JP2020050010A - Vehicle control device - Google Patents

Abstract

To appropriately execute a control for avoiding a to-be-avoided object.SOLUTION: A vehicle control device (200) includes: executing means (220) for executing, when a to-be-avoided object (50) around a local vehicle (10) is detected, an automatic steering control for steering the local vehicle so as to become apart from the to-be-avoided object; and determining means (210) for determining, when the to-be-avoided object is being detected, and another vehicle (20) is being detected which is located at an adjacent lane at a side at which the local vehicle is to be steered by the automatic steering control relative to the detected to-be-avoided object, whether or not a difference between a first index (TTC_targ) that is a time index based on a distance between the local vehicle and the to-be-avoided object and a relative speed, and a second index (TTC_obj) that is a time index for the local vehicle and for another vehicle is within a predetermined range. The executing means executes, instead of the automatic steering control, an automatic deceleration control that decelerates the local vehicle when the determination is made that the difference is within the predetermined range.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technical field of a vehicle control device that performs steering control of a vehicle.

  As this type of device, there is known a device that executes automatic steering control (hereinafter, appropriately referred to as “automatic steering control”) in a vehicle to avoid collision between the vehicle and a pedestrian or the like. For example, Patent Literature 1 discloses a technique in which, when a pedestrian is detected in the vicinity of a driving lane of a vehicle, the position of the vehicle is kept within the current driving lane, the distance from the pedestrian is reduced, and the vehicle is passed while decelerating. I have.

  In addition, in Patent Literature 2, the behavior of a parallel running vehicle traveling in an adjacent lane predicts the approach of the parallel running vehicle to the own vehicle running lane, and the collision between the own vehicle and the parallel running vehicle is predicted. A technique for performing steering assist is disclosed.

JP 2017-095100 A US Patent Application Publication No. 2011/0144859

  When automatic steering control is performed to avoid an avoidance target (for example, a pedestrian or a bicycle on the side of a road) ahead of the own vehicle, another vehicle (for example, parallel running) is placed in a lane adjacent to the lane on which the own vehicle is traveling. If there is a vehicle or an oncoming vehicle), the distance between the own vehicle and another vehicle may be reduced by the automatic steering control. That is, by the automatic steering control for avoiding the avoidance target, the own vehicle is steered so as to move to the adjacent lane side, and as a result, the own vehicle and another vehicle may approach each other. Such a situation may give anxiety to the occupants of the own vehicle and the other vehicle (for example, anxiety that the own vehicle and the other vehicle may come into contact with each other).

  The present invention has been made in view of, for example, the above problems, and has as its object to provide a vehicle control device capable of appropriately executing control for avoiding an avoidance target existing in front of a vehicle. I do.

  In one aspect of the vehicle control device according to the present invention, when an avoidance target is detected within a predetermined range around the own vehicle, the own vehicle may be configured to avoid collision with the avoidance target. Executing means for executing automatic steering control for steering the own vehicle so as to move away from the avoidance target; detecting the avoidance target; and performing the automatic steering control on the detected avoidance target. When another vehicle is detected in an adjacent lane on which the vehicle is steered, a first index that is a temporal index based on a distance and a relative speed between the own vehicle and the avoidance target, and the own vehicle Determining means for determining whether a difference between the second index and the other vehicle is the time index is within a predetermined range, wherein the execution means determines that the difference is within the predetermined range. Place judged To, instead of the automatic steering control, to perform an automatic deceleration control for decelerating the host vehicle.

FIG. 1 is a block diagram illustrating a configuration of a vehicle according to an embodiment. FIG. 4 is a plan view showing a technical problem that may occur when executing automatic steering control. 4 is a flowchart illustrating a flow of an operation of the vehicle control device according to the embodiment. It is a top view showing the calculation method of TTC. 4 is a map showing a method for selecting automatic steering control and automatic deceleration control. It is a top view (the 1) showing the example of the concrete operation of the vehicle control device concerning an embodiment. It is a top view (the 2) showing the concrete example of operation of the vehicle control device concerning an embodiment.

  Hereinafter, an embodiment of a vehicle control device will be described with reference to the drawings.

<Apparatus configuration>
First, the configuration of the entire vehicle on which the vehicle control device according to the present embodiment is mounted will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a vehicle according to the embodiment.

  As shown in FIG. 1, a vehicle 10 according to the present embodiment (hereinafter, appropriately referred to as “own vehicle 10”) includes an information detection unit 100 and a vehicle control device 200.

  The information detection unit 100 includes an internal sensor 110 and an external sensor 120. The internal sensor 110 includes, for example, a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a steering sensor, and the like, and detects internal parameters of the vehicle 10. The external sensor 120 includes, for example, an in-vehicle camera, a radar, a rider, and the like, and includes an object (for example, a pedestrian or the like) existing in a predetermined range around the host vehicle 10 (in other words, a range detectable by the external sensor 120). ) And risk (for example, risk related to jumping out of a blind spot). Each piece of information detected by the inner field sensor 110 and the outer field sensor 120 is output to the vehicle control device 200.

  The vehicle control device 200 is configured to be able to execute avoidance control for avoiding a collision between the host vehicle 10 and an object existing around the host vehicle 10. More specifically, the vehicle control device 20 controls the automatic steering control (that is, the automatic steering control that does not depend on the operation of the occupant) and the automatic deceleration control (that is, the automatic control that does not depend on the operation of the occupant) as the avoidance control. (Deceleration control). The vehicle control device 200 is configured as, for example, an ECU (Electric Control Unit) mounted on the host vehicle 10, and operates as an avoidance control determination unit as a logical processing block or a physical processing circuit for realizing the function. 210 and an avoidance control execution unit 220.

  The avoidance control determination unit 210 is configured to be able to determine whether or not to perform the avoidance control based on the information detected by the information detection unit 100 (in other words, the internal sensor 110 and the external sensor 120). Specifically, the avoidance control determination unit 210 is configured to be able to detect the avoidance target from the information detected by the information detection unit 100. Here, the “avoidance target” is a target for which the avoidance control is to be performed in order to avoid a collision, and in addition to a target that is actually detected as a target, a risk of lurking in a blind spot (for example, Pedestrians that may jump out of the blind spot). In addition, as for a specific detection method of the avoidance target, an existing technique can be appropriately employed, and thus a detailed description thereof is omitted. The avoidance control determining unit 210 is further configured to be able to determine whether to execute the automatic steering control or the automatic deceleration control as the avoidance control. The method of determining the avoidance control to be executed will be described later in detail. The determination result of the avoidance control determination unit 210 is output to the avoidance control execution unit 220. The avoidance control determination unit 210 is a specific example of a “determination unit” in the appendix described below.

  The avoidance control execution unit 220 is configured to execute the avoidance control based on the determination result of the avoidance control determination unit 210. Specifically, the avoidance control execution unit 220 is configured to selectively execute the automatic steering control and the automatic deceleration control by controlling the operation of a steering actuator or a brake actuator (not shown). In addition, as for more specific processing contents of the automatic steering control and the automatic deceleration control, an existing technology can be appropriately adopted, and thus detailed description thereof is omitted. The avoidance control execution unit 220 is a specific example of “execution means” in the supplementary notes described later.

<Technical issues>
Next, technical problems that may occur when executing the automatic steering control will be described with reference to FIG. FIG. 2 is a plan view showing a technical problem that may occur when executing the automatic steering control.

  As shown in FIG. 2, it is assumed that an avoidance target 50 (for example, a pedestrian) and another vehicle 20 (for example, an oncoming vehicle) exist ahead of the own vehicle 10 in the traveling direction. Here, if the automatic steering control is performed to avoid the avoidance target 50, the host vehicle 10 moves in a direction away from the avoidance target 50 (rightward in the drawing). In other words, the host vehicle 10 moves so as to approach an adjacent lane on which the other vehicle 20 runs.

  As a result, the distance between the host vehicle 10 and the other vehicle 20 (specifically, the distance in the lateral direction) may be extremely small when passing each other. Such a situation may give anxiety to the occupants of the host vehicle 10 and the other vehicle 20. In addition, there is a possibility that unintended contact may be caused.

  The vehicle control device 200 according to the present embodiment executes an operation described below (specifically, an operation of changing an embodiment of the avoidance control according to a situation) in order to solve the technical problem described above. I do.

<Operation description>
Next, an operation flow of the vehicle control device 200 according to the present embodiment will be described with reference to FIG. FIG. 3 is a flowchart illustrating a flow of the operation of the vehicle control device according to the embodiment.

  As shown in FIG. 3, during operation of the vehicle control device 200 according to the present embodiment, first, the avoidance control determination unit 210 sends information about the surroundings of the own vehicle 10 (particularly, the avoidance target 50 and the Is obtained (step S101). Then, the avoidance control determination unit 210 determines whether or not the avoidance target 50 to be avoided exists ahead of the host vehicle 10 (step S102). If it is determined that the avoidance target 50 does not exist (step S102: NO), the subsequent processing is omitted, and a series of operations ends. In this case, the vehicle control device 200 may restart the process from step S101 after a predetermined period.

  When it is determined that the avoidance target 50 exists (step S102: YES), the avoidance control determination unit 210 further determines whether or not another vehicle 20 exists in the adjacent lane (step S103). Note that the “adjacent lane” here is a lane adjacent to the lane in which the host vehicle 10 is traveling, and if the automatic steering control for the temporarily detected avoidance target 50 is to be executed, The lane is located on the side on which the host vehicle 10 is steered (that is, on the side that is to be moved by automatic steering control).

  When it is determined that the other vehicle 20 does not exist in the adjacent lane (step S103: NO), the avoidance control execution unit 220 executes the automatic steering control as the avoidance control (step S110). As a result, the own vehicle 10 moves to the side away from the avoidance target 50 (in other words, the side approaching the adjacent lane). However, since the other vehicle 20 does not exist in the adjacent lane, it will be described with reference to FIG. Such inconvenience (that is, a situation in which the own vehicle 10 and the other vehicle 20 approach each other) does not occur.

  On the other hand, when it is determined that another vehicle 20 is present in the adjacent lane (step S103: YES), the avoidance control determination unit 210 determines whether the own vehicle 10 and the avoidance target 50 have a TTC (Time To Collision). , And the TTC of the own vehicle 10 and the other vehicle 20 are calculated (step S104). Note that the TTC according to the present embodiment is not the time until the host vehicle 10 collides with the avoidance target 50 or the other vehicle 20, and the host vehicle 10 moves the avoidance target 50 or the other vehicle 20 to the side. It is calculated as the time to pass. The TTC is a specific example of the “temporal index” in the appendix described below.

  Here, a specific method of calculating the TTC according to the present embodiment will be described in detail with reference to FIG. FIG. 4 is a plan view showing a method of calculating TTC.

  As shown in FIG. 4, the distance between the host vehicle 10 and the target 50 to be avoided is X_targ, the distance between the host vehicle 10 and the other vehicle 20 is X_obj, and the speed of the host vehicle 10 (hereinafter referred to as “host vehicle speed” as appropriate). ) Is V_ego, the traveling direction component of the own vehicle 10 at the speed of the avoidance target 50 (hereinafter, appropriately referred to as “avoidance target speed”) is V_targ, and the traveling direction component of the own vehicle 10 at the speed of the other vehicle 20 (hereinafter, referred to as “the target speed”). V_obj is referred to as “other vehicle speed” as appropriate. In this case, TTC_targ, which is the TTC between the own vehicle 10 and the avoidance target 50, and TTC_obj, which is the TTC between the own vehicle 10 and the other vehicle 20, can be calculated using the following equations (1) and (2), respectively.

TTC_targ = X_targ / (V_targ−V_ego) (1)
TTC_obj = X_obj / (V_obj−V_ego) (2)

  Note that TTC_targ and TTC_obj are specific examples of the “first index” and the “second index” in the supplementary notes described later, respectively.

  Referring back to FIG. 3, after calculating the TTC_targ and the TTC_obj, the avoidance control calculating unit 210 calculates a difference between the TTC_targ and the TTC_obj (hereinafter, appropriately referred to as “TTC difference”) (step S105). Then, the avoidance control determination unit 210 further determines whether the calculated TTC difference is within the first predetermined range (step S106). The “first predetermined range” is a range for determining whether it is better not to select the automatic steering control as the avoidance control, and an optimum range is set in advance by a simulation or the like. ing.

  When it is determined that the TTC difference is not within the first predetermined range (step S106: NO), the avoidance control execution unit 220 executes the automatic steering control as the avoidance control (step S110). On the other hand, when it is determined that the TTC difference is within the first predetermined range (step S106: YES), the avoidance control determination unit 210 further determines whether the TTC difference is within the second predetermined range (step S106). S107). The “second predetermined range” here is a range for determining whether or not the automatic deceleration control should be selected as the avoidance control, and an optimum range is set in advance by a simulation or the like. . The second predetermined range is a specific example of a “predetermined range” in the additional description described below.

  When it is determined that the TTC difference is within the second predetermined range (step S107: YES), the avoidance control execution unit 220 executes the automatic deceleration control as the avoidance control (step S108). On the other hand, when it is determined that the TTC difference is not within the second predetermined range (step S108: NO), the avoidance control execution unit 220 selects one of the automatic steering control and the automatic deceleration control according to the preference of the occupant of the host vehicle 10. One of the controls is executed (step S109). The control according to the passenger's preference may be, for example, one that is set in advance by the passenger itself, or, based on the past driving history of the passenger, selects either avoidance by steering or avoidance by deceleration in the same situation. It may be set by estimating whether or not there is a tendency.

  Here, the first predetermined range and the second predetermined range when the avoidance control is selected will be specifically described with reference to FIG. FIG. 5 is a map showing a method for selecting automatic steering control and automatic deceleration control.

  As shown in FIG. 5, the first predetermined range is set as a range in which the TTC difference is from -δs to βs. Here, TTC ≦ −δs is a situation in which the other vehicle 20 is located relatively far away and can avoid the avoidance target 50 with a margin by steering. Therefore, when TTC difference ≦ −δs or less, automatic steering control is executed. On the other hand, the condition of TTC difference ≧ βs is a situation in which, after the own vehicle 10 passes by the side of the other vehicle 20, the avoidance target 50 can be avoided with a sufficient margin by steering. Therefore, even when TTC difference ≧ βs, the automatic steering control is executed.

  The second predetermined range is set as a range in which the TTC difference is between -γs and αs. Here, -γs ≦ TTC difference <0 s is a situation in which the host vehicle 10 passes the other vehicle 20 immediately after the host vehicle 10 passes the side of the avoidance target 50. The TTC difference = 0 s is a situation in which the host vehicle 10 passes by the avoidance target 50 and the side of the other vehicle 20 at the same time. 0s <TTC difference ≦ αs is a situation in which it is not possible to sufficiently secure the time to avoid the avoidance target 50 by steering after the own vehicle 10 passes the side of the other vehicle 20. Therefore, when −γs <TTC difference ≦ αs, the automatic deceleration control is executed instead of the automatic steering control.

  In addition, in the range where the TTC difference other than the above is -δs to -γs and in the range where αs to βs, both the automatic steering control and the automatic deceleration control can be selected. That is, no matter which of the automatic steering control and the automatic deceleration control is selected, the avoidance target 50 can be avoided without inconvenience. Therefore, when −δs <TTC difference <−γs and αs <TTC difference <βs, one of the automatic steering control and the automatic deceleration control according to the preference of the occupant of the host vehicle 10. Is executed.

<Technical effects>
Next, technical effects obtained by the vehicle control device 200 according to the present embodiment will be described with reference to FIGS. FIG. 6 is a plan view (part 1) illustrating a specific operation example of the vehicle control device according to the embodiment. FIG. 7 is a plan view (part 2) illustrating a specific operation example of the vehicle control device according to the embodiment.

  In the situation as shown in FIG. 6, it is assumed that X_tar = 40 m, X_obj = 40 m, V_ego = 50 km / h, V_targ = 8 km / h, and V_obj = 50 km / h. In this case, TTC_targ = 3.4 s, TTC_obj = 1.4 s, and the TTC difference is calculated as 2.0 s. At this time, if the TTC difference “2.0 s” is a value equal to or smaller than α shown in FIG. 5, the vehicle control device 200 determines that it is difficult to avoid the avoidance target 50 by steering, and performs automatic deceleration control. Execute Alternatively, if the TTC difference “2.0 s” is a value larger than α and smaller than β shown in FIG. 5, the vehicle control device 200 sets the avoidance target 50 in both the automatic steering control and the automatic deceleration control. It is determined that the vehicle can be avoided appropriately, and one control according to the preference of the passenger of the host vehicle 10 is executed. Alternatively, if the TTC difference “2.0 s” is equal to or larger than β shown in FIG. 5, the vehicle control device 200 determines that the avoidance target 50 can be avoided by steering without decelerating, and the automatic steering control is performed. Execute

  In the situation shown in FIG. 7, it is assumed that X_targ = 50 m, X_obj = 30 m, V_ego = 60 km / h, V_targ = 8 km / h, and V_obj = 50 km / h. In this case, TTC_targ = 3.5 s, TTC_obj = 11 s, and the TTC difference is calculated as -7.3 s. At this time, if the TTC difference “−7.3 s” is a value equal to or larger than −γ shown in FIG. 5, the vehicle control device 200 determines that it is difficult to avoid the avoidance target 50 by steering, and Execute deceleration control. Alternatively, if the TTC difference “−7.4 s” is a value smaller than −γ and larger than −δ shown in FIG. 5, the vehicle control device 200 is an object to be avoided in both the automatic steering control and the automatic deceleration control. It is determined that the target 50 can be appropriately avoided, and one control according to the preference of the occupant of the host vehicle 10 is executed. Alternatively, when the TTC difference “−7.3 s” is equal to or smaller than −δ shown in FIG. 5, the vehicle control device 200 determines that the avoidance target 50 can be avoided by steering without decelerating, and Execute steering control.

  As described above, according to the vehicle control device 200 according to the present embodiment, the automatic steering control and the automatic deceleration control are performed according to the position and speed of the own vehicle 10, the avoidance target 50, and the other vehicles 20. Appropriately selected. Specifically, when the automatic steering control is executed, the automatic deceleration control is executed when the own vehicle 10 and the other vehicle 20 approach each other. On the other hand, in a situation where such inconvenience does not occur, automatic steering control is executed. Therefore, it is possible to preferably avoid the avoidance target 50.

<Appendix>
Various aspects of the invention derived from the embodiments described above will be described below.

(Appendix 1)
The vehicle control device according to Supplementary Note 1 includes: when detecting the target to be avoided in a predetermined range around the own vehicle, causing the own vehicle to avoid collision with the target to be avoided; Executing means for executing automatic steering control for steering the own vehicle so as to move away from the target, detecting the avoidance target, and performing the automatic steering control on the detected avoidance target. A first index which is a time index based on a distance and a relative speed between the own vehicle and the avoidance target, when another vehicle is detected in an adjacent lane to be steered; Determining means for determining whether a difference between the second index and the time index with respect to the vehicle is within a predetermined range, wherein the execution means determines that the difference is within the predetermined range. Before Instead of the automatic steering control, to perform an automatic deceleration control for decelerating the host vehicle.

  According to the vehicle control device described in the appendix 1, the first index (for example, the time required for the own vehicle to pass the side of the avoidance target) and the second index (for example, the own vehicle Is determined to be within a predetermined range, the timing at which the own vehicle approaches each of the avoidance target and each of the other vehicles is close to each other. It can be determined whether or not there is.

  Here, when the timing at which the own vehicle approaches the avoidance target and the timing at which the own vehicle approaches the other vehicle are close, by executing automatic steering control for avoiding the avoidance target, the own vehicle and the other The distance from the vehicle may be extremely short. Such a situation may cause not only passengers of the own vehicle and other vehicles to feel uneasy, but also cause an unexpected collision.

  However, in the vehicle control device according to Supplementary Note 1, when it is determined that the difference between the first index and the second index is within a predetermined range (in other words, when the own vehicle approaches the avoidance target, When the timing at which the host vehicle approaches another vehicle is near), the automatic deceleration control is executed instead of the automatic steering control. Accordingly, it is possible to prevent the own vehicle and the other vehicle from approaching each other while avoiding collision with the avoidance target due to deceleration of the own vehicle. On the other hand, when it is determined that the difference between the first index and the second index is not within the predetermined range (in other words, the timing at which the own vehicle approaches the avoidance target and the timing at which the own vehicle approaches the other vehicle) Is not close), the automatic steering control is executed. Therefore, it is possible to preferably avoid the avoidance target by steering the own vehicle.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or idea of the invention which can be read from the claims and the entire specification, and a vehicle control device with such a change is also applicable. Also, they are included in the technical scope of the present invention.

Reference Signs List 10 own vehicle 20 other vehicle 50 avoidance target 100 information detection unit 110 inner field sensor 120 outer field sensor 200 vehicle control device 210 avoidance control determination unit 220 avoidance control execution unit X_target Distance between own vehicle and avoidance target X_obj own vehicle and other Distance to vehicle V_ego Own vehicle speed V_targ Avoidance target speed V_obj Other vehicle speed TTC_targ Time to side passage of avoidance target TTC_obj Time to side passage of other vehicle

Claims (1)

When the avoidance target is detected within a predetermined range around the own vehicle, the own vehicle is steered so that the own vehicle moves away from the avoidance target in order to cause the own vehicle to avoid collision with the avoidance target. Executing means for executing automatic steering control,
When detecting the avoidance target, and detecting another vehicle in an adjacent lane on the side where the own vehicle is steered by the automatic steering control for the detected avoidance target, A difference between a first index which is a temporal index based on a distance and a relative speed between the vehicle and the avoidance target and a second index which is the temporal index between the own vehicle and the other vehicle is within a predetermined range. Determining means for determining whether or not
The vehicle control device, wherein when the difference is determined to be within the predetermined range, the execution means executes an automatic deceleration control for decelerating the own vehicle, instead of the automatic steering control.

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