 8
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- 230000008859 change Effects 0.000 description 4
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Classifications
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- 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
-
- 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
- B60W30/18—Propelling the vehicle
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Traffic Control Systems (AREA)
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Abstract
Offer can more successfully make controller of vehicle, control method for vehicle and storage medium of this vehicle by intersection.Controller of vehicle (100) has: identification part (130) identify the surrounding condition of this vehicle；Drive control section (140, 160), the acceleration and deceleration and steering of described vehicle are controlled based on the recognition result of the identification part, in the case where described vehicle passes through intersection, the scheduled direction that described vehicle is advanced be the forward path across opposite vehicle and by the direction of the intersection and there are when central partition on the road of described vehicle driving, the drive control section by carry out with described vehicle traveling ahead and be deduced out to the behavior of preceding vehicle of the intention of advancing in the scheduled direction and corresponding travel control, come so that described vehicle is followed the preceding vehicle and by the intersection.
Description
Technical field
The present invention relates to controller of vehicle, control method for vehicle and storage mediums.
Background technique
In the past, disclose the invention of the drive supporting device of following vehicle: the drive supporting device of the vehicle is set in advance
Surely until maintaining the current vehicle speed of the current speed of this vehicle to maintain mode, the speed of this vehicle is accelerated to the target velocity
Acceleration mode and the deceleration mode until the speed of this vehicle is decelerated to the target velocity, intersection is regarded as accelerating
Inhibit section, any of the above-described mode selected according to the distance until from this truck position to the whole story place for accelerating inhibition section,
And the traveling of vehicle is controlled in a manner of becoming the speed under the mode selected (referring to Japanese Unexamined Patent Publication 2010-072772
Bulletin).
Currently, it for automatic driving vehicle, is not easy to sometimes in the control of intersection left/right rotation.Especially,
For non-cross shape, T-shaped irregular shape intersection, it is more that there are the intersections of pedestrian, bicycle etc.
In the case where, it is difficult to generate the target track for by intersection by incuding sometimes.In previous technology, do not fill
Carry out the research for passing through intersection with dividing.
Summary of the invention
The present invention is to consider such situation and complete, and one of its goals is to provide more successfully make this vehicle
Pass through the controller of vehicle, control method for vehicle and storage medium of intersection.
Controller of vehicle, control method for vehicle and storage medium of the invention uses structure below.
(1): the controller of vehicle of a scheme of the invention has: identification part identifies the surrounding condition of this vehicle；With
And drive control section, the acceleration and deceleration and steering of described vehicle are controlled based on the recognition result identified by the identification part,
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and by the direction of the intersection and on the road of described vehicle driving there are when central partition, institute
State drive control section by carry out with described vehicle traveling ahead and be deduced out traveling to the scheduled direction
The behavior of the preceding vehicle of intention travels control accordingly, to make described vehicle follow the preceding vehicle and by the friendship
Cross road mouth.
(2): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle row
Into scheduled direction be forward path across opposite vehicle and by the direction of the intersection and in described vehicle
There are when central partition on the road of traveling, the scheduled direction with the traveling of described vehicle is the advance across opposite vehicle
Road and by the direction of the intersection and on the road of described vehicle driving be not present central partition when compare,
The drive control section makes described vehicle start following to the preceding vehicle on opportunity earlier.
(3): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle row
Into scheduled direction be forward path across opposite vehicle and by the direction of the intersection and in described vehicle
There are when central partition on the road of traveling, the scheduled direction with the traveling of described vehicle is the advance across opposite vehicle
Road and by the direction of the intersection and on the road of described vehicle driving be not present central partition when compare,
The following distance that the drive control section shortens the preceding vehicle and described vehicle liftoff carries out described vehicle to described
Preceding vehicle is followed.
(4): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle row
Into scheduled direction be forward path across opposite vehicle and by the direction of the intersection and in described vehicle
There are when central partition on the road of traveling, the end foregoing description drive control section at least to the central partition makes institute
It states this vehicle and persistently follows the preceding vehicle.
(5): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle row
Into scheduled direction be forward path across opposite vehicle and by the direction of the intersection and in described vehicle
When central partition being not present on the road of traveling, the drive control section follows described vehicle before described vehicle
Side travels and is deduced out to the preceding vehicle of the traveling intention in the scheduled direction and by the intersection, described
The turning of preceding vehicle starts the anticipation road that place is used to pass through in the intersection to scheduled direction with described vehicle
Turning in diameter start place it is inconsistent in the case where, so that described vehicle is followed the preceding vehicle.
(6): the turning in the scheme of above-mentioned (5), in the angle of turn and the anticipation path of the preceding vehicle
In the case that angle is inconsistent, the drive control section does not make described vehicle follow the preceding vehicle yet.
(7): in the scheme of above-mentioned (1), the controller of vehicle be also equipped with the presumption preceding vehicle with traveling
The presumption unit of the intention of directional correlation is in the preceding vehicle for advancing to direction identical with the scheduled direction
Special running road in the case where, the presumption unit is estimated as the preceding vehicle and there is traveling to the scheduled direction
It is intended to.
(8): in the scheme of above-mentioned (1), be set in the intersection and for the scheduled direction
There are in the case where the preceding vehicle on the Special running road that identical direction is advanced, the drive control section is determined as making institute
This vehicle is stated to follow the preceding vehicle and pass through the intersection.
(9): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle row
Into scheduled direction be forward path across opposite vehicle and by the direction of the intersection and in described vehicle
On the road of traveling there are in the state of central partition, make described vehicle follow described vehicle traveling ahead and by
When deducing the preceding vehicle that the traveling to the scheduled direction is intended to and passing through the intersection, in the preceding vehicle
Angle of turn be more than predetermined angular in the case where, the drive control section do not make described vehicle follow it is described before driving
?.
(10): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle
The scheduled direction advanced is across the forward path of opposite vehicle and by the direction of the intersection and in described vehicle
Traveling road on there are in the state of central partition, make described vehicle follow described vehicle traveling ahead and
When being deduced out the preceding vehicle that the traveling to the scheduled direction is intended to and passing through the intersection, in the preceding driving
Angle of turn deviate from predetermined angular range in the case where, the drive control section do not make described vehicle follow it is described before
Driving.
(11): in the scheme of above-mentioned (1), in the case where described vehicle passes through intersection, in described vehicle
The scheduled direction advanced is across the forward path of opposite vehicle and by the direction of the intersection and in access path
On there are when central partition, the drive control section makes described vehicle follow the traveling ahead in described vehicle and is pushed away
The preceding vehicle that the traveling to the scheduled direction is intended to is made by the intersection, the access path is to institute
State the path across opposite lane that the road exterior domain of the road of this vehicle driving is gone to.
(12): in the scheme of above-mentioned (1), in the case where not following the preceding vehicle, the drive control section base
It carries out in the recognition result identified by the identification part for being controlled by the traveling of the intersection.
(13): the control method for vehicle of another program of the invention makes computer execute following processing: identifying this vehicle
Surrounding condition；The acceleration and deceleration and steering of described vehicle are controlled based on the result of the identification；Pass through friendship in described vehicle
In the case where cross road mouth, in the scheduled direction that described vehicle is advanced for across the forward path of opposite vehicle and by described
The direction of intersection and on the road of described vehicle driving there are when central partition, by carry out in described vehicle
Traveling ahead and be deduced out the behavior of preceding vehicle that the traveling to the scheduled direction is intended to and travel control accordingly
System, come so that described vehicle is followed the preceding vehicle and by the intersection.
(14): the storage medium of another program of the invention is to be stored with program, and the program is for executing computer such as
Lower processing: the surrounding condition of this vehicle is identified；The acceleration and deceleration and steering of described vehicle are controlled based on the result of the identification；
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and pass through the direction of the intersection and there are when central partition, leading on the road of described vehicle driving
Cross carry out with described vehicle traveling ahead and be deduced out to the scheduled direction traveling be intended to preceding vehicle
Behavior travel control accordingly, come so that described vehicle is followed the preceding vehicle and by the intersection.
According to the scheme of (1)~(14), more successfully this vehicle can be made to pass through intersection.
According to the scheme of (2)~(4), in the case where capable of can be assured that following preceding vehicle, carry out and the situation
The vehicle control matched.
Detailed description of the invention
Fig. 1 is the structure chart that the Vehicular system 1 of the controller of vehicle of embodiment is utilized.
Fig. 2 is the functional structure chart of first control units 120 and the second control unit 160.
Fig. 3 is the figure (its 1) being illustrated for the function to follow running control unit 144.
Fig. 4 is the figure (its 2) being illustrated for the function to follow running control unit 144.
Fig. 5 is the figure (its 3) being illustrated for the function to follow running control unit 144.
Fig. 6 is the figure for being illustrated to the anticipation path generated by turning form prediction section 148.
Fig. 7 is for carrying out to the processing for being set with the turning form prediction section 148 in the case where turning right wait lane of changing one's profession
The figure of explanation.
Fig. 8 is the process of the processing executed by intersection by control unit 142 when showing the right-hand rotation at intersection
An example flow chart.
Fig. 9 is the process of the processing executed by intersection by control unit 142 when showing the right-hand rotation at intersection
An example flow chart.
Figure 10 is the figure for showing an example of the hardware configuration of automatic Pilot control device 100 of embodiment.
Specific embodiment
Hereinafter, referring to attached drawing, to the embodiment of controller of vehicle of the invention, control method for vehicle and storage medium
It is illustrated.It should be noted that but being applicable in the right side hereinafter, for being applicable in the regulation to keep left the case where is illustrated
In the case where the current regulation in side, reading will be swapped left and right.
[overall structure]
Fig. 1 is the structure chart that the Vehicular system 1 of the controller of vehicle of embodiment is utilized.Equipped with Vehicular system 1
Vehicle be, for example, two wheels, three-wheel, four-wheel etc. vehicle, driving source is that the internal combustions such as diesel engine, petrol engine are mechanical, electrical
Motivation or their combination.Motor is electric using the generation power or secondary cell of the generator for being linked to internal combustion engine, fuel
The discharged power in pond is acted.
Vehicular system 1 for example has camera 10, radar installations 12, detector 14, object identification device 16, communication device
20, HMI (Human Machine Interface) 30, vehicle sensors 40, navigation device 50, MPU (Map Positioning
Unit) 60, driver behavior part 80, automatic Pilot control device 100, traveling drive force output 200, brake apparatus 210 and
Transfer 220.These devices, equipment by the multichannel communication multiple telecommunications line such as CAN (Controller Area Network) communication line,
Null modem cable, wireless communication networks etc. and interconnect.It, can be with it should be noted that structure shown in FIG. 1 only an example
A part of elliptical structure can also further add other structures.
Camera 10 is, for example, that CCD (Charge Coupled Device), CMOS (Complementary Metal is utilized
Oxide Semiconductor) etc. solid-state imagers digital camera.Camera 10 is installed on the vehicle equipped with Vehicular system 1
Any part of (hereinafter referred to as this vehicle M).In the case where shooting to front, camera 10 is installed on front windshield glass
Glass top, car room inside rear-view mirror back side etc..Camera 10 for example periodically shoots the periphery of this vehicle M repeatedly.Camera 10 can also
To be stereoscopic camera.
Radar installations 12 is to electric waves such as the periphery of this vehicle M radiation millimeter waves, and it is (anti-to detect the electric wave reflected by object
Ejected wave) and the position (distance and orientation) of at least detection object.Radar installations 12 is installed on any part of this vehicle M.Radar
Device 12 can also be by FM-CW (Frequency Modulated Continuous Wave) mode come the position of detection object
It sets and speed.
Detector 14 is LIDAR (Light Detection and Ranging).Detector 14 is to the periphery of this vehicle M
Irradiation light, and measure scattering light.Detector 14 based on from the time until light that shines, come detect until object away from
From.Illuminated light is, for example, the laser of pulse type.Detector 14 is installed on any part of this vehicle M.
Object identification device 16 is to some or all of testing result in camera 10, radar installations 12 and detector 14
Sensor fusion treatment is carried out, come position, type, the speed etc. for identifying object.Object identification device 16 is by recognition result to certainly
Dynamic steering control device 100 exports.Object identification device 16 can also be by the detection of camera 10, radar installations 12 and detector 14
As a result it is directly exported to automatic Pilot control device 100.Object identification device 16 can also be omitted from Vehicular system 1.
Communication device 20 for example utilizes Cellular Networks, Wi-Fi net, Bluetooth (registered trademark), DSRC (Dedicated
Short Range Communication) etc., come other vehicle communications with the periphery for being present in this vehicle M, or via nothing
Line base station is communicated with various server units.
HMI30 prompts various information to the passenger of this vehicle M, and receives the input operation of passenger.HMI30 includes various
Display device, loudspeaker, buzzer, touch panel, switch, key etc..
Vehicle sensors 40 include the vehicle speed sensor of the speed of detection this vehicle M, the acceleration sensing for detecting acceleration
Device, detection around vertical axis angular speed yaw-rate sensor and detect this vehicle M direction aspect sensor
Deng.
Navigation device 50 for example has GNSS (Global Navigation Satellite System) receiver 51, leads
Navigate HMI52 and path determination section 53.Navigation device 50 is kept in the storage devices such as HDD (Hard Disk Drive), flash memories
There is the first cartographic information 54.GNSS receiver 51 is based on the signal received from GNSS satellite, to determine the position of this vehicle M.
The position of this vehicle M can also be by being utilized INS (the Inertial Navigation of the output of vehicle sensors 40
System it) determines or supplements.The HMI52 that navigates includes display device, loudspeaker, touch panel, key etc..Navigate HMI52
It can be with part or all of sharing of HMI30 above-mentioned.Path determination section 53 is determined referring for example to the first cartographic information 54
Navigation is used to by passenger from the position (or arbitrary position of input) of this vehicle M determined by GNSS receiver 51
HMI52 and the path (hereinafter referred to as map upper pathway) until the destination that inputs.First cartographic information 54 is, for example, to pass through table
Show the route of road and shows the information of road shape by the node of connection.First cartographic information 54 also may include
Curvature, POI (Point Of Interest: the point of interest) information on road etc..Map upper pathway is exported to MPU60.Navigation device
50 can also carry out having used based on map upper pathway the Route guiding of navigation HMI52.Navigation device 50 can also for example lead to
The function of the terminal installations such as smart phone, the tablet terminal that passenger holds is crossed to realize.Navigation device 50 can also be via communication
20 navigation server of device sends current location and destination, obtains and the same road of map upper pathway from navigation server
Diameter.
MPU60 for example comprising recommending lane determination section 61, maintains the second map in the storage devices such as HDD, flash memories
Information 62.Lane determination section 61 is recommended to be divided into multiple sections (for example, in vehicle the map upper pathway provided from navigation device 50
It is split on direction of travel by 100 [m]), and determine referring to the second cartographic information 62 and by section to recommend lane.Recommend
The progress of lane determination section 61 travels this decision on which lane from left number.Recommend the road on map of lane determination section 61
There are in the case where branch part in diameter, so that this vehicle M can be in the reasonable path for advancing to branch destination
The mode of traveling, to determine to recommend lane.
Second cartographic information 62 is than the high-precision cartographic information of the first cartographic information 54.Second cartographic information 62 for example wraps
The information etc. on the boundary of the information or lane in the center containing lane.In addition, also may include in the second cartographic information 62
Road information, traffic restricted information, residence information (residence/postcode), facilities information, telephone number information etc..Second map
Information 62 can also be communicated by communication device 20 with other devices to be updated at any time.
Driver behavior part 80 is for example comprising gas pedal, brake pedal, gear lever, steering wheel, special-shaped steering wheel, control stick
And other operating parts.The sensor of the presence or absence of detection operating quantity or operation, detection knot are installed on driver behavior part 80
Fruit is into automatic Pilot control device 100 or traveling drive force output 200, brake apparatus 210 and transfer 220
Part or all output.
Automatic Pilot control device 100 for example has first control units 120 and the second control unit 160.Automatic Pilot control
Device 100 is an example of " controller of vehicle ".First control units 120 and the second control unit 160 for example pass through CPU respectively
Hardware processors such as (Central Processing Unit) execute program (software) Lai Shixian.In addition, in these constituent elements
Part or all can also pass through LSI (Large Scale Integration), ASIC (Application
Specific Integrated Circuit)、FPGA(Field-Programmable Gate Array)、GPU(Graphics
Processing Unit) etc. hardware (include circuit portion: circuitry) Lai Shixian, the collaboration of software and hardware can also be passed through
Cooperation is to realize.Program can pre-save the storage devices such as the HDD in automatic Pilot control device 100, flash memories, can also be with
It is stored in the assemble and unassemble storage medium such as DVD, CD-ROM, driving device is assemblied in by storage medium is installed on and drive automatically
Sail HDD, the flash memories of control device 100.
Fig. 2 is the functional structure chart of first control units 120 and the second control unit 160.First control units 120 for example has knowledge
Other portion 130 and action plan generating unit 140.First control units 120 is for example carried out based on AI (Artificial
Intelligence: artificial intelligence) function and function based on the model assigned in advance.For example, " identification intersection "
Function can be achieved in that the identification for being performed in parallel the intersection based on deep learning etc. and based on preparatory
The identification of the condition (there is the signal for being able to carry out pattern match, road mark etc.) of imparting, and to both sides score and it is comprehensive into
Row evaluation.Thereby, it is possible to ensure the reliability of automatic Pilot.
Identification part 130 is based on the letter inputted from camera 10, radar installations 12 and detector 14 via object identification device 16
Breath, come identify the periphery for being present in this vehicle M object position and the states such as speed, acceleration.For example make the position of object
It identifies, and is used in take the representative of this vehicle M point (center of gravity, shaft center etc.) as the position on the absolute coordinate of origin
Control.The position of object can indicate by the representatives such as center of gravity, corner of object point, can also be by the region that shows come table
Show." state " of so-called object also may include the acceleration, acceleration or " status of action " of object (for example whether just
It is carrying out lane change or to carry out lane change).
In addition, identification part 130 for example identifies the lane (traveling lane) that this vehicle M is being travelled.For example, identification part 130
By the pattern (such as arrangement of solid line and dotted line) to the road dividing line obtained from the second cartographic information 62 and from by camera
The pattern of the road dividing line on the periphery of this vehicle M of 10 image recognitions taken is compared, to identify traveling lane.It needs
It is noted that identification part 130 is not limited to identification road dividing line, it can also include road dividing line, road shoulder, edge by identification
The traveling roadside circle (road boundary) of stone, central partition, guardrail etc., to identify traveling lane.In the identification, it can also add
Into the position of this vehicle M obtained from navigation device 50, based on the processing result of INS.Temporarily stop in addition, identification part 130 identifies
Only line, barrier, red light, charge station, other road items.
Identification part 130 identifies position of this vehicle M relative to traveling lane, posture when identifying traveling lane.Identification part
130 for example can also deviation and this vehicle M by the datum mark of this vehicle M from lane center direction of travel relative to will
Angle made of the line of lane center connection is identified as this vehicle M relative to relative position and the posture of traveling lane.?
It can be replaced in this, any side end (road dividing line of the identification part 130 by the datum mark of this vehicle M relative to traveling lane
Or road boundary) position etc. identified as this vehicle M relative to the relative position of traveling lane.
Identification part 130 for example has preceding vehicle monitoring unit 132.This is described below.
Action plan generating unit 140 generates what this vehicle M automatically (operatively independent of driver) was travelled in the future
Target track to travel on the recommendation lane by recommending lane determination section 61 to determine in principle, and copes with this
The surrounding condition of vehicle M.Target track is for example comprising velocity element.For example, target track shows as reaching this vehicle M
Place (track point) be arranged successively made of track.Track point be based on distance on the way every defined operating range (such as
Several [m] degree) the place that should reach this vehicle M, for this additionally, every the defined sampling time (such as
Several [sec] degree of zero point) target velocity and aimed acceleration as target track a part and generate.In addition, track point
It is also possible to the position that should be reached every this vehicle M under the sampling instant in defined sampling time.In this case,
Target velocity, the information of aimed acceleration are showed by the interval of track point.
Action plan generating unit 140 can also set the event of automatic Pilot when generating target track.In automatic Pilot
Event in, there are constant-speed traveling event, low speed follow running event, lane altering event, intersection pass through event, branch
Event converges event, adapter tube event etc..Action plan generating unit 140 generates target track corresponding with the event started.
Second 160 pairs of control unit traveling drive force output 200, brake apparatus 210 and transfer 220 are controlled
System so that this vehicle M according to it is predetermined at the time of pass through the target track that is generated by action plan generating unit 140.
Second control unit 160 for example has acquisition unit 162, speed controlling portion 164 and course changing control portion 166.Acquisition unit 162
The information of the target track (track point) generated by action plan generating unit 140 is obtained, and is stored in memory (not shown).Speed
Control unit 164 is spent based on the incidental velocity element of target track for being stored in memory, to control traveling driving force output dress
Set 200 or brake apparatus 210.Course changing control portion 166 turns according to the bending situation for the target track for being stored in memory to control
To device 220.Combination of the processing in speed controlling portion 164 and course changing control portion 166 for example by feedforward control and feedback control
To realize.As an example, course changing control portion 166 is by feedforward control corresponding with the curvature of the road in the front of this vehicle M and base
It is executed in combination in the feedback control carried out from the deviation of target track.
Traveling drive force output 200 will be used to make the traveling driving force (torque) of vehicle driving to export to driving wheel.
The combination such as having internal combustion engine, motor and speed changer of traveling drive force output 200 and they are controlled
ECU.ECU is above-mentioned to control according to the information inputted from the second control unit 160 or the information inputted from driver behavior part 80
Structure.
Brake apparatus 210 for example has caliper, hydraulic hydraulic cylinder transmitted to caliper, it is hydraulic to generate hydraulic cylinder
Electric motor and braking ECU.ECU is braked according to the information inputted from the second control unit 160 or from driver behavior part 80
The information of input exports braking moment corresponding with brake operating to each wheel to control electric motor.Brake apparatus 210
Can also have by the operation for the brake pedal for being included by driver behavior part 80 generate it is hydraulic via main hydraulic cylinder to
The mechanism of hydraulic cylinder transmitting is as spare.It, can also be with it should be noted that brake apparatus 210 is not limited to above explained structure
It is to control actuator according to the information inputted from the second control unit 160, so that the hydraulic of main hydraulic cylinder be transmitted to hydraulic cylinder
Electronic control type hydraulic brake system.
Transfer 220, which for example has, turns to ECU and electric motor.Electric motor for example makes power act on the small tooth of rack gear-
Mechanism is taken turns to change the direction of deflecting roller.ECU is turned to according to the information inputted from the second control unit 160 or from driver behavior
The information that part 80 inputs makes the direction change of deflecting roller to drive electric motor.
[intersection passes through control]
Hereinafter, being illustrated to each section of action plan generating unit 140.Action plan generating unit 140 for example has friendship
Cross road mouth passes through control unit 142.Intersection for example has follow running control unit 144 by control unit 142 and leads to oneself
Cross control unit 156.Follow running control unit 144, which for example has, follows object determining section 146, turning form prediction section 148 and turns
Curved coincidence determining unit 150.
Intersection is acted by control unit 142 when intersection has been started by event.Intersection passes through
Control unit 142 when passing through intersection, follow preceding vehicle and by the follow running mode of intersection with oneself
Being controlled by being switched between mode with oneself by intersection in front of identification is advanced.
Follow running control unit 144 intersection by control unit 142 selected follow running mode in the case where into
Action is made.Fig. 3 is the figure (its 1) being illustrated for the function to follow running control unit 144.This vehicle M is according to for going
Toward the recommendation paths of destination above-mentioned, it is desirable to which in intersection, CR turns right and advances in terms of (A).Right-hand rotation keeps left
In region or country " across opposite vehicle forward path pass through intersection " movement an example.In contrast, left
Turn be the region kept to the right or country in " across opposite vehicle forward path pass through intersection " movement one
Example.In scene shown in Fig. 3, for example, due to preceding vehicle m1 make right turn lamp work and by preceding vehicle monitoring unit 132
In the case where the intention for deducing right-hand rotation, follow running control unit 144 is determined as following preceding vehicle m1 and passing through crossroad
Mouthful.Follow running control unit 144 with relative to preceding vehicle m1 vehicle headway as defined in maintain, while make lateral position one
The mode of cause generates target track.That is, follow running control unit 144 is by carrying out travel corresponding with the behavior of preceding vehicle m1
Control travels making this vehicle M follow preceding vehicle m1.
However, not preceding vehicle is bound to go to the destination of this vehicle M.Fig. 4 is for follow running control unit
The figure (its 2) that 144 function is illustrated.In the scene of diagram, preceding vehicle m2 is not meant to turn right in intersection CR, and
It is to enter the road exterior domain HA being located near the CR of intersection.It goes when following preceding vehicle m2 under such a scenario
When sailing, this vehicle M can also enter road exterior domain HA.Therefore, the stopping of follow running control unit 144 follows this vehicle M forward
Vehicle m2 and travel, control is entrusted to oneself through control unit 156.In addition, since there are such the hows and whys, so scheming
3 and scene shown in Fig. 4 in, such as the compartment of terrain preferably vacated to a certain degree follows preceding vehicle.Moreover, automatic Pilot controls
Device 100 carries out improving the control for the certainty factor followed in specific point of turning right by function described below.Thereby, it is possible to
More suitably realize follow running when turning right.
Hereinafter, the function of each function part in the case where turning right to this vehicle M is successively illustrated.Preceding vehicle prison
The intention that preceding vehicle is turned right is estimated depending on portion 132.Preceding vehicle monitoring unit 132 is an example of " presumption unit ".For example, preceding vehicle
The working condition that travels runway, turn signal of the monitoring unit 132 based on preceding vehicle, to estimate the intention of preceding vehicle right-hand rotation.
Each traveling runway that preceding vehicle monitoring unit 132 is for example included based on the second cartographic information 62 classification (right-hand rotation runway,
Left-turning traffic road etc.) and the position of preceding vehicle, the road mark described on road that is obtained from the shooting image of camera 10
Content and/or the road markings in road side content or the turn signal obtained from the shooting image of camera 10 work
Make state etc., to carry out above-mentioned intention presumption.
Moreover, preceding vehicle monitoring unit 132 identification the presence or absence of turning of preceding vehicle of traveling ahead of this vehicle M,
Turning starts place, angle of turn etc..The wheel of vehicle body in such as shooting image based on camera 10 of preceding vehicle monitoring unit 132
Wide inclination, angle, the distribution of object target point detected by radar installations 12, detector 14 of wheel etc., come identify with
The relevant situation of above-mentioned turning.
It follows object determining section 146 and determines the preceding vehicle for following object.Such as meet (A) with this vehicle M it
Between there is no in the state of other vehicles just in this condition of the traveling ahead of this vehicle M and (B) by preceding vehicle monitoring unit 132
In the case where the both sides for deducing this condition of the intention of the right-hand rotation of preceding vehicle, object determining section 146 is followed by the preceding driving
It is determined as the preceding vehicle for following object when turning right.It can also be in this vehicle it should be noted that following object determining section 146
When the straight trip of M, when turning left, the preceding vehicle for following object is determined based on the condition different from above-mentioned (A), (B).
In addition, being identified by identification part 130 on the road of this vehicle M traveling, more particularly, in what is turned right
There are the feelings of the central partition until extending to intersection un-interrupted near this vehicle M in the front side of intersection
Under condition, follows object determining section 146 and improve the certainty factor followed to preceding vehicle.More specifically, in the intersection turned right
There are the feelings of road exterior domain HA for the opposite side of the road of the front side at crossing and this vehicle M traveling faced each other across opposite lane
Under condition, there are when central partition on the access path across opposite lane for going to road exterior domain HA, it is true to follow object
Determine portion 146 and improves the certainty factor followed to preceding vehicle.It should be noted that being also possible to that such road is being not present
In the case where exterior domain HA, the certainty factor followed to preceding vehicle is also improved even if there be no central partition.This is because
In the case of these, a possibility that preceding vehicle enters road exterior domain HA can be excluded.It should be noted that identification part 130 can
It, can also be by by the second cartographic information 62 and this vehicle to identify the presence of central partition based on the output of camera 10 etc.
The position of M is compared to the presence of identification central partition.
Fig. 5 is the figure (its 3) being illustrated for the function to follow running control unit 144.It is preceding in the scene of diagram
Driving m3, which is being used as on the lane L2 in right-hand rotation Special running road, to travel, so deducing the intention of right-hand rotation.In addition, intersecting
Central partition CD is extended in front of the CR of crossing.Therefore, it follows object determining section 146 and improves and followed really to preceding vehicle m3
Reliability.
Follow running control unit 144 follows this vehicle M at least to be firmly believed by follow that object determining section 146 regards as following
It spends high preceding vehicle m3 and passes through intersection CR.So-called " it is made to follow and pass through intersection CR " is comprising starting to follow
With continue to follow in one or both.Follow running control unit 144 is for by following object determining section 146 regarding as following
The high preceding vehicle m3 of certainty factor, such as at least one of the control such as execute following (1), (2) and (3), wherein (1) with chase after
With the not high situation (such as the case where preceding vehicle m1 shown in Fig. 3) of certainty factor compare, the opportunity for following beginning is shifted to an earlier date；
(2) compared with the not high situation of the certainty factor followed, shorten the vehicle headway between the preceding vehicle m3 that follows；(3) at least
Continue to follow until reaching near the end CD1 of central partition CD.
It is logical to scheduled direction in intersection CR that turning form prediction section 148 predicts that the preceding vehicle for following object is used for
The turning in anticipation path crossed starts place.Turning form prediction section 148 for example carries out second cartographic information 62 and this vehicle M
Current location between matching, on the road shape model based on the second cartographic information 62 generate anticipation path.Then, turn
Turning in the prediction anticipation of bending state prediction section 148 path starts place and angle of turn.
Fig. 6 is the figure for being illustrated to the anticipation path generated by turning form prediction section 148.PR is in the figure
Envision path, SP is that turning starts place, and θ is turning angle.Form prediction section 148 of turning for example hypothetically sets lane L2 and vehicle
The respective Central Line road L3 will be set as using path made of being attached with the arc centralization of both sides' inscribe of Central Line centre line
Envision path.Although multiple groups can be set with the circular arc of both sides' inscribe of Central Line, turning form prediction section 148 for example from
The boundary of lane L2 and intersection CR starts to generate anticipation path under the premise of turning.The friendship of lane L2 and intersection CR
The position of end CD1 of the boundary based on central partition CD, the interruption of road dividing line, stop line (not shown), road corner
Position of CN etc. and set.Also, the connecting portion of the Central Line of lane L2 and circular arc is predicted as by turning form prediction section 148
Turning starts place SP, and institute, the Central Line angle degree of the Central Line of lane L2 and lane L3 are predicted as angle of turn θ.It needs
Illustrate, in the case where being realised that the four crossway for general shape referring to the second cartographic information 62, also can be omitted pre-
Think the generation in path and is set as angle of turn θ=90 degree.
In addition, being set with lane to be changed one's profession of turning right in the CR of intersection (is set to the Special running road in intersection
An example) in the case where, turning form prediction section 148 can also find out anticipation on the basis of the position in lane to be changed one's profession of turning right
Path.Fig. 7 is for being illustrated to the processing for being set with the turning form prediction section 148 in the case where turning right wait lane of changing one's profession
Figure.As shown, the right side that (describing on road has) is divided by road dividing line DL is set in the CR of intersection sometimes
Turn lane RWL to be changed one's profession.Turn right lane RWL to be changed one's profession presence and position pass through identification part 130 identify road dividing line DL
Identification.In the case where lane RWL to be changed one's profession is turned right in presence, form prediction section 148 of turning is to pass through the lane RWL to be changed one's profession that turns right
It is interior and from the mode that the end RWL1 for the lane RWL to be changed one's profession that turns right is connected with the Central Line of lane L3 generate anticipation path P R.
Ground the turning for the preceding vehicle that the judgement of turning coincidence determining unit 150 is identified by preceding vehicle monitoring unit 132
Whether to start place SP consistent with the turning in anticipation path for point.It is so-called consistent, refer to the turning of preceding vehicle start place with
Turning starts the distance between place SP and falls into defined distance range.
In addition, turning coincidence determining unit 150 determines the turning angle of the preceding vehicle identified by preceding vehicle monitoring unit 132
Whether degree is consistent with the angle of turn θ in anticipation path.It is so-called consistent, refer to the angle of turn and angle of turn θ of preceding vehicle
Difference fall into as defined in angular range.
(aftermentioned) is judged to turning by turning coincidence determining unit 150 under the defined conditions in place and angle of turn
At least one party and preceding vehicle turning form it is inconsistent in the case where, follow running control unit 144 stopping follow preceding driving
And pass through intersection.
The case where stopped after the following of preceding vehicle or do not follow preceding vehicle originally and pass through intersection
Under, it is started, is generated for the target track by intersection by control unit 156 with oneself.Pass through control unit 156 with oneself
Such as the target track by method next life cost vehicle M same as the turning generation anticipation path of form prediction section 148.Separately
Outside, the periphery object (letter of map background is carried out using the information obtained via camera 10 etc. by control unit 156 with oneself
Number machine, stop line, road markings etc.) configuration and the configuration of actual periphery object between matching, it is ensured that target track
Precision.
Fig. 8 and Fig. 9 is to pass through the processing that control unit 142 executes by intersection when showing the right-hand rotation in intersection
The flow chart of an example of process.The processing of this flow chart is being based on map upper pathway and this vehicle M by action plan generating unit 140
Current location and be judged to reaching with this vehicle M turn right scheduled intersection at a distance of the place of predetermined distance when open
Begin.
Firstly, following object determining section 146 determines the preceding vehicle (step S100) for following object.Intersection passes through control
Portion 142 processed determines whether there is the preceding vehicle (step S102) that (having determined) follows object, chases after there is no (being not determined by)
In the case where preceding vehicle with object, make to start with oneself by control unit 156, carry out for right with oneself in intersection
The control (step S104) turned.
In the case where there is the preceding vehicle for following object, follow running control unit 144 determines in the friendship turned right
The front side of cross road mouth whether there is the central partition until not having interruptedly to extend to intersection near this vehicle M
(step S106).
There are central partition as described above, follow running control unit 144 starts with high certainty factor
Follow preceding vehicle (step S108).Specifically, as described above.
Then, follow running control unit 144 determine as follow object and the preceding vehicle of determination whether turning right to turn
Runway stops or stopped (step S110) in the past.As following object and the preceding vehicle of determination is being turned right wait turn
In the case that runway stops or stopped in the past, the determination of follow running control unit 144 follows the preceding vehicle and turns right,
So that this vehicle is followed preceding vehicle and travels until by intersection (step S112).
As following object and the preceding vehicle of determination does not stop in lane to be changed one's profession of turning right and do not turning right in the past
In the case where stopping on lane of changing one's profession, preceding vehicle monitoring unit 132 identifies the angle of turn (step S114) of preceding vehicle.
Then, turning coincidence determining unit 150 determines whether the angle of turn of preceding vehicle deviates from the angle of turn θ in anticipation path
(step S116).
In the specific content of the determination processing of step S116, correspondingly with the shape of intersection, may such as with
Generate various modes down.
(1) there is only one situations for the road in front of turning right
Turning coincidence determining unit 150 has been more than that angle of turn θ adds predetermined angular (such as 10 in the angle of turn of preceding vehicle
Degree left and right) in the case where, it is judged to deviating from the angle of turn θ in anticipation path.The judgement dedicated for preceding vehicle into
Row U-shaped stops to follow in the case where turning around.
(2) there are the roads in multiple and scheduled direction to be necessary the smallest road of angle of turn for the road in front of turning right
The case where
Coincidence determining unit 150 of turning similarly handle with (1).The judgement is fallen for carrying out U-shaped in preceding vehicle
Head stops to follow in the case where advancing to the angle of turn road bigger than the road in scheduled direction.
(3) there are the roads in multiple and scheduled direction not to be necessary the smallest road of angle of turn for the road in front of turning right
The case where road
Turning coincidence determining unit 150 has been more than to envision the angle of turn θ in path to add rule in the angle of turn of preceding vehicle
The angle of turn θ that the angle of turn of the case where determining angle (such as 10 degree or so) or preceding vehicle is less than in anticipation path subtracts
The speed of predetermined angular (such as 10 degree or so) and preceding vehicle is threshold value Th1 or more, turning rate is less than the feelings of threshold value Th2
Under condition, it is judged to deviating from the angle of turn θ in anticipation path.The former judgement is turned around for carrying out U-shaped in preceding vehicle
In the case where stop to follow, the judgement of the latter to the angle of turn road smaller than scheduled direction for advancing in preceding vehicle
In the case of stop following.
In the case where being determined as that the angle of turn of preceding vehicle deviates from the angle of turn θ in anticipation path, crossroad
Mouth is handled by control unit 142 to step S104 propulsion.
In the case where not being determined as that the angle of turn of preceding vehicle deviates from the angle of turn θ in anticipation path, intersect
Crossing determines whether this vehicle M has passed through intersection (step S118) by control unit 142.It is being determined as that this vehicle M passes through
In the case where intersection, intersection terminates the processing of this flow chart by control unit 142, is being determined as this vehicle M not
In the case where intersection, intersection is handled by control unit 142 to step S110 return.
Into Fig. 9, in step s 106, in the case where being judged to that central partition as described above is not present, follow
Driving control portion 144 also starts to follow preceding vehicle (step S130).The situation follow control under, control with step S108
System is compared, and the opportunity for following beginning becomes evening, or elongated with the vehicle headway between the preceding vehicle followed.
Then, follow running control unit 144 determine as follow object and the preceding vehicle of determination whether turning right to turn
Stop on runway or stopped (step S132) in the past.It is turning right as the preceding vehicle for following object and determination
Wait stop on lane of changing one's profession or in the case where stopping in the past, the preceding driving is followed in the determination of follow running control unit 144
And turn right, so that this vehicle is followed preceding vehicle and travel until by intersection (step S134).
As following object and the preceding vehicle of determination is not being turned right wait stop and in the past on lane of changing one's profession not on the right side
In the case where turning wait stop on lane of changing one's profession, preceding vehicle monitoring unit 132 identifies that the turning of preceding vehicle starts place and turns
Bending angle (step S136).Then, it is pre- to determine whether the turning starting position of preceding vehicle deviates from for turning coincidence determining unit 150
Think the turning starting position SP (step S138) in path.In the case where having obtained negatory judgement in step S138, turn
Curved coincidence determining unit 150 determines whether the angle of turn of preceding vehicle deviates from the angle of turn θ (step in anticipation path
S140).In the case where having obtained the judgement of certainty either in step S138 and step S140, promoted to step S104
Processing, intersection make to start with oneself by control unit 156 by control unit 142, carry out for oneself in intersection
The control of middle right-hand rotation.In this way, deviating from the turning starting position SP's in anticipation path in the turning starting position of preceding vehicle
In the case of, stop following to the preceding vehicle, it is such thus for example can rapidly to stop preceding vehicle m4 as shown in Figure 4
The preceding vehicle advanced to the road exterior domain HA of the front in intersection CR is followed, to be smoothly through crossroad
Mouthful.
In the case where step S138 and step S140 this both sides have obtained negative sex determination, intersection passes through control
Portion 142 determines whether this vehicle M has passed through intersection (step S142).Intersection is being determined as this by control unit 142
In the case that vehicle M has passed through intersection, terminate the processing of this flow chart, is being determined as that this vehicle M do not pass through intersection
In the case where, it is handled to step S132 return.
Before following this vehicle M as the processing of step S108, S112, S130, S134 in above-mentioned flow chart etc.
Driving when driving, can also cancel and follow according to the variation of surrounding enviroment.In the variation of surrounding enviroment, Ke Yilie
It holds people and is crossed between preceding vehicle and this vehicle M, semaphore becomes current after preceding vehicle has passed through intersection
Forbid the state etc. of (such as red light).In addition, intersection can be made by control unit 142 with oneself after eliminating and following
This vehicle M can also track the driving trace of preceding vehicle, in the variation for eliminating surrounding enviroment by intersection in advance
(for example, in the case that pedestrian finish to cross or semaphore become allow current state) based on the row tracked
Track is sailed travel this vehicle M.
The automatic Pilot control device 100 of embodiment from the description above, in the feelings that this vehicle passes through intersection
Under condition, the scheduled direction that this vehicle is advanced be the forward path across opposite vehicle and by the direction of intersection and
On the road of this vehicle driving there are when central partition, make this vehicle follow the traveling ahead in this vehicle and be deduced out to
Preceding vehicle that the traveling in scheduled direction is intended to and by intersection, so can more successfully make this vehicle M pass through friendship
Cross road mouth.
In the above description, although not mentioned about when turning left, it can also also follow and be deduced when turning left
The preceding vehicle for the intention turned left in the same manner as this vehicle out and pass through intersection.In this case, it can also carry out and Fig. 9
Flow chart in the processing of step S136~S140 similarly handle, deviate from and set from turning starting position or angle of turn
Stop following in the case where thinking.
In addition, in the above description, be set as in the case where there is the preceding vehicle for following object, it is in addition not subsidiary
Follow to special condition preceding vehicle and the situation by intersection, but can also be only at night or only in bad weather
When follow preceding vehicle and pass through intersection.This is because in this case, the equal sensing capability of camera 10 compares daytime
Or decline when fair weather.
[hardware configuration]
Figure 10 is the figure for showing an example of the hardware configuration of automatic Pilot control device 100 of embodiment.As shown,
The RAM that it communication controler 100-1, CPU100-2 that automatic Pilot control device 100, which becomes, is used as working storage
ROM (Read Only Memory) 100-4, flash memory of (Random Access Memory) 100-3, preservation bootstrap etc.
Storage device 100-5, driving device 100-6 of device, HDD (Hard Disk Drive) etc. etc. pass through internal bus or dedicated
Communication line and structure interconnected.Communication controler 100-1 is carried out and the constituent element other than automatic Pilot control device 100
Communication.Program 100-5a performed by CPU100-2 is preserved in storage device 100-5.The program passes through DMA (Direct
Memory Access) controller (not shown) etc. and be unfolded to RAM100-3, and executed by CPU100-2.Hereby it is achieved that identification
Portion 130, action plan generating unit 140, part or all in the second control unit 160.
Above explained embodiment can show as described below.
A kind of controller of vehicle, has:
It is stored with the storage device of program；With
Hardware processor,
The hardware processor is configured to, and is handled as follows by the program that execution is stored in the storage device:
Identify the surrounding condition of this vehicle；
The acceleration and deceleration and steering of described vehicle are controlled based on the result of the identification；And
Described vehicle pass through intersection in the case where, described vehicle traveling scheduled direction be across
The forward path of opposite vehicle and exist by the direction of the intersection and on the road of described vehicle driving central
When isolation strip, by carry out with described vehicle traveling ahead and be deduced out to the traveling in the scheduled direction be intended to
The behavior of preceding vehicle travel control accordingly, come so that described vehicle is followed the preceding vehicle and by the crossroad
Mouthful.
More than, a specific embodiment of the invention is illustrated using embodiment, but the present invention is not at all by this
The embodiment of sample limits, and can apply various modifications and replacement without departing from the spirit and scope of the invention.
Claims (14)
1. a kind of controller of vehicle, wherein
The controller of vehicle has:
Identification part identifies the surrounding condition of this vehicle；And
Drive control section, based on the recognition result identified by the identification part, to control the acceleration and deceleration of described vehicle and turn
To,
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
When, the drive control section by carry out with described vehicle traveling ahead and be deduced out to the scheduled direction
The behavior of the preceding vehicle for intention of advancing travels control accordingly, passes through institute to make described vehicle follow the preceding vehicle
State intersection.
2. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
When, the scheduled direction advanced with described vehicle is across the forward path of opposite vehicle and by the side of the intersection
To and compare when central partition being not present on the road of described vehicle driving, the drive control section is on opportunity earlier
Described vehicle is set to start following to the preceding vehicle.
3. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
When, the scheduled direction advanced with described vehicle is across the forward path of opposite vehicle and by the side of the intersection
To and compare when central partition being not present on the road of described vehicle driving, the drive control section shortens described move ahead
The following distance of vehicle and described vehicle is liftoff to make described vehicle carry out following to the preceding vehicle.
4. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
When, so that described vehicle is persistently followed the preceding driving at least to the end foregoing description drive control section of the central partition
?.
5. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there is no center isolation through the direction of the intersection and on the road of described vehicle driving
When band, the drive control section makes described vehicle follow the traveling ahead in described vehicle and is deduced out to described predetermined
Direction the preceding vehicle that is intended to of traveling and by the intersection, start place and institute in the turning of the preceding vehicle
It is inconsistent for starting place in turning of the intersection into the anticipation path that scheduled direction passes through to state this vehicle
In the case of, so that described vehicle is followed the preceding vehicle.
6. controller of vehicle according to claim 5, wherein
In the case that angle of turn in the angle of turn of the preceding vehicle and the anticipation path is inconsistent, the driving
Control unit does not make described vehicle follow the preceding vehicle yet.
7. controller of vehicle according to claim 1, wherein
The controller of vehicle is also equipped with the presumption unit for estimating the intention relevant to direction of travel of the preceding vehicle,
The feelings on the Special running road for advancing to direction identical with the scheduled direction are in the preceding vehicle
Under condition, the presumption unit, which is estimated as the preceding vehicle, to be existed to the traveling in scheduled direction intention.
8. controller of vehicle according to claim 1, wherein
Special running road being set in the intersection and for advancing to direction identical with the scheduled direction
On there are in the case where the preceding vehicle, the drive control section be determined as making described vehicle follow the preceding vehicle and
Pass through the intersection.
9. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
In the state of, so that described vehicle is followed the traveling ahead in described vehicle and be deduced out the row to the scheduled direction
Into intention preceding vehicle and pass through the intersection when, be more than predetermined angular in the angle of turn of the preceding vehicle
In the case of, the drive control section does not make described vehicle follow the preceding vehicle.
10. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
In the state of, so that described vehicle is followed the traveling ahead in described vehicle and be deduced out the row to the scheduled direction
Into intention preceding vehicle and pass through the intersection when, deviate from predetermined angular model in the angle of turn of the preceding vehicle
In the case where enclosing, the drive control section does not make described vehicle follow the preceding vehicle.
11. controller of vehicle according to claim 1, wherein
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and by the direction of the intersection and, there are when central partition, drivings is controlled on access path
Portion processed makes described vehicle follow the traveling ahead in described vehicle and is deduced out to the traveling in scheduled direction meaning
The preceding vehicle of figure and pass through the intersection, wherein the access path is to the road of the road of described vehicle driving
The path across opposite lane that road exterior domain is gone to.
12. controller of vehicle according to claim 1, wherein
In the case where not following the preceding vehicle, the drive control section is based on the recognition result identified by the identification part
To carry out for being controlled by the traveling of the intersection.
13. a kind of control method for vehicle, wherein
The control method for vehicle makes computer execute following processing:
Identify the surrounding condition of this vehicle；
The acceleration and deceleration and steering of described vehicle are controlled based on the result of the identification；And
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
When, by carry out with described vehicle traveling ahead and be deduced out to the scheduled direction traveling be intended to move ahead
The behavior of vehicle travels control accordingly, come so that described vehicle is followed the preceding vehicle and by the intersection.
14. a kind of storage medium, wherein
The storage medium is stored with program, and the program is for making computer execute following processing:
Identify the surrounding condition of this vehicle；
The acceleration and deceleration and steering of described vehicle are controlled based on the result of the identification；And
It is across opposite vehicle in the scheduled direction that described vehicle is advanced in the case where described vehicle passes through intersection
Forward path and there are central partitions through the direction of the intersection and on the road of described vehicle driving
When, by carry out with described vehicle traveling ahead and be deduced out to the scheduled direction traveling be intended to move ahead
The behavior of vehicle travels control accordingly, come so that described vehicle is followed the preceding vehicle and by the intersection.
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| JP2018015689A JP6641583B2 (en) | 2018-01-31 | 2018-01-31 | Vehicle control device, vehicle control method, and program |
| JP2018-015689 | 2018-07-17 |
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| CN201910071593.3A Active CN110103962B (en) | 2018-01-31 | 2019-01-24 | Vehicle control device, vehicle control method, and storage medium |
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| CN112462751A (en) * | 2019-09-09 | 2021-03-09 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112486161A (en) * | 2019-09-11 | 2021-03-12 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112550292A (en) * | 2019-09-09 | 2021-03-26 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
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| CN114287026A (en) * | 2019-08-13 | 2022-04-05 | 日产自动车株式会社 | Vehicle behavior determination method and vehicle behavior determination device |
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| DE112020005630T5 (en) * | 2020-02-17 | 2022-11-03 | Hitachi Astemo, Ltd. | DRIVING ASSISTANCE DEVICE |
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| CN114287026A (en) * | 2019-08-13 | 2022-04-05 | 日产自动车株式会社 | Vehicle behavior determination method and vehicle behavior determination device |
| CN112462751A (en) * | 2019-09-09 | 2021-03-09 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112550292A (en) * | 2019-09-09 | 2021-03-26 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112462751B (en) * | 2019-09-09 | 2024-03-19 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112486161A (en) * | 2019-09-11 | 2021-03-12 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112644494A (en) * | 2019-10-11 | 2021-04-13 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN112644494B (en) * | 2019-10-11 | 2024-06-11 | 本田技研工业株式会社 | Vehicle control device, vehicle control method, and storage medium |
| CN113370972A (en) * | 2020-02-21 | 2021-09-10 | 本田技研工业株式会社 | Travel control device, travel control method, and computer-readable storage medium storing program |
| CN113370972B (en) * | 2020-02-21 | 2023-12-12 | 本田技研工业株式会社 | Travel control device, travel control method, and computer-readable storage medium storing program |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2019131077A (en) | 2019-08-08 |
| CN110103962B (en) | 2022-07-01 |
| JP6641583B2 (en) | 2020-02-05 |
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