JP2001289643A - Predicting method for traveling pattern and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To predict the traveling pattern of a vehicle that considers the acceleration on a route to a destination for getting a traveling pattern with proper accuracy. SOLUTION: A speed pattern generating part 16 generates the speed pattern on the route to the destination that includes a speed change when accelerating at a changing point in traveling speed to output the pattern to a traveling load pattern generating part 18, using a radius of curvature-passing speed table 14 from the road information such as the curvature and the crossroad read from a road detecting information part 11 when setting the destination. Also, the generating part 16 individually generates the speed pattern when reaccelerating to output the pattern to the traveling load pattern generating part 18 corresponding to the originally unexpected deceleration by the output of the preceding vehicles detecting part 12 or the deceleration by the preceding vehicles when decelerating is done on the way of the destination.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for predicting a driving pattern of an automobile, for example, so as to obtain a driving force necessary for traveling while minimizing fuel consumption to a destination in a hybrid vehicle. The present invention relates to a driving pattern prediction method and apparatus suitable for an energy management system that determines a schedule for charging and discharging a battery and fuel consumption of an engine.

[0002]

2. Description of the Related Art Conventionally, a traveling pattern predicting method and apparatus reads road information from a navigation device, divides a route to be traveled into a plurality of sections, and selects a road type such as "highway" or "city area" or "congestion point". , And the future traveling speed in each section is predicted from the type or the like (Japanese Patent Laid-Open No. 9-324).
665).

[0003]

However, in the above-mentioned prior art, since the acceleration which has a large influence on the energy balance in each section classified by the road type or the like is not taken into account in the prediction of the traveling pattern, the actual pattern is not considered. The energy consumption associated with the acceleration required for traveling is omitted. Therefore, there is a problem that scheduling of energy storage and release in consideration of engine fuel consumption during acceleration cannot be performed.

[0004] For example, when the vehicle enters the "highway" from the "general road", a large running load is applied for acceleration.
In the conventional technology, the traveling speed and traveling load are predicted by the road type of "highway", so the effect of acceleration is not considered, and the fuel consumption schedule is determined so that most of the load is covered by the engine power. As a result, the fuel efficiency is deteriorated. Accordingly, an object of the present invention is to provide a traveling pattern prediction method and apparatus capable of generating a speed pattern in consideration of the influence of acceleration on a route to a destination and accurately predicting a traveling pattern of an automobile. is there.

[0005]

SUMMARY OF THE INVENTION Therefore, the invention according to claim 1 is a traveling pattern prediction method for predicting a traveling pattern on a route to a destination, wherein road information to the destination is detected, A predetermined cruising speed is set for each section defined based on the road information on the route to the ground, and when acceleration is predicted at a change point of the section, the acceleration until the cruising speed is reached. The speed pattern to the destination is generated, including the speed change at the time.

According to a second aspect of the present invention, after a speed pattern to a destination is generated at the time of setting a destination, a situation around the own vehicle is detected during traveling, and deceleration different from the speed pattern generated at the time of setting the destination is set. Is generated, a speed pattern indicating a speed change at the time of re-acceleration is further generated based on the situation around the host vehicle.

According to a third aspect of the present invention, when the deceleration is due to the presence of a preceding vehicle, a speed change at the time of re-acceleration of the preceding vehicle is predicted, and a predetermined change is made between the vehicle and the preceding vehicle. The speed pattern at the time of the re-acceleration is generated so as to maintain the inter-vehicle distance.

According to a fourth aspect of the invention, the speed change at the time of re-acceleration of the preceding vehicle is predicted by changing the speed according to the size of the preceding vehicle, and the predetermined inter-vehicle distance is equal to the size of the preceding vehicle. It is changed according to the degree.

According to a fifth aspect of the present invention, when the deceleration is due to the presence of a preceding vehicle, a change in speed at the time of re-acceleration of the preceding vehicle is predicted, and the predicted change in speed of the preceding vehicle is accelerated. The speed change at the time of re-acceleration is generated by applying a filter to the change in speed and giving a predetermined delay.

According to a sixth aspect of the present invention, the road information includes a road type, a curvature of the road, an intersection, a tunnel, a top of a hill, a tollgate, and a traffic congestion state as road characteristics that affect the traveling speed. Included.

According to a seventh aspect of the present invention, there is provided a road information detecting section for detecting road information to a destination, and a cruise speed predetermined for each section defined on the route to the destination based on the road information. Cruising speed setting means for setting the acceleration start point detection means for detecting the acceleration start point on the route to the destination, and when the acceleration start point is detected,
Speed setting means for setting a speed including a speed change at the time of acceleration with the cruising speed as a target speed from the acceleration start point, and a section not including acceleration is set by the cruising speed setting means. With the cruising speed described above, for a section including acceleration, a speed pattern to a destination is further generated using a speed with acceleration including a speed change during the acceleration.

According to an eighth aspect of the present invention, the cruising speed setting means sets the cruising speed based on a table indicating a relationship between a road characteristic and a cruising speed that affect the traveling speed.

According to a ninth aspect of the present invention, the table indicating the relationship between the road characteristics affecting the traveling speed and the cruising speed includes a radius of curvature of the road-passing speed table.

According to a tenth aspect of the present invention, there is provided a vehicle speed detecting section for detecting a running speed of a host vehicle, a preceding vehicle detecting section for detecting a preceding vehicle traveling ahead, and generating a speed pattern to a destination. And a re-acceleration pattern generating means for generating a re-acceleration speed pattern when the preceding vehicle is detected during a later traveling and the traveling speed of the own vehicle is reduced by a predetermined width.

According to an eleventh aspect of the present invention, the re-acceleration pattern generation means predicts an acceleration pattern of a preceding vehicle, and sets a predetermined inter-vehicle distance with the preceding vehicle during re-acceleration. A speed pattern was generated.

According to a twelfth aspect of the present invention, the predetermined inter-vehicle distance is set based on a table that defines a relationship between the speed of the host vehicle and the inter-vehicle distance.

[0017]

According to the first aspect of the present invention, a predetermined cruising speed is set for each section defined based on road information on a route to a destination, and acceleration is required at a change point of the section. It is checked whether acceleration is required, and if acceleration is required, a speed change up to the cruising speed is generated, so that a speed pattern to the destination including the speed change at the time of acceleration can be generated.

According to the second aspect of the present invention, a speed pattern to the destination is generated when the destination is set, and a situation around the own vehicle is detected during traveling on the way to the destination. When a deceleration different from the generated speed pattern occurs, a speed pattern indicating a speed change at the time of reacceleration is further generated based on the situation around the own vehicle, so that a new reacceleration pattern generated during traveling can be obtained. Can be.

According to the third aspect of the present invention, when the deceleration is caused by the presence of a preceding vehicle, a change in speed of the preceding vehicle at the time of re-acceleration is predicted, and a predetermined change is made between the preceding vehicle and the preceding vehicle. Since the speed pattern at the time of re-acceleration is generated so as to maintain the inter-vehicle distance, a re-acceleration pattern can be obtained while securing the inter-vehicle distance in consideration of prevention of approach to the preceding vehicle.

According to the present invention, the speed change at the time of re-acceleration of the preceding vehicle is predicted by changing according to the size of the preceding vehicle, and the predetermined inter-vehicle distance is the size of the preceding vehicle. Therefore, it is possible to obtain a re-acceleration pattern that matches the actual behavior pattern of the driver.

According to the fifth aspect of the present invention, when the deceleration is caused by the presence of the preceding vehicle, a change in speed at the time of re-acceleration of the preceding vehicle is predicted, and the predicted re-acceleration of the preceding vehicle is predicted. Since the speed change at the time is filtered and the speed pattern at the time of re-acceleration is generated with a predetermined delay, a re-acceleration pattern that matches the actual behavior pattern of the driver can also be obtained. .

In the invention according to claim 6, the road information includes:
Road characteristics that affect the traveling speed include road type, road curvature, intersections, tunnels, hilltops, toll road tollgates, and congestion conditions, so that speed patterns can be generated by setting detailed sections.

According to a seventh aspect of the present invention, there is provided a cruising speed setting means, an acceleration start point detecting means, and an acceleration speed setting means, wherein the cruising speed setting means reads the object from the road information detecting section. According to the road information on the route to the ground, the cruising speed for each section is set, and the acceleration start point detection means checks whether or not the changing point of the running section is a point requiring acceleration on the route to the destination, When acceleration is required, the change point is set as the acceleration start point, and the speed setting unit with acceleration sets the speed change from the acceleration start point to the change point in the next traveling section until the cruising speed is reached. Since the acceleration portion and the cruising speed are set by a constant portion, a speed pattern to the destination can be generated including a speed change during acceleration.

According to the eighth aspect of the present invention, the cruising speed is set based on the table indicating the relationship between the road characteristics and the cruising speed, so that the calculation load can be reduced.

According to the ninth aspect of the present invention, since the table indicating the relationship between the road characteristics and the cruising speed includes the radius of curvature-passing speed table, a fine-grained speed pattern can be easily obtained in consideration of acceleration and cruising on a curved road. Can be generated.

According to the tenth aspect, the seventh and eighth aspects are provided.
Alternatively, in addition to the effect of the ninth aspect, when the preceding vehicle is detected and the traveling speed of the own vehicle is reduced by a predetermined width during traveling after generating the speed pattern to the destination, a speed pattern at the time of re-acceleration is generated. Therefore, a speed pattern at the time of re-acceleration unexpectedly at the beginning can be sequentially added.

According to the eleventh aspect of the present invention, since the speed pattern at the time of re-acceleration is generated so as to maintain a predetermined inter-vehicle distance with the preceding vehicle, the inter-vehicle distance in consideration of prevention of approach to the preceding vehicle. , And a re-acceleration pattern can be obtained.

In the twelfth aspect of the present invention, the predetermined inter-vehicle distance is set based on a table that defines the relationship between the speed of the host vehicle and the inter-vehicle distance, so that the calculation load can be reduced.

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below with reference to embodiments shown in the drawings. FIG. 1 is a block diagram showing an embodiment in which the present invention is applied to an energy management system. A speed pattern generator 16 having a control program for generating a speed pattern includes a road information detector 11 for detecting road information necessary for generating a speed pattern, and a preceding vehicle detector for detecting an inter-vehicle distance to a preceding vehicle. 12, a vehicle speed detecting unit 13 for detecting a traveling speed of the own vehicle, and a speed pattern generating unit 1
6 is connected to a running load pattern generation unit 18 that generates a running load pattern to the destination using the output of the control unit 6. The road information detection unit 11 to be detected is connected to an energy balance calculation unit 19 that calculates an energy balance using the output of the traveling load pattern generation unit 18.

The radius of curvature-passing speed table 14,
A road type / road state-running speed table 15 is prepared, and the speed pattern generation unit 16 uses these tables when setting the cruising speed. Further, a speed-vehicle distance table 17 is prepared, and the speed pattern generation unit 16 uses this table when generating a speed pattern at the time of re-acceleration when decelerating due to the presence of the preceding vehicle.

Hereinafter, each element will be described. The road information detection unit 11 is configured by a navigation device. The navigation device has a GPS (G
global Positioning System),
Antenna, gyro compass to measure direction of own vehicle,
A storage device that records road map data, VICS (Veh
ice Information and Comu
The system includes a receiver for receiving traffic information from an infrastructure such as a communication system, and outputs road information on a route on which the vehicle is to travel to a destination. The road map data includes the curvature, the width, the type, the intersection, and the position of the traffic light of the road. The destination and the departure place are input by the navigation device.

The leading vehicle detection unit 12 includes a stereo camera, and measures both the distance to the target and the size. In the stereo camera, as shown in FIG. 2, using the imaging coordinates ya and yb, the focal length f, and the interocular distance D in each image taken by two cameras C1 and C2 whose optical axes are parallel to each other, From equation (1), the distance Z from the camera to the target A
Can be requested. Z = f × D / ya−yb (1) Therefore, it is possible to take an image of the preceding vehicle in front of the vehicle, calculate the distance at each pixel of the imaging screen, and obtain the distance to the preceding vehicle. Further, as shown in FIG. 3, the size of the preceding vehicle can be obtained by checking the number of pixels occupied by the widths W1 and W2 and the heights H1 and H2 of the preceding vehicle on the imaging screen. The vehicle speed detection unit 13 detects the traveling speed of the own vehicle.

The radius-of-curvature-passing speed table 14 is an example of a table showing the relationship between the road characteristics affecting the running speed and the cruising speed, and defines the relationship between the radius of curvature of the road and the passing speed as shown in FIG. It is used to set the cruising speed on curved roads. This cruising speed is also used as a target speed when accelerating on the curved road, that is, a speed at an acceleration end point. The road type / road state-running speed table 15 is a table showing the relationship between the road characteristics and the cruising speed that affect the running speed, similarly to the curvature radius-passing speed table 14, and includes "highway", "general road", and the like. The relationship between road conditions such as the type of road or "congestion" and the traveling speed on a straight road is defined, and is used when setting the cruising speed on a straight road. This cruising speed is also used as a target speed (speed at the end point of acceleration) when accelerating on the straight road. Further, road type / road condition-running speed table 1
5 includes a table that defines the relationship between the situation in the tunnel and the traveling speed in the tunnel, and a table that defines the relationship between the slope of the slope and the traveling speed on the slope.

The speed-inter-vehicle distance table 17 is a table which defines the relationship between the speed of the host vehicle and the inter-vehicle distance to the preceding vehicle. The re-acceleration when decelerating due to the presence of the preceding vehicle on the way to the destination. When the speed pattern at the time is generated, the speed pattern is used to read the permissible running speed at the inter-vehicle distance from the inter-vehicle distance with the preceding vehicle calculated by the speed pattern generating unit 16.

The speed pattern generation unit 16 has a control program, reads road information on the route to the destination from the road information detection unit 11 at the time of setting the destination, and reads the road type / road state-running speed table from the road information. 15 to set the cruising speed on a straight road, and from the curvature of the road included in the road information, set the cruising speed on a curved road using the radius of curvature-passing speed table 14 to determine the cruising speed on the route to the destination. Generate a speed pattern.

Further, the speed pattern generation unit 16 calculates a change in the speed of the own vehicle from the output of the vehicle speed detection unit 13 while checking the position of the own vehicle on the traveling route on the way to the destination. If the vehicle has decelerated more than the width, it is checked from the output of the preceding vehicle detector 12 whether or not there is a preceding vehicle. If the deceleration is due to the presence of the preceding vehicle, a speed that keeps the predetermined distance between the preceding vehicle and the preceding vehicle is calculated using the speed-inter-vehicle distance table 17 so that the speed is not exceeded. Generate a speed pattern for reacceleration. Also,
When there is no preceding vehicle, a speed pattern for re-acceleration is generated only when deceleration is performed at a place other than the predicted location.

The position of the host vehicle on the traveling route is
Read from navigation device. The traveling load pattern generation unit 18 reads the road gradient information from the road information detection unit 11, reads the speed pattern on the route to the destination from the speed pattern generation unit 16, and uses the road gradient information and the speed pattern to determine the target. A running load pattern on the route to the ground is generated. The energy balance calculation unit 19 reads the running load pattern on the route to the destination from the running load pattern generation unit 18 and uses the running load pattern to determine the fuel consumption of the engine and the schedule for charging and discharging the battery. I do.

Next, FIG. 5 is a flowchart showing the flow of control in the speed pattern generation section 16 in the generation of the speed pattern to the destination when the destination is set. Hereinafter, in step 101 which describes each step,
The speed pattern generation unit 16 outputs road information necessary for generating a speed pattern relating to a route to a destination to the road information detection unit 1.
Read from 1. Here, the road information includes road characteristics, road curvature, intersections, tunnels, hill tops, toll road tollgates, traffic congestion, and the like as road characteristics that affect the traveling speed.

In step 102, if there is a change point in the traveling section on the route to the destination, it is checked whether the change point is a place requiring acceleration. For example, the vehicle stops once at a tollgate on an expressway, and is accelerated thereafter. When the vehicle exits from a congested portion to a non-congested portion, it is accelerated. Here, the change point of the traveling section means a point that causes a stop or deceleration at an intersection, a tollgate, or a point where a road type or a road state changes. If acceleration is required, the change point is set as the acceleration start point, and the process proceeds to step 103. If acceleration is not required, step 10 is performed.
Go to 5.

In step 103, if the section from the acceleration start point is a "straight road", the road type / road condition-running speed table 15 is used, and if the section is "curved road", the radius of curvature-passing speed table 14 is used. Use to set the cruising speed. In step 104, a speed change from the acceleration start point to the change point of the next traveling section is set. Here, with the cruising speed as the target speed for acceleration, the speed change from the acceleration start point to the target speed is expressed by a quadratic function or a cubic function, and each coefficient of the function depends on road information and the driver. To decide. As an example, when acceleration is started on a curved road having a radius of curvature r as shown in FIG. 6A and the vehicle goes on a straight road, as shown in FIG. A speed change is set such that the cruise speed Vc obtained from the passing speed table 14 is accelerated as a target speed, and when the vehicle passes through a curved road, the cruise speed Vs on a straight road is accelerated again as a target speed.
From reaching the target speed until reaching the change point of the next traveling section, the target speed, that is, the cruising speed is kept constant. As a result, a speed pattern including the acceleration and the subsequent cruising speed is generated for the section.

In step 105, the cruising speed after the change of the road type or the road condition is set by using the road type / road condition-running speed table 15 or the curvature radius-passing speed table 14, and the next cruising speed is set. Until the change point of the section, the cruising speed is kept constant, and the speed of the section in the speed pattern is used.

In step 106, it is checked whether or not the speed pattern generation has been completed, based on whether or not a change point in the traveling section remains on the route to the destination. If there is still a change point, step 10
Returning to step 2, the above flow is repeated, and when the generation of the speed pattern on the route to the destination ends, step 1
Proceed to 07. In step 107, the generated speed pattern to the destination is output, and this flow ends.

Here, step 102 constitutes acceleration start point detecting means, steps 103 and 105 constitute cruising speed setting means, and step 104
Constitute speed setting means with acceleration. The data of the speed pattern generated at the time of setting the destination in this way is used by the running load pattern generating unit 18 to generate a running load pattern on the route to the destination,
The generated traveling load pattern data is used by the energy balance calculation unit 19 to calculate the energy balance.

For example, when a speed pattern as shown in FIG. 7A is generated, the running load pattern generation unit 18 calculates the speed pattern and the road gradient information from the speed pattern.
A running load pattern as shown in FIG. 7B is generated. Then, the energy balance calculation unit 19 uses this traveling load pattern to satisfy the target SOC (battery charge rate) at the destination and minimize the fuel consumption as shown in FIG. 7C. Thus, the drive distribution of the motor and the engine of the hybrid vehicle can be determined.

That is, in FIG. 7A, a speed pattern is generated such that acceleration is performed in the time zone ta, cruise is performed in the time zone tc, and deceleration is performed in the time zone td. Since the required torque exceeds the best fuel consumption torque of the engine during acceleration during the time period ta, the running load is high. Therefore, the work wm [kw] by the motor is supplemented as shown in FIG. 7 (b). Then, during the cruising in the time zone tc, the traveling load is reduced, so the vehicle travels with the engine work we [kw]. During deceleration in the time period td, the battery is charged using the motor. In addition, when traffic congestion in an urban area is predicted, a battery may be charged before entering the urban area, and in the urban area, a drive distribution in which the vehicle travels only by motor work may be considered.

Next, when a speed pattern different from the speed pattern generated at the time of setting the destination is generated on the way to the destination, control is performed by the speed pattern generation unit 16 in generating a speed pattern at the time of re-acceleration. Is shown in FIG. Note that this control program is called once at the end of the flow of FIG. 5 and is repeated at predetermined time intervals until the vehicle arrives at the destination.

Hereinafter, each step will be described. In step 201, the speed pattern generation unit 16 checks whether or not the position of the own vehicle on the traveling route read from the navigation device is near the destination set at the time of departure. If the vehicle is near the destination, the flow is terminated. Otherwise, the process proceeds to step 202.

In step 202, the running speed of the host vehicle is read from the vehicle speed detecting unit 13 and is set to a certain speed range (for example,
Check if the vehicle has decelerated at 20 km / h or more. If the speed has been reduced by a certain speed width or more, step 203 is executed.
Otherwise, return to step 201. In step 203, it is checked from the output of the preceding vehicle detection unit 12 whether or not the preceding vehicle exists within a predetermined range in front. Then, when the presence of the preceding vehicle is confirmed within the predetermined range in front, the inter-vehicle distance to the preceding vehicle is read from the preceding vehicle detection unit 12 and the process proceeds to step 205. Otherwise, the process proceeds to step 204. Proceed to.

In step 204, it is checked whether or not the position of the own vehicle read from the navigation device is at a place where it is predicted that the vehicle will stop or decelerate when the destination is set. If the position of the vehicle is at the predicted location, the process returns to step 201; otherwise, the process proceeds to step 207. In step 207, a speed pattern at the time of re-acceleration until reaching the target speed is generated as in steps 103 to 104 of the flowchart of FIG. In step 205 as well, similarly to steps 103 to 104 in the flowchart of FIG. 5, a speed change at the time of re-acceleration of the preceding vehicle is predicted.

When the preceding vehicle is a large vehicle, the target speed Vs of the preceding vehicle shown in FIG.
15 km / h). As a judgment method for large vehicles,
As shown in FIG. 3, in the imaging screen recognized by the preceding vehicle detection unit 12, the height of the preceding vehicle uses the difference in the number of pixels occupied by the width. That is, as shown in FIG. 3A, the vehicle is a large vehicle when the actual height or width of the preceding vehicle is measured to be 2 m or more from the number of pixels occupied by the height H1 or the width W1 on the imaging screen. When the actual height and width are measured to be 2 m or less from the number of pixels occupied by the height H2 or the width W2 on the image screen as shown in FIG. It is determined not to be.

In step 206, the speed pattern in the case of following the preceding vehicle and re-accelerated by following the preceding vehicle is determined while following a predetermined inter-vehicle distance with respect to the speed change in re-acceleration of the preceding vehicle predicted in step 205. Generate so that Details will be described with reference to the flowchart of FIG. Step 30
In FIG. 8, as shown in FIG. 8, assuming that the sample time of the start of acceleration of the preceding vehicle is 0, the traveling distance Sf (n) [m] of the preceding vehicle until after the sample time n is calculated by the following equation (2). Find more.

(Equation 1) Here, T [sec] is the running time of the preceding vehicle until after the sampling time n. Vf (i) [km / h] is the speed of the preceding vehicle at the sample time n = i, and can be obtained from the speed change of the preceding vehicle predicted in step 205.

In step 302, a travel distance S (n) from the start of acceleration of the host vehicle to the time after the sample time n is obtained in the same manner as in step 301. In step 303, FIG.
Using the relationship between the inter-vehicle distance and the speed as shown in FIG. 1, the speed that sets the difference between the traveling distance Sf (n) of the preceding vehicle and the traveling distance S (n) of the own vehicle as the inter-vehicle distance, that is, L (Sf (n) ) -S
(N)) is obtained, and this is set as a candidate for the speed V (n + 1) of the own vehicle in the next sample time. The inter-vehicle distance is set to be longer when the preceding vehicle is a large vehicle than when it is an ordinary vehicle as shown in FIG.

In step 304, it is checked which of the candidate of the speed V (n + 1) of the own vehicle obtained in step 303 and the speed Vf (n + 1) of the preceding vehicle in the next sample time is larger. If V (n + 1) is larger, if the vehicle continues to travel as it is, it will catch up with the preceding vehicle.
1) = Vf (n + 1). If V (n + 1) is smaller, the value of V (n + 1) obtained in step 303 is used as it is. In step 306, if V (n + 1) has reached the target speed Vs, it is determined that the acceleration has been completed, and the process is terminated. Otherwise, the process returns to step 301. The data of the speed pattern at the time of re-acceleration generated in steps 206 and 207 is output in step 208.

Here, steps 202 through 2
07 constitutes the re-acceleration pattern generation means. The data of the speed pattern at the time of re-acceleration generated on the way to the destination in this way is used by the running load pattern generation unit 18 to re-predict the running load pattern,
The re-predicted traveling load pattern data is used by the energy balance calculation unit 19 to recalculate the energy balance.

The running pattern predicting apparatus according to the present invention is not limited to the embodiment shown in this embodiment. For example, the road information detection unit 11 is not limited to the navigation device, but may be any as long as it can detect a road type, a road state, and the like on a traveling route. Further, the leading vehicle detection unit 12 can be configured using a sensor such as a laser range finder other than the stereo camera.

The curvature radius-passing speed table 14, the road type / road condition-running speed table 15, and the speed-inter-vehicle distance table 17 can be replaced by relational expressions corresponding thereto.

In the case of accelerating following the preceding vehicle, instead of using the speed-inter-vehicle distance table 17,
The speed pattern of the own vehicle can also be obtained by applying a filter (for example, a primary delay or a combination of dead time) so as to cause a predetermined delay in the speed pattern of the preceding vehicle. Since the above-mentioned speed-vehicle distance table 17 is for preventing over-approaching, if the functions of the first-order delay and the dead time are determined empirically from the characteristics of a general driver, a more accurate prediction can be made. It becomes possible.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment in which the present invention is applied to an energy management system.

FIG. 2 is a diagram illustrating an outline of distance measurement by a stereo camera.

FIG. 3 is an explanatory diagram showing a method for determining a large vehicle.

FIG. 4 Radius of curvature for setting the passing speed on a curved road
It is a passing speed table.

FIG. 5 is a flowchart showing a flow of control in traveling pattern prediction when a destination is set.

FIG. 6 is a diagram illustrating generation of a speed pattern when acceleration is started on a curved road and the vehicle enters a straight road.

FIG. 7 is a diagram illustrating an operation example of a running load pattern generation unit and an energy balance calculation unit.

FIG. 8 is a flowchart showing a flow of control in generating a speed pattern during re-acceleration.

FIG. 9 is a diagram showing a speed pattern when following a preceding vehicle.

FIG. 10 is a flowchart showing a flow of generating a speed pattern at the time of re-acceleration at the time of following the preceding vehicle.

FIG. 11 is a speed-vehicle distance table.

[Explanation of symbols]

 Reference Signs List 11 Road information detection unit 12 Previous vehicle detection unit 13 Speed detection unit 14 Curvature radius-passing speed table 15 Road type / road condition-running speed table 16 Speed pattern generating unit 17 Speed-vehicle distance table 18 Running load pattern generating unit 19 Energy Balance Calculator

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Claims (12)

[Claims] 1. A traveling pattern prediction method for predicting a traveling pattern on a route to a destination, comprising detecting road information to a destination and defining the route to the destination based on the road information. A predetermined cruising speed is set for each section, and when acceleration is predicted at a change point in the section, the speed pattern to the destination is included, including a speed change during acceleration up to the cruising speed. A driving pattern prediction method characterized by generating the driving pattern. 2. After generating a speed pattern to a destination at the time of setting a destination, detecting a situation around the own vehicle during traveling,
2. The traveling according to claim 1, wherein when a deceleration different from the speed pattern generated at the time of setting the destination occurs, a speed pattern indicating a speed change at the time of re-acceleration is further generated based on a situation around the own vehicle. Pattern prediction method. 3. When the deceleration is due to the presence of a preceding vehicle, a change in speed at the time of re-acceleration of the preceding vehicle is predicted, and a predetermined inter-vehicle distance is maintained between the preceding vehicle and the preceding vehicle. 3. The running pattern predicting method according to claim 2, further comprising: generating a speed pattern at the time of the re-acceleration. 4. The speed change at the time of re-acceleration of the preceding vehicle is predicted by changing according to the size of the preceding vehicle, and the predetermined inter-vehicle distance is changed according to the size of the preceding vehicle. The running pattern prediction method according to claim 3, wherein: 5. When the deceleration is due to the presence of a preceding vehicle, a change in speed of the preceding vehicle at the time of re-acceleration is predicted, and the predicted speed change of the preceding vehicle at the time of re-acceleration is calculated. 3. The running pattern predicting method according to claim 2, wherein a speed pattern at the time of re-acceleration is generated with a predetermined delay with a filter applied. 6. The road information includes a road type, a road curvature, an intersection, and the like as road characteristics that affect a traveling speed.
6. The traveling pattern prediction method according to claim 1, wherein the method includes a tunnel, a top of a hill, a tollgate, and a traffic jam. 7. A road information detecting section for detecting road information to a destination, and a cruise speed setting for setting a predetermined cruise speed for each section defined based on the road information on a route to the destination. Means, acceleration start point detection means for detecting an acceleration start point on the route to the destination, and, when the acceleration start point is detected, a speed at the time of acceleration using the cruising speed from the acceleration start point as a target speed Speed setting means for setting a speed including a change, a speed at the time of acceleration which is set by the cruising speed setting means for a section not including acceleration, and a speed at the time of acceleration for a section including acceleration. A travel pattern predicting device configured to generate a speed pattern to a destination with an acceleration speed including a change. 8. The traveling pattern prediction according to claim 7, wherein said cruising speed setting means sets the cruising speed based on a table showing a relationship between a road characteristic affecting the traveling speed and the cruising speed. apparatus. 9. The traveling pattern predicting apparatus according to claim 8, wherein the table indicating the relationship between the road characteristics and the cruising speed affecting the traveling speed includes a radius of curvature of the road-passing speed table. 10. A vehicle speed detecting section for detecting a running speed of a host vehicle, a preceding vehicle detecting section for detecting a preceding vehicle traveling in front of the host vehicle, and a preceding vehicle detecting section for generating a speed pattern to a destination. When the traveling vehicle is detected and the traveling speed of the own vehicle is reduced by a predetermined width,
10. The running pattern predicting device according to claim 7, further comprising a re-acceleration pattern generating means for generating a speed pattern at the time of re-acceleration. 11. The re-acceleration pattern generation means predicts an acceleration pattern of a preceding vehicle, and generates a re-acceleration speed pattern so as to maintain a predetermined inter-vehicle distance with the preceding vehicle. The travel pattern prediction device according to claim 10, wherein: 12. The traveling pattern prediction device according to claim 11, wherein the predetermined inter-vehicle distance is set based on a table that defines a relationship between the speed of the host vehicle and the inter-vehicle distance.