JP2012179929A - Course evaluation device - Google Patents

Abstract

A route evaluation apparatus capable of appropriately evaluating a route candidate of a vehicle is provided.
A route candidate of the own vehicle is generated (S12), a route of the other vehicle is predicted (S14), and the other vehicle sees from the own vehicle about an interference mode between the route candidate of the own vehicle and the predicted route of the other vehicle. It is determined whether the vehicle interferes with the host vehicle and whether the host vehicle interferes with the other vehicle, and whether the other vehicle interferes with the host vehicle as viewed from the other vehicle and whether the host vehicle is in the other vehicle. (S18), based on the determination result, the course candidate of the host vehicle is evaluated (S20). By evaluating the route candidate of the own vehicle in consideration of the interference form of the route seen from the other vehicle, the route evaluation considering the driver of the other vehicle can be performed, and an appropriate route evaluation can be performed.
[Selection] Figure 8

Description

  The present invention relates to a course evaluation apparatus that evaluates the course of a host vehicle.

  Conventionally, as a device for evaluating the course of a vehicle, for example, as described in Japanese Patent Application Laid-Open No. 2009-020745, the course of the host vehicle and a plurality of routes of obstacles are estimated, and the host vehicle is based on the courses. There is known an apparatus for acquiring the degree of risk that an obstacle collides with an obstacle. This device obtains the risk of collision between the host vehicle and the obstacle based on the course of the vehicle and a plurality of obstacles, so that it can accurately detect the situation of the host vehicle in a situation where there are many branches of the route such as an intersection. The risk is to be calculated.

JP 2009-020745 A

  However, in the above-described apparatus, there is a possibility that it is not possible to appropriately evaluate whether or not the route candidate of the own vehicle interferes with the route of another vehicle. For example, when there is another vehicle as an obstacle, it is conceivable to acquire the course of the host vehicle and the other vehicle, and highly evaluate the course candidate of the host vehicle that does not interfere with the course of the other vehicle. However, a course candidate that is determined not to interfere with another vehicle when viewed from the host vehicle may be determined as a course candidate that does not interfere with the host vehicle when viewed from another vehicle. In this case, there is room for improvement in terms of appropriately evaluating the course candidate of the host vehicle.

  Therefore, the present invention has been made to solve such problems, and an object of the present invention is to provide a course evaluation apparatus capable of appropriately evaluating a course candidate of a vehicle.

  That is, the route evaluation apparatus according to the present invention includes a route candidate generation unit that generates a route candidate of the own vehicle, a route prediction unit that predicts a route of the other vehicle, a route candidate of the own vehicle, and a predicted route of the other vehicle. As to the interference mode, it is determined whether the other vehicle interferes with the own vehicle when viewed from the own vehicle and whether the own vehicle interferes with the other vehicle, and viewed from the other vehicle. Based on the determination result of the determination means, the determination means for determining whether the other vehicle is in a form of interfering with the own vehicle and the own vehicle is in a form of interference with the other vehicle, And evaluation means for evaluating the course candidates.

  According to the present invention, with regard to the form of interference between the course candidate of the own vehicle and the predicted course of the other vehicle, the other vehicle interferes with the own vehicle as viewed from the own vehicle, and the own vehicle interferes with the other vehicle. And determining whether the other vehicle interferes with the own vehicle when viewed from the other vehicle and whether the own vehicle interferes with the other vehicle, and the course of the own vehicle is determined based on the determination result. By evaluating the candidates, it is possible to evaluate the route candidates of the own vehicle in consideration of the interference form of the route viewed from the other vehicle. For this reason, the course evaluation considering the driver of the other vehicle can be performed, and an appropriate course evaluation can be performed.

  In the course evaluation apparatus according to the present invention, the evaluation means increases the evaluation of the course for a course candidate that is determined by the determination means to be a form in which the other vehicle interferes with the own vehicle as viewed from the other vehicle. It is preferable to do.

  According to the present invention, the route candidates that are determined to be in a form in which the other vehicle interferes with the own vehicle as viewed from the other vehicle are evaluated with higher course evaluation, so that the route candidate with which the own vehicle interferes with the other vehicle is relatively compared. Therefore, it is possible to prevent the candidate from being selected.

  ADVANTAGE OF THE INVENTION According to this invention, the suitable evaluation can be performed about the course candidate of the own vehicle by considering the interference form of the own vehicle at the time of seeing from another vehicle, and another vehicle.

It is the block diagram which showed the function structure of the driving assistance apparatus containing the course evaluation apparatus which concerns on embodiment of this invention. It is explanatory drawing of the course candidate of the own vehicle, and the predicted course of other vehicles. It is explanatory drawing of the interference form determination map and interference form parameter which are used for the course evaluation apparatus which concerns on this embodiment. It is explanatory drawing of the interference form determination map used for the course evaluation apparatus which concerns on this embodiment. It is explanatory drawing of course evaluation in the course evaluation apparatus which concerns on this embodiment. It is explanatory drawing of the course candidate of the own vehicle, and the predicted course of other vehicles. It is explanatory drawing of the interference form determination map used for the course evaluation apparatus which concerns on this embodiment. It is a flowchart which shows operation | movement of the course evaluation apparatus which concerns on this embodiment. It is the figure which showed determination of the interference form of the vehicle in a prior art.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

  FIG. 1 is a block diagram showing a functional configuration of a travel support apparatus 1 including a course evaluation apparatus 60 according to the present invention.

  The course evaluation apparatus 60 is an apparatus that evaluates a course candidate of the own vehicle, and is mounted on a vehicle that travels with travel assistance, for example. As this vehicle, a vehicle capable of automatic driving or a vehicle capable of automatically controlling a part of driving operation by receiving driving assistance is used.

  The course evaluation device 60 is provided as a part of the driving support device 1, for example. The travel support device 1 includes a vehicle state detection unit 2, an environmental condition acquisition unit 3, a vehicle control ECU (Electronic Control Unit) 6, and a travel output unit 9.

  The vehicle state detection unit 2 functions as a vehicle state detection unit that detects position information, vehicle speed information, and the like of the host vehicle. For example, a GPS (Global Positioning System), a wheel speed sensor, or the like is used. The GPS acquires vehicle position information. The wheel speed sensor is attached to a wheel portion of the vehicle, for example, and acquires the wheel speed of the vehicle. The vehicle state detection unit 2 is connected to the vehicle control ECU 6 and outputs the acquired vehicle state information such as position information and wheel speed information to the vehicle control ECU 6.

  The environmental status acquisition unit 3 functions as an environmental status acquisition unit that acquires environmental status information around the host vehicle, and acquires other vehicle information that acquires the driving status information of other vehicles existing around the host vehicle. Functions as a means. For example, a vehicle-to-vehicle communication device, a road-to-vehicle communication device, a radar sensor using a millimeter wave or a laser, or the like is used as the environmental status acquisition unit 3. When using a vehicle-to-vehicle communication device and a road-to-vehicle communication device, position information and vehicle speed information of another vehicle (another mobile body) can be acquired. Further, by using a millimeter wave radar sensor or the like, position information and relative speed information of other vehicles and obstacles on the course can be acquired. The environmental status acquisition unit 3 is connected to the vehicle control ECU 6 and outputs the acquired environmental status information around the host vehicle to the vehicle control ECU 6.

  The vehicle control ECU 6 controls the entire apparatus of the driving support device 1 and is mainly configured by a computer including a CPU, a ROM, and a RAM (not shown). The vehicle control ECU 6 is connected to the vehicle state detection unit 2, the environmental situation acquisition unit 3, and the travel output unit 9. Various information is input from the vehicle state detection unit 2 and the environmental situation acquisition unit 3, and the travel output unit 9 outputs various information. The vehicle control ECU 6 includes a route candidate generation unit (course candidate generation unit) 61, a route prediction unit (route prediction unit) 62, an interference form determination unit (interference form determination unit) 63, and a route evaluation unit (evaluation unit). The course evaluation device 60 includes 64.

  The “course” here refers to a concept including temporal elements such as time and speed, and is different from a “route” not including these temporal elements. In addition, “interference” means that the courses of the host vehicle and the other vehicle in consideration of the vehicle width and the vehicle length intersect in a plane.

The route candidate generation unit 61 functions as a route candidate generation unit that generates a route candidate of the host vehicle. For example, as shown in FIG. 2, the route candidate generation unit 61 generates route candidates a ₁ and a ₂ for the host vehicle 81. The course candidate generation unit 61 predicts the future position, speed, direction, and the like of the host vehicle 81 from information such as the position, speed, and direction of the host vehicle 81 input from the vehicle state detection unit 2. Then, the route candidate generation unit 61 generates information on the predicted future state of the host vehicle 81 as the route candidates a ₁ and a ₂ and outputs the generated route candidates a ₁ and a ₂ to the interference form determination 63. Although FIG. 2 illustrates the case where two course candidates a ₁ and a ₂ are generated, two or more course candidates may be generated.

  The course prediction unit 62 functions as a course prediction unit that predicts the course of another vehicle based on the traveling environment. For example, as shown in FIG. 2, the course b of the other vehicle 82 is predicted based on the traveling environment. The course predicting unit 62 predicts the future position, speed, direction, and the like of the other moving body from information such as the position, speed, direction, and the like of the other moving body input from the environmental status acquisition unit 3. Then, the course prediction unit 62 predicts the predicted information in the future state of the other moving body as the course b, and outputs the predicted path b to the interference form determination unit 63. In addition, although the case where one course of other vehicles 82 was predicted was explained, two or more courses may be predicted.

  In FIG. 1, an interference form determination unit 63 functions as an interference form determination unit that determines an interference form between the host vehicle and another vehicle. For example, the interference form determination unit 63 is configured such that the other vehicle interferes with the own vehicle as seen from the own vehicle or the own vehicle interferes with the other vehicle with respect to the interference form between the own vehicle course candidate and the predicted course of the other vehicle. And determining whether the other vehicle interferes with the own vehicle as viewed from the other vehicle or whether the own vehicle interferes with the other vehicle. The determination process by the interference form determination unit 63 is preferably performed when there is a possibility of interference or a collision in the course candidate of the host vehicle and the predicted course of the other vehicle.

  The determination of the interference form is preferably performed using, for example, an interference form parameter. The interference mode parameter is a parameter obtained by quantifying the interference mode between the host vehicle and the other vehicle. For example, the parameter increases as the interference level of the host vehicle increases, or increases as the interference level of the other vehicle increases. Things are used. As the interference mode parameter, a vehicle travel information value corresponding to the interference mode is used, for example, a distance between the host vehicle and the other vehicle, a relative speed between the host vehicle and the other vehicle, or a value using those values. It is done. As shown in FIG. 2, when the own vehicle 81 changes lanes to the travel lane of the other vehicle 82, for example, the reciprocal value of the distance between the own vehicle 81 and the other vehicle 82 is used as the interference form parameter. In this case, the shorter the inter-vehicle distance, the greater the degree of interference with the host vehicle.

  A plurality of different interference pattern determination parameters may be used as the interference pattern determination parameter. For example, the inter-vehicle distance and the relative speed may be used as the interference form parameters.

  The determination of the interference form using the interference form parameter is preferably performed using an interference form determination map. As shown in FIG. 3, the interference form determination map is a map for determining whether the person is interfering with the other party or whether the other party is interfering with itself based on the interference form parameter. In this interference form determination map, a determination threshold value T for determining the interference form is set in advance, and the interference form determination parameter may exceed the determination threshold value T, and the interference form determination parameter T may interfere with the other party. Or whether the other party is interfering with itself. In FIG. 3, the larger the interference configuration parameter, the easier it is determined that it is interfering with the other party, and when the interference configuration parameter does not exceed the determination threshold, it is determined that the other party is interfering with itself. When the interference form parameter exceeds the determination threshold value, it is determined that it is interfering with the other party.

As shown in FIG. 4, the determination of the interference mode is performed using the interference mode map of the host vehicle and the interference mode map of the other vehicle. (A) of FIG. 4 is a map of the interference form seen from the other vehicle 82 when the course candidate of the host vehicle 81 is the course candidate a1 in FIG. (B) in FIG. 4 is a map of interference form as viewed from the vehicle 81 in a case where the route candidate of the own vehicle 81 and the route candidates a ₁ in FIG.

  As shown in FIGS. 4A and 4B, for one course candidate of the own vehicle 81, the interference form map seen from the own vehicle 81 and the interference form map seen from the other vehicle 82 are used. The determination of the interference mode viewed from the vehicle 81 and the determination of the interference mode viewed from the other vehicle 82 are performed.

  For example, the determination threshold value T of the interference pattern map viewed from the other vehicle 82 (FIG. 4A) and the interference pattern map viewed from the host vehicle 81 (FIG. 4B) is set to a different parameter value. Yes. This indicates that in the same interference situation of the own vehicle 81 and the other vehicle 82, the interference mode viewed from the other vehicle 82 and the interference mode viewed from the own vehicle 81 may be determined to be different interference modes. .

  In addition, in the interference pattern map viewed from the other vehicle 82 (FIG. 4A) and the interference pattern map viewed from the host vehicle 81 (FIG. 4B), the determination threshold value T is the interference pattern parameter. It is set so that the areas where it interferes with the other party overlap. A symbol D in FIG. 4 indicates that the self interferes with the opponent in the interference form map (FIG. 4A) viewed from the other vehicle 82 and the interference form map viewed from the host vehicle 81 (FIG. 4B). An overlapping area is shown.

  By setting the determination threshold value T in this way, it is possible to reliably prevent a vehicle collision or contact. That is, if a vehicle travels after highly evaluating a route in which the host vehicle does not interfere with other vehicles, the candidate route that interferes with each other is not selected, and vehicle collision or contact is reliably prevented. be able to. In particular, the effect is remarkable when both the own vehicle 81 and the other vehicle 82 are equipped with the course evaluation device 60.

  In FIG. 1, the route evaluation unit 64 functions as an evaluation unit that evaluates a route candidate of the host vehicle based on the determination result of the interference form determination unit 63. The course evaluation unit 64 performs a course evaluation so that a course candidate that is determined to be in a form in which the other vehicle interferes with the host vehicle when viewed from the other vehicle has a higher course evaluation.

For example, in FIG. 2, when there are two course candidates a ₁ and a ₂ of the host vehicle 81, the course evaluation is performed for each of the course candidates a ₁ and a ₂ . At this time, the route candidate a ₁ is viewed from the other vehicle 82 and the other vehicle 82 interferes with the own vehicle 81, and the route candidate a ₂ is viewed from the other vehicle 82 and the own vehicle 81 interferes with the other vehicle 82. In this case, the course candidate a ₁ is evaluated higher than the course candidate a ₂ .

  Moreover, it is preferable to evaluate a course candidate using an evaluation value. For example, as shown in FIG. 5, an evaluation value corresponding to the interference configuration parameter is set in advance, and the evaluation value is calculated based on the interference configuration parameter in the interference configuration at the time of route estimation. The calculation of the evaluation value may be a map as shown in FIG. 5, may be performed using an arithmetic expression relating the interference form parameter and the evaluation value, or may be performed by other methods.

  The evaluation value of the course candidate is set to a higher value as the partner (other vehicle) interferes with itself (own vehicle). For the gray zone existing between the interference mode in which the other party interferes with itself and the interference mode in which the other party interferes with the other party, as shown in FIG. 5, the evaluation value corresponding to the interference mode in which the other party interferes with itself It is preferable to set the evaluation value in such a manner that the evaluation value of the interference mode in which it interferes with the other party is smoothly connected. By setting the evaluation value in this way, even if the gray zone exists, the evaluation value can be appropriately set so that the evaluation value becomes higher as the interference form in which the other party interferes with itself. Note that the gray zone here corresponds to the overlap region D of the interference configuration parameters in FIG.

As a specific course evaluation in this case, for example, as shown in FIG. 6, when there are two course candidates a ₃ and a ₄ for the own vehicle 81 and there is a predicted course b for the other vehicle 82, the own vehicle 81 Even if the route candidates a ₃ and a ₄ are in the form of interference in which the route candidate a ₃ is seen from the own vehicle 81 and interferes with the other party, the route candidate a ₃ is seen from the other vehicle 82 and the other party interferes with itself. be in the form, route candidate a4 is at itself when viewed from the other vehicle 82 is interference interfering form partner, route candidates a ₄ is evaluated higher than route candidates a _3.

  Further, in the interference mode in which there are a plurality of other vehicles, it is determined that the interference mode between the route candidate of the own vehicle and the predicted route of the other vehicle is a mode in which the other vehicle interferes with the own vehicle when viewed from the other vehicle. The more often, the higher the path is appreciated.

  For example, as shown in FIG. 7, when the course candidate of the own vehicle 81 interferes with the predicted course of the other vehicle 82, and the course candidate of the own vehicle 81 interferes with the predicted course of the other vehicle 83, it is viewed from the own vehicle 81. The interference mode, the interference mode viewed from the other vehicle 82, and the interference mode viewed from the other vehicle 83 may vary depending on the interference mode parameter.

  In this case, there exists a gray zone in which the interference form differs depending on the interference form parameter. Further, among the gray zones, the other gray vehicle 82 and the other vehicle 83 determine that the other vehicle interferes with the own vehicle, and the second gray vehicle only determines that the other vehicle 83 interferes with the own vehicle. There will be a gray zone. At this time, the route candidate that becomes the interference configuration parameter corresponding to the first gray zone is evaluated higher than the route candidate that becomes the interference configuration parameter corresponding to the second gray zone.

  At this time, as shown in FIG. 7D, it is preferable to determine the interference mode using an objective map of the own vehicle in which different gray zones are set. In the map of FIG. 7D, the form in which the other party interferes with itself, the first gray zone, the second gray zone, and the form in which the other party interferes with the other party are set, and the interference corresponds to the form in which the other party interferes with itself. The path candidate of the form parameter is evaluated most highly, the path candidate of the interference form parameter corresponding to the first gray zone, the path candidate of the interference form parameter corresponding to the second gray zone, and the interference form parameter corresponding to the form in which the self interferes with the opponent. Highly evaluated in the order of career candidates.

  The route candidate generation unit 61, the route prediction unit 62, the interference form determination unit 63, and the route evaluation unit 64 that mainly configure the route evaluation device 60 may be configured by introducing a program into a computer, or individually. You may comprise by the hardware of.

  In FIG. 1, the travel output unit 9 is connected to the vehicle control ECU 6, and receives a control signal from the vehicle control ECU 6 to perform driving travel of the host vehicle 81, for example, travel drive, braking operation, and steering operation. The travel output unit 9 includes, for example, a travel drive ECU that controls an actuator that adjusts the opening of a throttle valve of an engine, a brake ECU that controls a brake actuator that adjusts brake hydraulic pressure, and a steering actuator that applies steering torque. This corresponds to the steering ECU to be controlled. The traveling output unit 9 performs driving traveling of the host vehicle 81, for example, traveling driving, braking operation, and steering operation, according to the route that is highly evaluated by the course evaluating unit 64 that the host vehicle 81 may travel.

  Next, the operation of the course evaluation device 60 will be described.

  FIG. 8 is a flowchart showing the operation of the driving support device 1 including the operation of the route evaluation device 60. This flowchart is repeatedly executed, for example, at a predetermined cycle.

  First, as shown in step S10 of FIG. 8 (hereinafter, simply referred to as “S10”. The same applies to the following steps), sensor information input processing is performed. The input process is a process of inputting information of sensors constituting the vehicle state detection unit 2 and the environmental situation acquisition unit 3. For example, the detection signal of the sensor is read, and the vehicle speed information, position information, The driving situation information of other vehicles existing around is acquired.

  Next, the process proceeds to S12, and a course candidate output process is performed. The course candidate output process is a process for generating and outputting a course candidate for the host vehicle. For example, the route candidate generation unit 61 predicts the future position, speed, direction, and other states of the host vehicle based on the position, speed, direction, and other information of the host vehicle 81 input from the vehicle state detection unit 2. Information about the future state of the subject vehicle is generated as a route candidate, and the generated route candidate is output to the interference form determination 63. At this time, the course candidate may be singular or plural.

  And a process transfers to S14 and a predicted course output process is performed. The predicted course output process is a process for predicting and outputting the course of another vehicle based on the traveling environment. For example, the future position, speed, direction, etc. of other vehicles are predicted based on information such as the position, speed, direction, etc. of other moving bodies input from the environmental condition acquisition unit 3 by the course prediction unit 62, and the prediction The information on the future state of the other vehicle is output as the predicted course. At this time, the predicted course may be singular or plural.

  And a process transfers to S16 and it is determined whether the course candidate of the own vehicle and the predicted course of other vehicles interfere. In this interference determination process, for example, based on the course candidate of the own vehicle output in S12 and the predicted course of the other vehicle output in S14, the course candidate of the own vehicle and the predicted course of the other vehicle intersect. Whether or not there is interference is determined. At this time, when there is a possibility of interference or collision in the course candidate of the host vehicle and the predicted course of the other vehicle, it is preferable to determine that there is an interference. Further, when there are a plurality of candidate courses for the host vehicle and a plurality of predicted courses for other vehicles, it is determined whether or not interference occurs for each.

  If it is determined in S16 that the course candidate of the host vehicle and the predicted course of the other vehicle do not interfere with each other, the process proceeds to S20. On the other hand, if it is determined in S16 that the course candidate of the own vehicle and the predicted course of the other vehicle interfere with each other, the process proceeds to S18 and the interference form determination process is performed.

  In the interference form determination process, the interference form determination unit 63 causes the other vehicle to interfere with the own vehicle as seen from the own vehicle, or the own vehicle has an interference form between the candidate route of the own vehicle and the predicted route of the other vehicle. Processing for determining whether or not the vehicle interferes with the other vehicle and determining whether or not the vehicle interferes with the host vehicle when viewed from the other vehicle or whether the host vehicle interferes with the other vehicle It is.

  Further, as described above, the determination of the interference form is preferably performed using the interference form parameter, and is preferably performed using the interference form determination map as the determination of the interference form using the interference form parameter. For example, as shown in FIG. 4, by using a map of the interference form seen from the other vehicle (FIG. 4A) and a map of the interference form seen from the host vehicle (FIG. 4B), the current interference is obtained. Based on the interference form parameter in the form, the interference form seen from the other vehicle and the interference form seen from the host vehicle can be determined.

  And a process transfers to S20 of FIG. 8, and a course evaluation process is performed. The course evaluation process is a process for evaluating course candidates of the host vehicle. This route evaluation process is performed by the route evaluation unit 64 and performs route evaluation so that a route candidate that is determined to be in a form in which the other vehicle interferes with the own vehicle when viewed from the other vehicle has a higher route evaluation. It is.

  For example, in FIG. 2, when there are two course candidates a1 and a2 of the host vehicle 81, the course evaluation is performed for each of the course candidates a1 and a2. At this time, the course candidate a1 is a form in which the other vehicle 82 interferes with the own vehicle 81 when viewed from the other vehicle 82, and the course candidate a2 is a form in which the own vehicle 81 interferes with the other vehicle 82 as seen from the other vehicle 82. In this case, the course candidate a1 is evaluated higher than the course candidate a2.

  Moreover, it is preferable to evaluate a course candidate using an evaluation value. For example, as shown in FIG. 5, an evaluation value corresponding to the interference configuration parameter is set in advance, and the evaluation value is calculated based on the interference configuration parameter in the interference configuration at the time of route estimation. The calculation of the evaluation value may be a map as shown in FIG. 5, may be performed using an arithmetic expression relating the interference form parameter and the evaluation value, or may be performed by other methods.

  The evaluation value of the course candidate is set to a higher value as the partner (other vehicle) interferes with itself (own vehicle). For the gray zone existing between the interference mode in which the other party interferes with itself and the interference mode in which the other party interferes with the other party, as shown in FIG. 5, the evaluation value corresponding to the interference mode in which the other party interferes with itself It is preferable to set the evaluation value in such a manner that the evaluation value of the interference mode in which it interferes with the other party is smoothly connected. By setting the evaluation value in this way, even if the gray zone exists, the evaluation value can be appropriately set so that the evaluation value becomes higher as the interference form in which the other party interferes with itself. Note that the gray zone here corresponds to the overlap region D of the interference configuration parameters in FIG.

As a specific course evaluation in this case, for example, as shown in FIG. 6, when there are two course candidates a ₃ and a ₄ for the own vehicle 81 and there is a predicted course b for the other vehicle 82, the own vehicle 81 Even if the route candidates a ₃ and a ₄ are in the form of interference in which the route candidate a ₃ is seen from the own vehicle 81 and interferes with the other party, the route candidate a ₃ is seen from the other vehicle 82 and the other party interferes with itself. be in the form, route candidate a ₄ is at itself when viewed from the other vehicle 82 is interference interfering form partner, route candidates a ₄ is evaluated higher than route candidates a _3.

  Further, in the interference mode in which there are a plurality of other vehicles, it is determined that the interference mode between the route candidate of the own vehicle and the predicted route of the other vehicle is a mode in which the other vehicle interferes with the own vehicle when viewed from the other vehicle. The more often, the higher the path is appreciated.

  For example, as shown in FIG. 7, when the course candidate of the own vehicle 81 interferes with the predicted course of the other vehicle 82, and the course candidate of the own vehicle 81 interferes with the predicted course of the other vehicle 83, it is viewed from the own vehicle 81. The interference mode, the interference mode viewed from the other vehicle 82, and the interference mode viewed from the other vehicle 83 may vary depending on the interference mode parameter.

  In this case, there exists a gray zone in which the interference form differs depending on the interference form parameter. In addition, among the gray zones, a first gray zone in which it is determined that the other vehicle 82 and the other vehicle 83 interfere with the own vehicle, and a second gray zone in which only the other vehicle 83 determines that the other vehicle interferes with the own vehicle, Will exist. At this time, the route candidate that becomes the interference configuration parameter corresponding to the first gray zone is evaluated higher than the route candidate that becomes the interference configuration parameter corresponding to the second gray zone.

  At this time, as shown in FIG. 7D, it is preferable to determine the interference mode using an objective map of the own vehicle in which different gray zones are set. In the map of FIG. 7D, the form in which the other party interferes with itself, the first gray zone, the second gray zone, and the form in which the other party interferes with the other party are set, and the interference corresponds to the form in which the other party interferes with itself. The path candidate of the form parameter is evaluated most highly, the path candidate of the interference form parameter corresponding to the first gray zone, the path candidate of the interference form parameter corresponding to the second gray zone, and the interference form parameter corresponding to the form in which the self interferes with the opponent. Highly evaluated in the order of career candidates.

  And a process transfers to S22 of FIG. 8, and a driving assistance process is performed. The driving support process is a process of performing driving support of the host vehicle. For example, in the case of performing automatic driving support, drive control, braking control, and steering control are performed so that the vehicle travels according to the course highly evaluated by the course evaluation process. Done. When the processing of S22 is finished, a series of control processing is finished.

  As described above, according to the route evaluation apparatus according to the present embodiment, whether the other vehicle interferes with the own vehicle when viewed from the own vehicle regarding the form of interference between the candidate route of the own vehicle and the predicted route of the other vehicle. And whether or not the own vehicle interferes with the other vehicle, and determines whether or not the other vehicle interferes with the own vehicle when viewed from the other vehicle and whether or not the own vehicle interferes with the other vehicle. Then, by evaluating the route candidate of the own vehicle based on the determination result, the route candidate of the own vehicle can be evaluated in consideration of the interference form of the route viewed from the other vehicle. For this reason, the course evaluation considering the driver of the other vehicle can be performed, and an appropriate course evaluation can be performed.

  For example, as shown in FIG. 6, when the course candidate of the own vehicle 81 and the predicted course of the other vehicle 82 interfere with each other, when the own vehicle 81 and the other vehicle 82 determine their interference modes subjectively, the other party interferes with each other. There is a possibility that an interference pattern that causes the user to determine that the user has performed the error occurs. For example, as shown in FIG. 9, a form area (FIG. 9 (a)) in which it is determined that the other party is interfering with itself in another vehicle and a form area (in FIG. 9A) in which it is determined that the other party is interfering with itself. FIG. 9B overlaps, which makes it difficult to travel safely and appropriately.

  On the other hand, in the course evaluation device according to the present embodiment, in the interference mode determined by the own vehicle and the other vehicle, the determination setting can be performed so that the mode regions determined as interfering with the opponent overlap. (See FIG. 4). For this reason, it is possible to perform an appropriate course evaluation in consideration of the determination of the interference mode of the other vehicle.

  In the course evaluation device according to the present embodiment, the course of the vehicle determined to be a path candidate that is determined to interfere with the host vehicle when viewed from the other vehicle increases the course evaluation. Interfering course candidates can be rated relatively low, and such course candidates can be prevented from being selected.

  In addition, embodiment mentioned above demonstrated embodiment of the course evaluation apparatus which concerns on this invention, and the course evaluation apparatus which concerns on this invention is not limited to what was described in this embodiment. The course evaluation apparatus according to the present invention may be modified from the course evaluation apparatus according to the embodiment or applied to other apparatuses without changing the gist described in each claim.

  For example, in this embodiment, although the case where the surrounding mobile body is another vehicle was demonstrated, you may apply about another mobile body.

  DESCRIPTION OF SYMBOLS 1 ... Travel assistance apparatus, 2 ... Vehicle state detection part, 3 ... Environmental condition acquisition part, 6 ... Vehicle control ECU, 9 ... Travel output part, 60 ... Course evaluation apparatus, 61 ... Course candidate generation part, 62 ... Course prediction part , 63 ... interference form determination unit, 64 ... course evaluation unit.

Claims (2)

A route candidate generating means for generating a route candidate of the host vehicle;
A route prediction means for predicting the route of another vehicle;
Regarding the form of interference between the course candidate of the own vehicle and the predicted course of the other vehicle, the form in which the other vehicle interferes with the own vehicle as seen from the host vehicle and the form in which the own vehicle interferes with the other vehicle Determination means for determining whether the other vehicle is in a form of interfering with the own vehicle as viewed from the other vehicle and whether the own vehicle is in a form of interfering with the other vehicle;
Evaluation means for evaluating a course candidate of the host vehicle based on a determination result of the determination means;
A course evaluation apparatus comprising:   2. The course evaluation according to claim 1, wherein the evaluation means increases the evaluation of a course for a course candidate that is determined by the determination means to be a form in which the other vehicle interferes with the host vehicle when viewed from the other vehicle. apparatus.

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