WO2016207938A1 - Dispositif de conduite automatique et procédé de conduite automatique - Google Patents

Dispositif de conduite automatique et procédé de conduite automatique Download PDF

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Publication number
WO2016207938A1
WO2016207938A1 PCT/JP2015/067839 JP2015067839W WO2016207938A1 WO 2016207938 A1 WO2016207938 A1 WO 2016207938A1 JP 2015067839 W JP2015067839 W JP 2015067839W WO 2016207938 A1 WO2016207938 A1 WO 2016207938A1
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WO
WIPO (PCT)
Prior art keywords
automatic driving
vehicle
stop position
unit
driving device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2015/067839
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English (en)
Japanese (ja)
Inventor
典子 西岡
裕喜 小中
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Mitsubishi Electric Corp
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Mitsubishi Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Mitsubishi Electric Corp filed Critical Mitsubishi Electric Corp
Priority to PCT/JP2015/067839 priority Critical patent/WO2016207938A1/fr
Priority to JP2017524281A priority patent/JP6305650B2/ja
Publication of WO2016207938A1 publication Critical patent/WO2016207938A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T7/00—Brake-action initiating means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T8/00—Arrangements for adjusting wheel-braking force to meet varying vehicular or ground-surface conditions, e.g. limiting or varying distribution of braking force
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an automatic driving apparatus and an automatic driving method capable of automatically driving a vehicle on a preset route.
  • Patent Document 1 when it is determined that it is not possible to take over to the driver due to falling asleep at a takeover point where takeover is performed from automatic operation to manual operation, a stoppable area that has been set in advance (for example, an expressway) Technology for automatically driving and stopping the host vehicle up to the service area of the vehicle.
  • Patent Document 1 has a problem that the host vehicle cannot be stopped at an appropriate stop position when there is no stoppable area such as a service area.
  • the present invention has been made in view of the above problems, and stops the vehicle at an appropriate stop position that takes into consideration the vehicle situation and the surrounding situation of the vehicle regardless of the presence or absence of a stoppable area. It aims at providing the technology which can be done.
  • An automatic driving device is an automatic driving device capable of automatically driving a vehicle on a preset route, and from an automatic driving at a preset takeover point on a preset route.
  • the vehicle determines the takeover point based on the takeover determination unit that determines whether or not the takeover to the manual operation is possible, the position of the vehicle, the map information, and the remaining amount of driving resources for driving the vehicle.
  • a cruising possibility determining unit that determines a cruising range that can be exceeded, a stop position specifying unit that specifies a stop position where the vehicle should stop from the cruising range determined by the cruising determination unit, and a takeover determining unit And an automatic operation control unit that continues automatic operation until the vehicle stops at the stop position specified by the stop position specifying unit when it is determined that the takeover is impossible.
  • the vehicle when the driver cannot take over, automatic driving is performed such that the host vehicle stops at a stop position within the cruising range. For this reason, the vehicle can be stopped at an appropriate stop position in consideration of the vehicle situation (driving resource) and the surrounding situation of the vehicle (vehicle position) regardless of the presence or absence of the stoppable region.
  • FIG. 2 is a block diagram illustrating a hardware configuration of the automatic driving device according to the first embodiment. It is a block diagram which shows the main structures of the automatic driving apparatus which concerns on Embodiment 1. FIG. It is a figure for demonstrating the outline
  • FIG. 1 is a block diagram illustrating a configuration of an automatic driving device according to Embodiment 1.
  • FIG. 6 is a diagram for illustrating a stop position specifying unit according to Embodiment 1.
  • FIG. 6 is a diagram for illustrating a stop position specifying unit according to Embodiment 1.
  • FIG. 6 is a diagram for illustrating a stop position specifying unit according to Embodiment 1.
  • FIG. 6 is a diagram for illustrating a stop position specifying unit according to Embodiment 1.
  • FIG. 3 is a flowchart showing an operation of the automatic driving apparatus according to the first embodiment. It is a block diagram which shows the structure of the automatic driving apparatus which concerns on
  • FIG. 1 is a block diagram showing a hardware configuration of the automatic driving apparatus 1 according to the first embodiment.
  • the automatic driving device 1 in FIG. 1 includes a processor 91 and a memory 92.
  • the processor 91 includes at least a CPU (Central Processing Unit), a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, a DSP (Digital Signal Processor), and an ECU (Electronic Control Unit). Any one is included.
  • CPU Central Processing Unit
  • processing unit a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a processor, a DSP (Digital Signal Processor), and an ECU (Electronic Control Unit). Any one is included.
  • the memory 92 is nonvolatile or volatile, such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc. And at least one of a semiconductor memory, an HDD (Hard Disk Drive), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD (Digital Versatile Disk), and its drive device.
  • RAM Random Access Memory
  • ROM Read Only Memory
  • flash memory EPROM (Erasable Programmable Read Only Memory), EEPROM (Electrically Erasable Programmable Read Only Memory), etc.
  • EEPROM Electrical Erasable Programmable Read Only Memory
  • the automatic driving device 1 is connected to a separate receiving device, a separate driving device, and a separate notification device via the in-vehicle network 93, and can control these devices. It has become.
  • the receiving device includes, for example, at least a camera, an input device (for example, a voice input device such as a touch panel or a microphone), and peripheral devices (for example, an interface device connected thereto). Any one is included.
  • a device for controlling the steering, accelerator, brake and the like of the host vehicle is applied.
  • the notification device includes at least one of a display device such as a liquid crystal display device and an audio output device such as a speaker.
  • FIG. 2 is a block diagram showing a main configuration of the automatic driving apparatus 1 according to the first embodiment.
  • the automatic driving device 1 of FIG. 2 includes a takeover determination unit 11, a cruising possibility determination unit 12, a stop position specifying unit 13, and an automatic driving control unit 14.
  • the automatic driving device 1 configured as described above, for example, on the automatic driving route 32 (thick line) that is a preset route as shown in FIG. 3 based on the position of the host vehicle 31 and the map information.
  • the own vehicle 31 can be automatically driven.
  • the takeover determining unit 11 determines whether or not the takeover from the automatic operation to the manual operation is possible at the preset takeover point A on the automatic operation route 32 in FIG.
  • the takeover determination unit 11 performs the determination when the host vehicle 31 travels along the automatic driving route 32 and reaches the takeover point A.
  • the takeover determining unit 11 determines that the takeover is impossible when it is determined that the state of the driver of the own vehicle is not in a state where the own vehicle can be driven, and the takeover is possible otherwise. Judge that there is.
  • the handover determination unit 11 drives the host vehicle when the driver performs an operation of switching a switch for handover (an input device included in the receiving device in FIG. 1) at the handover point A. It is determined that it can be performed (takeover is possible), and otherwise it is determined that operation is not possible (takeover is impossible).
  • the takeover determining unit 11 is not limited to this, and for example, at the takeover point A, biological information such as blood pressure and pulse may be acquired from the driver. Then, when the handover determination unit 11 determines that both the blood pressure and the pulse are within the normal range, the handover determination unit 11 determines that the state of the driver is capable of driving the host vehicle (takeover is possible). Otherwise, it may be determined that the vehicle cannot be operated (it is impossible to take over). Further, for example, when the voice input device (the input device included in the receiving device in FIG. 1) receives a voice requesting switching of the handover from the driver at the handover point A, the handover determination unit 11 receives the driver. May be determined to be a state where the host vehicle can be driven (takeover is possible), and otherwise, it may be determined to be a state where the vehicle cannot be driven (takeover is impossible).
  • FIG. 3 shows an end point B at which the automatic operation is handed over to the manual operation and the automatic operation ends.
  • the transfer point A is defined as a point, for example, 5 km before the end point B. Has been.
  • the takeover point A is not limited to this.
  • the distance to the end point B may be changed based on the traveling speed of the host vehicle 31, and the takeover point A and the end point B are the same point. It may be.
  • the cruising range 33 (the range indicated by hatching in FIG. 3) in which the host vehicle 31 can continue beyond the takeover point A is determined.
  • the cruising range 33 for example, the maximum range in which the host vehicle 31 can travel from the current position through the map information path by the maximum distance that can be crushed by the remaining amount of driving resources is applied.
  • the cruising range 33 may be corrected according to the gradient and type of the route (for example, an expressway, a general road, etc.).
  • the automatic operation control unit 14 continues the automatic operation until the host vehicle 31 stops at the stop position specified by the stop position specifying unit 13.
  • the functions of the takeover determination unit 11, the cruising capability determination unit 12, the stop position specification unit 13, and the automatic operation control unit 14 are executed by the processor 91 in FIG. 1 by executing programs such as software and firmware stored in the memory 92.
  • the functions of the processor 91 are realized by reading and executing.
  • the memory 92 included in the automatic driving device 1 determines whether or not it is possible to take over from automatic driving to manual driving at the takeover point A on the automatic driving path 32 when executed by the processor 91. Based on the step, the position of the host vehicle 31, the map information, and the remaining amount of driving resources for driving the host vehicle 31, a cruising range 33 in which the host vehicle 31 can travel beyond the takeover point A is provided.
  • the step of determining, the step of specifying the stop position where the host vehicle 31 should stop from the cruising range 33, and the host vehicle 31 stopping at the specified stop position when it is determined that the takeover is impossible The program which will be executed as a result of the step of continuing the automatic operation until it is performed is stored.
  • this program makes a computer perform the procedure and method of the takeover determination part 11, the cruising possibility determination part 12, the stop position specific
  • the host vehicle 31 stops at a stop position within the cruising range 33 when the driver cannot take over. Automatic operation is performed at For this reason, it is possible to stop the host vehicle 31 at an appropriate stop position in consideration of the vehicle situation (driving resources) and the surrounding situation of the host vehicle 31 (position of the host vehicle 31) regardless of whether or not there is a stoppable region. it can.
  • FIG. 4 is a block diagram showing the main configuration and additional configuration of the automatic driving apparatus 1 according to the first embodiment. Note that the additional constituent elements shown in FIG. 4 but not shown in FIG. 2 are merely constituent elements indirectly related to the present invention, and various constituent elements other than the constituent elements described below. Can be applied.
  • 4 is connected to a GPS (Global Positioning System) receiver 3, a gyro sensor 4, a camera 5, a sensor 6, a drive device 7, a notification unit 8, and an input device 9. These can be controlled.
  • GPS Global Positioning System
  • the GPS receiver 3, the gyro sensor 4, the camera 5, and the sensor 6 correspond to the receiver of FIG.
  • the GPS receiver 3 receives GPS signals from GPS satellites.
  • the gyro sensor 4 detects the traveling direction of the host vehicle 31.
  • the camera 5 generates an image around the host vehicle 31 as data.
  • the surrounding information acquisition part 19 mentioned later acquires the object information around the own vehicle 31 from the said image data by analyzing the image data which the camera 5 produced
  • the sensor 6 includes information necessary for automatic driving (for example, the traveling speed of the host vehicle 31, the traveling direction of the host vehicle 31, the distance between the host vehicle 31 and an object located in the vicinity thereof, the traveling speed of the object, and The traveling direction of the object is detected.
  • the input device 9 receives various operations and voices from a driver or the like. In FIG. 4, the signal of the input device 9 is output to the takeover determination unit 11, but may be output to other components as appropriate.
  • the driving device 7 corresponds to the driving device of FIG.
  • the drive device 7 controls, for example, the steering, accelerator, brake, and the like of the host vehicle 31 under the control of the automatic driving device 1.
  • the notification unit 8 corresponds to the notification device of FIG. 1 and includes a display device 8a and a speaker 8b.
  • the display device 8 a displays various information under the control of the automatic driving device 1.
  • the speaker 8 b outputs various kinds of information by voice under the control of the automatic driving device 1.
  • the display device 8a and the camera 5 may be connected by a wired or wireless connection such as a video signal line so that the display device 8a can display an image generated by the camera 5.
  • the automatic driving device 1 of FIG. 4 includes a host vehicle position acquisition unit 15 and a map information storage unit 16 in addition to the takeover determination unit 11, the cruising possibility determination unit 12, the stop position specification unit 13, and the automatic driving control unit 14 described above.
  • a route search unit 17, a prohibited range determination unit 18, a peripheral information acquisition unit 19, and a notification control unit 20 are also have the processor 91 in FIG. As a function of the processor 91, the program stored in is read and executed.
  • the takeover determination unit 11 takes over from automatic operation to manual operation at the takeover point A on the automatic operation route 32 as shown in FIG. 3 based on various operations or voices received by the input device 9. It is determined whether or not it is possible.
  • the own vehicle position acquisition unit 15 acquires the current position (for example, latitude and longitude) of the own vehicle 31 based on the GPS signal received by the GPS receiver 3.
  • the host vehicle position acquisition unit 15 may correct the acquired current position based on the traveling direction of the host vehicle 31 detected by the gyro sensor 4.
  • the map information storage unit 16 stores map information.
  • This map information includes, for example, information for displaying a map, link information, road type information, and the like.
  • the link information is information for the route search unit 17 to search for a desired route (for example, a route having a short travel time) from the map information.
  • This link information includes, for example, a link (for example, a road) classified by a node (for example, an intersection of a road) and a cost (for example, a travel time) of the link.
  • the map information stored in the map information storage unit 16 includes a predetermined facility.
  • the predetermined facility is set in advance in a facility having a parking lot such as a parking area, a service area, a road station, or a convenience store by the creator of the map information.
  • a cruising range 33 in which the host vehicle 31 as shown can travel beyond the takeover point A is determined.
  • the detailed description of the cruising capability determination unit 12 is as described above.
  • the route search unit 17 searches the map information in the map information storage unit 16 for a route from the departure point to a preset destination based on the total cost of the route. For example, the current position acquired by the host vehicle position acquisition unit 15 is set as the departure point, and the point received by the input device 9 from the user is set as the destination.
  • the route search unit 17 includes an automatic driving route 32 as shown in FIG. 3, includes a first route 34 from the takeover point A to the destination, and an automatic driving route 32, from the takeover point A to the destination.
  • a description will be given assuming that a second route 35 that is different from the first route 34 is searched. That is, the description will be made assuming that the first and second paths 34 and 35 are defined.
  • the automatic driving route 32 described above is a part of the first and second routes 34 and 35, and the first route 34 is set (selected) as a guidance target route by the user. .
  • the prohibition range determination unit 18 determines a prohibition range that satisfies the prohibition condition regarding stop prohibition of the host vehicle 31 based on the map information in the map information storage unit 16.
  • the prohibited condition is a range in and around the tunnel, a range on the bridge, a predetermined number of lanes or less, a lane having a merging flow, In addition, it includes a range (for example, frequent accidents) registered in advance in the map information.
  • the prohibited range determination unit 18 may determine the prohibited range of the map information as the prohibited range as it is.
  • the prohibited range determination unit 18 determines from the map information based on the attribute.
  • the prohibited range may be specified (determined).
  • the range between the entrance point of the tunnel and the point where the route is 100 m ahead, and the exit point of the tunnel, and the point where the route is 100 m down from there A range between is assumed.
  • This range may be changed so as to increase as the traveling speed of the host vehicle 31 increases.
  • one lane on one side is assumed as the predetermined number of lanes or less.
  • the range registered in advance in the map information may be registered by the creator of the map information, or may be registered by the user of the automatic driving device 1.
  • the stop position specifying unit 13 is prohibited from the map information stored in the map information storage unit 16, the cruising range 33 determined by the cruising capability determination unit 12, the first and second routes 34 and 35 searched by the route search unit 17. Based on the prohibited range determined by the range determination unit 18, the stop position where the host vehicle 31 should stop is specified.
  • 5 to 7 are diagrams for explaining the stop position specifying unit 13 according to the first embodiment.
  • the stop position specifying unit 13 selects the first facility 36 included in the first route 34 within the cruising range 33 among the facilities predetermined by the map information in the map information storage unit 16. And specified as a stop position.
  • the first facility 36 included in the first route 34 is a facility around the first route 34 (for example, within a predetermined distance from the first route 34).
  • the second facility 37 included in the second route 35 is specified as the stop position.
  • the second facility 37 included in the second route 35 is a facility around the second route 35 (for example, within a predetermined distance from the second route 35).
  • a position 38 (hereinafter referred to as “prohibited” in the cruising range 33 excluding the prohibited range determined by the prohibited range determining unit 18.
  • a range exclusion position 38 ”) is specified as the stop position.
  • the forbidden range exclusion position 38 may happen to be a predetermined facility as described above, or may be a position other than that (for example, a road shoulder). In the first embodiment, the forbidden range exclusion position 38 is a position that has advanced from the takeover point A to the destination.
  • the peripheral information acquisition unit 19 acquires the traveling speed and traveling direction of the host vehicle 31 detected by the sensor 6.
  • the surrounding information acquisition unit 19 includes an image around the host vehicle 31 generated by the camera 5, a distance to an object located around the host vehicle 31 detected by the sensor 6, a traveling speed of the object, and the object The traveling direction is acquired as peripheral information. Then, the peripheral information acquisition unit 19 outputs the acquired peripheral information and the traveling speed and traveling direction of the host vehicle 31 to the automatic driving control unit 14.
  • the automatic operation control unit 14 continues the automatic operation until the host vehicle 31 stops at the stop position specified by the stop position specifying unit 13.
  • the automatic driving control unit 14 includes the position of the host vehicle 31 acquired by the host vehicle position acquiring unit 15, the automatic driving route 32 included in the first route 34 searched by the route searching unit 17, By controlling the driving device 7 based on the traveling speed and traveling direction of the host vehicle 31 acquired by the peripheral information acquisition unit 19, automatic driving for driving the host vehicle 31 on the automatic driving route 32 is performed as described above. Do as.
  • the automatic driving control unit 14 drives the driving device 7 (for example, a brake control device) so that the host vehicle 31 does not collide with an object located in the vicinity based on the peripheral information acquired by the peripheral information acquiring unit 19. To control.
  • the automatic operation control unit 14 determines whether or not the host vehicle 31 can be stopped at the stop position based on the peripheral information acquired by the peripheral information acquisition unit 19 at the stop position.
  • the automatic operation control unit 14 is acquired when the distance to the rear vehicle, which is an object around the host vehicle 31, acquired by the peripheral information acquisition unit 19 at the stop position is smaller than a predetermined distance. Determines that the host vehicle 31 may collide with a rear vehicle and determines that the host vehicle 31 cannot stop at the stop position. Note that, for example, 80 m is applied to the predetermined distance here if the host vehicle 31 is traveling on a highway. However, the distance to the rear vehicle is not limited to this, and may be changed based on the traveling speed of the host vehicle 31 and the traveling speed of the rear vehicle, for example.
  • the automatic driving control unit 14 determines that the host vehicle 31 cannot be stopped at the stop position.
  • the automatic operation control unit 14 first determines whether or not the other vehicle is stopped in the space at the stop position, and after determining that the other vehicle is not stopped, the space is larger than the size of the host vehicle 31. You may determine whether it is small.
  • the present invention is not limited to this, and when the peripheral information acquisition unit 19 acquires an object in the space at the stop position (the sensor 6 detects an object in the space at the stop position), the automatic operation control unit 14 It may be determined that 31 cannot stop at the stop position.
  • the automatic operation control unit 14 When it is determined that the host vehicle 31 cannot be stopped at the stop position, the automatic operation control unit 14 causes the stop position specifying unit 13 to specify another stop position. And the automatic driving
  • the notification control unit 20 When the automatic operation by the automatic operation control unit 14 is completed, the notification control unit 20 notifies the notification unit 8 that the automatic operation up to the stop position has been completed. For example, when the automatic operation up to the stop position is completed, the notification control unit 20 controls the display device 8a to display a message to that effect, or controls the speaker 8b to output a warning sound. To do.
  • the structure to which the apparatus which winds up the seatbelt of the own vehicle 31 automatically is applied to the notification part 8 may be sufficient. In such a configuration, the notification control unit 20 may be configured to control to automatically wind up the seat belt when the automatic operation is completed.
  • FIG. 8 is a flowchart showing the operation of the automatic driving apparatus 1 according to the first embodiment. It is assumed that automatic operation is performed at the start of the flowchart of FIG. Hereinafter, in order to simplify the description, the description of whether or not the own vehicle 31 can stop at the stop position is omitted.
  • step S1 the handover determining unit 11 determines whether or not the handover from the automatic operation to the manual operation is possible at the handover point A. If it is determined that the takeover is possible, the process proceeds to step S2, and if not, the process proceeds to step S3.
  • step S1 the automatic operation control unit 14 continues the automatic operation until the end point B. Thereafter, the process proceeds to step S9.
  • step S3 the stop position specifying unit 13 determines whether or not the first facility 36 included in the first route 34 within the cruising range 33 exists. If it is determined that it exists, the process proceeds to step S4, and if not, the process proceeds to step S5.
  • step S4 the stop position specifying unit 13 specifies the first facility 36 as the stop position, and the automatic operation control unit 14 stops the host vehicle 31 at the stop position (first facility 36). Continue automatic operation until. Thereafter, the process proceeds to step S8.
  • step S5 the stop position specifying unit 13 determines whether or not the second facility 37 included in the second route 35 within the cruising range 33 exists. If it is determined that it exists, the process proceeds to step S6, and if not, the process proceeds to step S7.
  • step S6 the stop position specifying unit 13 specifies the second facility 37 as the stop position, and the automatic operation control unit 14 stops the host vehicle 31 at the stop position (second facility 37). Continue automatic operation until. Thereafter, the process proceeds to step S8.
  • step S7 the stop position specifying unit 13 specifies the prohibition range exclusion position 38 as a stop position, and the automatic operation control unit 14 determines that the host vehicle 31 is in the stop position (prohibition range exclusion position 38). Continue automatic operation until it stops. Thereafter, the process proceeds to step S8.
  • step S8 the notification control unit 20 notifies the notification unit 8 that the automatic operation up to the stop position has been completed. Thereafter, the process proceeds to step S9.
  • step S ⁇ b> 9 the automatic operation control unit 14 performs the operation of pressing the automatic operation release switch (input device 9) by the driver, or the voice input device (input device 9) is received from the driver. When a voice requesting to cancel the automatic driving is received, the automatic driving is canceled. Then, the operation of FIG. 8 ends.
  • the vehicle 31 is automatically stopped at the stop position within the cruising range 33 when the driver cannot take over. Driving is performed. For this reason, regardless of the presence or absence of a stoppable area, the appropriate stop position in consideration of the vehicle situation (driving resources) and the surrounding situation of the host vehicle 31 (position of the host vehicle 31, distance between vehicles, obstacle information, etc.) The vehicle can be stopped.
  • the first facility 36 included in the first route 34 within the cruising range 33 is specified as the stop position. Accordingly, the host vehicle 31 can be stopped at a predetermined facility that is included in the first route 34 that is currently in use and that is relatively easy to stop.
  • route 35 in the cruising range 33 is specified as a stop position.
  • the host vehicle 31 can be stopped at a predetermined facility that is relatively easy to stop.
  • the prohibited range exclusion position 38 is specified as the stop position.
  • the host vehicle 31 can be urgently stopped at an arbitrary position as long as the stop of the host vehicle 31 is not prohibited.
  • the host vehicle 31 when it is determined that the host vehicle 31 cannot be stopped at the stop position, another stop position is specified again. Therefore, it is possible to suppress the host vehicle 31 from forcibly stopping at the stop position. In addition, suppression of interference with other vehicles due to the stop of the host vehicle 31 can be expected.
  • the notification unit 8 when the automatic operation by the automatic operation control unit 14 is completed, the notification unit 8 is notified that the automatic operation up to the stop position is completed. According to such a configuration, the driver can be prompted to drive at the stop position. As a result, since the stop position can be expected to be released early, it can be expected to suppress interference with other vehicles due to the stop of the host vehicle 31.
  • FIG. 9 is a block diagram showing a configuration of the automatic driving apparatus 1 according to a modification of the first embodiment.
  • the determination result of the takeover determination unit 11 is input to the cruising possibility determination unit 12 and the notification control unit 20.
  • the cruising possibility determination unit 12 determines the cruising range 33 described above when the takeover determination unit 11 determines that the takeover is impossible. According to such a configuration, the new cruising range 33 can be used as much as possible. Therefore, the accuracy with which the host vehicle 31 can reach the stop position can be increased.
  • the notification control unit 20 not only notifies when the automatic operation is completed, but also notifies that when the takeover determining unit 11 determines that the takeover cannot be performed. According to such a configuration, for example, when the driver is asleep at the takeover point A, the driver can be promptly prompted to take over the driving.
  • the automatic driving route 32 has been described as being a part of the first route 34.
  • the present invention is not limited to this, and the automatic driving route 32 may be the entire first route 34.
  • the prohibited conditions are the range in and around the tunnel, the range on the bridge, the number of lanes below a predetermined number, the lane having a merging lane, and It was described as including a range pre-registered in the map information.
  • the present invention is not limited to this, and the prohibition condition only needs to include at least one of these.
  • the takeover determination unit 11 the cruising possibility determination unit 12, the stop position specification unit 13, the automatic driving control unit 14, the host vehicle position acquisition unit 15, the route search unit 17, the prohibited range determination unit 18, and the peripheral information acquisition
  • the unit 19 and the notification control unit 20 are realized by the processor 91 of FIG. 1 operating according to a program stored in the memory 92.
  • a part or all of the takeover determination unit 11 and the like may be realized by a signal processing circuit that realizes the operation by a hardware electric circuit.
  • processing circuit can also be used as a concept combining the software takeover determination unit 11 and the like with the hardware takeover determination unit 11 and the like.
  • the automatic driving device 1 described above is installed in a navigation device, a portable navigation device, a communication terminal (for example, a portable terminal such as a mobile phone, a smartphone, and a tablet) that can be mounted on a vehicle, and these.
  • the present invention can also be applied to an automatic driving system constructed as a system by appropriately combining application functions and servers.
  • each function or each component of the automatic driving device 1 described above may be distributed and arranged in each device that constructs the system, or may be concentrated on any device.
  • the automatic driving device 1 includes at least one of the GPS receiving device 3, the gyro sensor 4, the camera 5, the sensor 6, the driving device 7, and the notification unit 8, which are separate bodies in the above description. May be.
  • the server is configured to have a navigation function (functions such as destination search, route search and route guidance) and functions equivalent to the automatic driving device 1, and the navigation device is configured to have only a display function. Also good.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Navigation (AREA)
  • Traffic Control Systems (AREA)

Abstract

L'objectif de la présente invention est de rendre possible, indépendamment de la présence d'une zone d'arrêt possible, l'arrêt d'un véhicule à une position d'arrêt appropriée compte tenu de l'état du véhicule et de l'état autour du véhicule. Un dispositif de conduite automatique 1 est pourvu d'une unité de détermination de potentiel de déplacement 12, une unité de spécification de position d'arrêt 13, et une unité de commande de conduite automatique 14. Sur la base de la position du véhicule, d'informations cartographiques et d'une quantité de ressource de conduite restante, l'unité de détermination de potentiel de déplacement 12 détermine une distance pouvant être parcourue 33 sur laquelle un déplacement est possible une fois qu'un véhicule a passé un point de transfert A. l'unité de spécification de position d'arrêt 13 spécifie une position d'arrêt à laquelle le véhicule doit s'arrêter qui est dans la portée de la distance pouvant être parcourue 33. S'il est déterminé que le transfert est impossible, l'unité de commande de conduite automatique 14 continue la conduite automatique jusqu'à ce que le véhicule s'arrête à une position d'arrêt.
PCT/JP2015/067839 2015-06-22 2015-06-22 Dispositif de conduite automatique et procédé de conduite automatique Ceased WO2016207938A1 (fr)

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JP2017524281A JP6305650B2 (ja) 2015-06-22 2015-06-22 自動運転装置及び自動運転方法

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CN111532284A (zh) * 2019-02-05 2020-08-14 通用汽车环球科技运作有限责任公司 用于启用用户驾驶续航里程和特征选择的装置

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CN108318045A (zh) * 2017-01-18 2018-07-24 阿尔派株式会社 驾驶控制装置以及驾驶控制方法
CN108318045B (zh) * 2017-01-18 2023-01-17 阿尔派株式会社 驾驶控制装置以及驾驶控制方法
JP2021193605A (ja) * 2017-01-19 2021-12-23 ソニーセミコンダクタソリューションズ株式会社 車両制御装置及び車両制御方法
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JPWO2019043776A1 (ja) * 2017-08-29 2020-07-02 株式会社日立製作所 車両制御装置
WO2019065697A1 (fr) * 2017-09-28 2019-04-04 パイオニア株式会社 Dispositif de commande de véhicule
JP7122589B2 (ja) 2018-12-26 2022-08-22 パナソニックＩｐマネジメント株式会社 駐車支援装置、駐車支援方法、及び、コンピュータプログラム
JP2020104554A (ja) * 2018-12-26 2020-07-09 パナソニックＩｐマネジメント株式会社 駐車支援装置、駐車支援方法、及び、コンピュータプログラム
CN111435569B (zh) * 2019-01-15 2022-06-03 丰田自动车株式会社 车辆控制装置及车辆控制方法
CN111435569A (zh) * 2019-01-15 2020-07-21 丰田自动车株式会社 车辆控制装置及车辆控制方法
CN111532284A (zh) * 2019-02-05 2020-08-14 通用汽车环球科技运作有限责任公司 用于启用用户驾驶续航里程和特征选择的装置

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