JP2019207489A - Vehicle, its control device, and control method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique for smoothly operating a vehicle. There is provided a vehicle including a detection unit that detects a situation of the outside world of the vehicle, a providing unit that provides information to the outside world of the vehicle, and a control unit that controls the vehicle. The control unit determines whether there is a pedestrian who may pass through an area on the planned course of the vehicle based on the external situation detected by the detection unit while the vehicle is stopped. If it is determined that there is a sidewalker who may pass through the area, the provision unit is used to urge the sidewalker to pass through the area. [Selection diagram] Fig. 3

Description

  The present invention relates to a vehicle and a control device and control method thereof.

  Vehicles compatible with automatic driving have been put into practical use. Patent Document 1 describes a technique for controlling a vehicle to stop before a pedestrian crossing when there is a crossing person who is about to cross the pedestrian crossing. At this time, when the vehicle stops near the center of the road, the subsequent vehicle is prevented from overtaking the host vehicle.

JP 2017-102666 A

  Pedestrians in the vicinity of pedestrian crossings do not necessarily pass through pedestrian crossings. Therefore, if it waits until a pedestrian passes, it may stop for a long time. An object of this invention is to provide a technique in order to operate a vehicle smoothly.

  In view of the above-described problem, the control unit includes a detection unit that detects a state of the outside of the vehicle, a providing unit that provides information to the outside of the vehicle, and a control unit that controls the vehicle. And determining whether or not there is a sidewalk person who may pass through an area on the planned course of the vehicle based on the situation of the outside world detected by the detection means while the vehicle is stopped. And, when it is determined that there is a sidewalk person who may pass through the area, the vehicle is controlled to urge the sidewalk person to pass through the area using the providing means. A featured vehicle is provided.

  By the above means, the operation of the automatic driving can be smoothly performed after the vehicle is stopped.

The block diagram explaining the structural example of the vehicle which concerns on embodiment. The schematic diagram explaining the outline | summary of the control method which concerns on embodiment. The flowchart explaining the detail of the control method which concerns on embodiment.

  Embodiments of the present invention will be described below with reference to the accompanying drawings. Throughout the various embodiments, similar elements are given the same reference numerals, and redundant descriptions are omitted. In addition, each embodiment can be appropriately changed and combined.

  The vehicle 1 includes a vehicle control device 2 that controls the vehicle 1 (hereinafter simply referred to as a control device 2). The control device 2 includes a plurality of ECUs 20 to 29 that are communicably connected via an in-vehicle network. Each ECU includes a processor typified by a CPU, a memory such as a semiconductor memory, an interface with an external device, and the like. The memory stores a program executed by the processor, data used by the processor for processing, and the like. Each ECU may include a plurality of processors, memories, interfaces, and the like. For example, the ECU 20 includes a processor 20a and a memory 20b. When the processor 20a executes an instruction included in the program stored in the memory 20b, processing by the ECU 20 is executed. Instead of this, the ECU 20 may include a dedicated integrated circuit such as an ASIC for executing processing by the ECU 20. The same applies to other ECUs.

  Hereinafter, functions and the like that are handled by the ECUs 20 to 29 will be described. Note that the number of ECUs and the functions in charge can be designed as appropriate, and can be further subdivided or integrated as compared with the present embodiment.

  The ECU 20 executes control related to automatic driving of the vehicle 1. In automatic operation, at least one of steering and acceleration / deceleration of the vehicle 1 is automatically controlled. In a control example to be described later, both steering and acceleration / deceleration are automatically controlled.

  The ECU 21 controls the electric power steering device 3. The electric power steering device 3 includes a mechanism that steers the front wheels in accordance with the driving operation (steering operation) of the driver with respect to the steering wheel 31. In addition, the electric power steering device 3 includes a motor that provides a driving force for assisting a steering operation and automatically steering the front wheels, a sensor that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to an instruction from the ECU 20 to control the traveling direction of the vehicle 1.

  The ECUs 22 and 23 control the detection units 41 to 43 that detect the external environment of the vehicle and perform information processing on detection results. The detection unit 41 is a camera that captures the front of the vehicle 1 (hereinafter may be referred to as the camera 41). In the present embodiment, the detection unit 41 is attached to the vehicle interior side of the front window at the front of the roof of the vehicle 1. It is done. By analyzing the image captured by the camera 41, it is possible to extract the outline of the target and the lane markings (white lines, etc.) on the road.

  The detection unit 42 is a lidar (Light Detection and Ranging) (hereinafter, sometimes referred to as a lidar 42), and detects a target around the vehicle 1 or measures a distance from the target. . In the present embodiment, five riders 42 are provided, one at each corner of the front of the vehicle 1, one at the center of the rear, and one at each side of the rear. The detection unit 43 is a millimeter wave radar (hereinafter may be referred to as a radar 43), detects a target around the vehicle 1, and measures a distance from the target. In the present embodiment, five radars 43 are provided, one at the front center of the vehicle 1, one at each front corner, and one at each rear corner.

  The ECU 22 performs control of one camera 41 and each rider 42 and information processing of detection results. The ECU 23 performs control of the other camera 42 and each radar 43 and information processing of detection results. By providing two sets of devices that detect the surroundings of the vehicle, the reliability of the detection results can be improved, and by providing different types of detection units such as cameras, lidars, and radars, analysis of the surrounding environment of the vehicle Can be performed in many ways.

  The ECU 24 controls the gyro sensor 5, the GPS sensor 24b, and the communication device 24c and performs information processing on detection results or communication results. The gyro sensor 5 detects the rotational movement of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5 or the wheel immediately. The GPS sensor 24 b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information, and acquires these information. The ECU 24 can access a map information database 24a constructed in a memory, and the ECU 24 searches for a route from the current location to the destination. The ECU 24, the map database 24a, and the GPS sensor 24b constitute a so-called navigation device.

  The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with other vehicles in the vicinity and exchanges information between the vehicles.

  The ECU 26 controls the power plant 6. The power plant 6 is a mechanism that outputs a driving force for rotating the driving wheels of the vehicle 1 and includes, for example, an engine and a transmission. For example, the ECU 26 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, the vehicle speed detected by the vehicle speed sensor 7c, or the like. The gear position of the transmission is switched based on the information. When the driving state of the vehicle 1 is automatic driving, the ECU 26 automatically controls the power plant 6 in response to an instruction from the ECU 20 to control acceleration / deceleration of the vehicle 1.

  The ECU 27 controls the lighting device 8 (lighting devices such as headlights and taillights) including a direction indicator (blinker). In the case of the example of FIG. 1, the lighting device 8 is provided at the front part, the door mirror, and the rear part of the vehicle 1. The ECU 27 further controls the acoustic device 11 including the horn of the horn and directed toward the outside of the vehicle. The lighting device 8, the acoustic device 11, or a combination thereof has a function of providing information to the outside world of the vehicle 1.

  The ECU 28 controls the input / output device 9. The input / output device 9 outputs information to the driver and receives input of information from the driver. The sound output device 91 notifies the driver of information by voice. The display device 92 notifies the driver of information by displaying an image. The display device 92 is disposed on the driver's seat surface, for example, and constitutes an instrument panel or the like. In addition, although an audio | voice and a display were illustrated here, you may alert | report information by a vibration or light. In addition, information may be notified by combining a plurality of voice, display, vibration, or light. Furthermore, the combination may be varied or the notification mode may be varied depending on the level of information to be notified (for example, the degree of urgency). The input device 93 is a switch group that is disposed at a position that can be operated by the driver and that instructs the vehicle 1, but a sound input device may also be included. The ECU 28 can perform guidance related to travel control of the ECU 20. Details of the guidance will be described later. The input device 93 may include a switch used for controlling the operation of the traveling control by the ECU 20. The input device 93 may include a camera for detecting the driver's line-of-sight direction.

  The ECU 29 controls the brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device, and is provided on each wheel of the vehicle 1. The vehicle 1 is decelerated or stopped by applying resistance to the rotation of the wheel. For example, the ECU 29 controls the operation of the brake device 10 in response to a driver's driving operation (brake operation) detected by an operation detection sensor 7b provided on the brake pedal 7B. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the brake device 10 in response to an instruction from the ECU 20 to control deceleration and stop of the vehicle 1. The brake device 10 and the parking brake can be operated to maintain the vehicle 1 in a stopped state. Moreover, when the transmission of the power plant 6 includes a parking lock mechanism, this can be operated to maintain the vehicle 1 in a stopped state.

  Next, an example of the operation of the vehicle 1 during automatic driving will be described with reference to FIG. In the following, we will deal with examples in countries with left-hand traffic laws. In countries with right-hand traffic laws, the following explanations can be reversed.

  Assume that the vehicle 1 is traveling on a roadway 201 as shown in FIG. A sidewalk 202 is running alongside the vehicle 1. There is an intersection 204 in the traveling direction of the vehicle 1. There are no traffic lights at this intersection. A pedestrian crossing 205 is installed in front of the intersection 204. As shown by the arrow 203, the vehicle 1 plans a course that goes straight through a region 206 including the intersection 204. A pedestrian 207 stands near the pedestrian crossing 205.

  Since no traffic lights are installed at the intersection 204, the vehicle 1 determines that there is a possibility that the pedestrian 207 may pass through the area 206. Therefore, the vehicle 1 stops before the area 206. Thereafter, the vehicle 1 provides information that prompts the pedestrian 207 to pass through the area 206. For example, the vehicle 1 uses the lighting device 8 to pass or sounds the acoustic device 11 (for example, horn). When the pedestrian 207 starts to pass through the area 206, the vehicle 1 waits until the passing is completed, and then starts. When there is no pedestrian who may pass through the area 206, the vehicle 1 passes through the area 206 without stopping.

  When the pedestrian 207 does not start passing the area 206 for a predetermined time (for example, 10 seconds or 15 seconds), the vehicle 1 determines that the pedestrian 207 does not intend to pass and starts. At that time, the vehicle 1 may travel in the area 206 at a slow speed (for example, 5 km / h or less).

  In the example shown in FIG. 2B, the vehicle 1 makes a left turn at the intersection 204 and plans a course through the region 206 as indicated by an arrow 203. A pedestrian 207 standing on the left side of the intersection may pass through the area 206. For this reason, the vehicle 1 stops in a manner similar to the example of FIG. 2A, prompts passage, and starts after a predetermined time has elapsed.

  Next, an example of a method in which the ECU 20 controls the traveling of the vehicle 1 will be described with reference to FIG. The method of FIG. 3 is processed, for example, when the processor 20a of the ECU 20 executes a command of a program stored in the memory 20b of the ECU 20. Alternatively, dedicated hardware (for example, a circuit) may execute each step. This method is started, for example, when the driver of the vehicle 1 gives an instruction for running control by automatic driving during manual driving.

  In step S301, the ECU 20 determines whether or not the stop condition of the vehicle 1 is satisfied based on the external environment detected by the detection units 41 to 43. If the condition is satisfied (YES in step S301), the ECU 20 advances the process to step S302. If the condition is not satisfied (NO in step S301), the ECU 20 repeats step S301. In step S302, the ECU 20 stops the vehicle 1. The subsequent processing is performed while the vehicle 1 is stopped.

  The stop condition of the vehicle 1 includes, for example, a stop condition based on laws and regulations, a stop condition based on a relationship with other vehicles, a stop condition based on a relationship with a sidewalk person, and a stop condition for avoiding danger. In this specification, a sidewalk person refers to a person who can pass a sidewalk, and includes a pedestrian and a bicycle driver.

  The stop condition based on laws and regulations is satisfied when the traffic light in the direction of travel is red, or when there is a duty to stop (such as a location indicated by a sign or before a railroad crossing). The stop condition based on the relationship with the other vehicle is satisfied, for example, when the preceding vehicle stops, or when the other vehicle is traveling on the priority road at the intersection. The stop condition based on the relationship with the sidewalk passer is satisfied, for example, when there is a possibility that the sidewalk passerby passes through the area on the planned course of the vehicle 1 or when the passerby passes through the area. It is. The stop condition for avoiding the danger is satisfied when a sidewalk person jumps out on a planned route, or when a load falls from a preceding vehicle.

  An area that is on the planned route of the vehicle 1 and that a sidewalk person may pass through is hereinafter referred to as a warning driving area. For example, a pedestrian crossing on a planned route becomes a warning travel area when there are sidewalk passersby in the vicinity. On the other hand, even if it is a pedestrian crossing, when there is no sidewalk passerby in the vicinity, it does not become a warning travel area. Further, when there is a guardrail between the planned route of the vehicle 1 and the sidewalk, there is little possibility that a sidewalk pass through the planned route, so that it is not set as a warning travel area. When a sidewalk person starts to pass through an area where such a guardrail exists, the stop is performed according to the stop condition for avoiding the crisis described above.

  The ECU 20 may determine whether or not there is a possibility that the sidewalk pass by based on whether or not the sidewalk passerby is included in a predetermined range from the area on the planned route of the vehicle 1. Further, the ECU 20 may determine whether or not there is a possibility that the sidewalk passer will pass based on the face direction and the body direction of the sidewalk passer. For example, the ECU 20 may determine that there is no possibility that the sidewalk pass through this area when the sidewalk passerby turns his back to the area on the planned course of the vehicle 1.

  In step S303, the ECU 20 determines whether or not the stop condition determined to be satisfied in S301 has been resolved based on the external environment detected by the detection units 41 to 43. If the condition is satisfied (YES in step S303), the ECU 20 advances the process to step S304. If the condition is not satisfied (NO in step S303), the ECU 20 repeats step S305. In step S304, the ECU 20 starts the vehicle 1 and performs normal traveling.

  The stop condition based on laws and regulations is canceled when the traffic light in the traveling direction turns blue, or when there is no preceding vehicle in the level crossing. The stop condition based on the relationship with the other vehicle is canceled, for example, when the preceding vehicle starts, or when the passage of the other vehicle is completed at the intersection. The stop condition based on the relationship with the sidewalk passer is canceled, for example, when the sidewalk passerby is away from the warning travel area, or when the sidewalk passer completes the traffic on the warning travel area. The stop condition for avoiding danger is canceled when the dangerous state is resolved. The determination as to whether or not these stop conditions have been resolved can be made based on the external environment detected using the detection units 41 to 43.

  In step S <b> 305, the ECU 20 determines whether there is a sidewalk passer who may pass through an area on the planned course of the vehicle 1 based on the situation of the outside world detected by the detection units 41 to 43. To do. If the condition is satisfied (YES in step S305), the ECU 20 advances the process to step S306. If the condition is not satisfied (NO in step S305), the ECU 20 returns the process to S303. In S303, it is determined again whether the stop condition has been eliminated.

  In step S <b> 306, the ECU 20 uses the lighting device 8, the acoustic device 11, or a combination thereof to prompt the sidewalk passer to pass through the warning travel area. For example, the ECU 20 performs passing or sounds a horn. The ECU 20 may wait for a predetermined time (for example, 5 seconds) before encouraging traffic in the warning travel area.

  In step S307, the ECU 20 determines whether or not the sidewalk passer who has been urged to pass has started to pass through the warning travel area, based on the external environment detected by the detection units 41 to 43. If the condition is satisfied (YES in step S307), the ECU 20 returns the process to step S303, and if the condition is not satisfied (NO in step S307), the ECU 20 advances the process to S308. In S303, it is determined again whether or not the stop condition has been resolved, and the ECU 20 waits for the sidewalk passer to complete the passage in the alert travel area.

  In step S308, the ECU 20 determines whether or not a predetermined time (for example, 10 seconds or 15 seconds) has elapsed since the traffic was prompted in step S306. If the condition is satisfied (YES in step S308), the ECU 20 advances the process to step S309. If the condition is not satisfied (NO in step S308), the ECU 20 returns the process to S305.

  In step S309, the ECU 20 starts the vehicle 1 and travels slowly. ECU20 performs normal driving | running | working, after passing through a warning driving | running | working area | region slowly. By slowing down the warning travel area in this way, it becomes easier to cope with the actions of sidewalk passers. The ECU 20 may repeat step S306 a plurality of times before starting at step S309.

<Summary of Embodiment>
<Configuration 1>
Vehicle (1),
Detecting means (41-43) for detecting the external environment of the vehicle;
Providing means (8, 11) for providing information to the outside world of the vehicle;
Control means (20) for controlling the vehicle,
While the vehicle is stopped, the control means
Based on the situation of the outside world detected by the detection means, it is determined whether there is a sidewalk person (207) who may pass through the area (206) on the planned course of the vehicle (S305). ),
When it is determined that there is a sidewalk person who may pass through the area, the providing means is used to urge the sidewalk person to pass through the area (S306).
The vehicle is controlled as described above.
According to this configuration, the operation of the vehicle becomes smooth.
<Configuration 2>
The control means starts driving when the sidewalk passer does not start passing the area even after a predetermined time has elapsed after prompting the sidewalk passer of the area. The vehicle according to Configuration 1, wherein the vehicle is controlled (S309).
According to this structure, it can avoid that a vehicle continues waiting for the passage of a sidewalk person.
<Configuration 3>
The control means controls the vehicle so as to pass through the area at a slow speed when the sidewalk passer starts traveling in response to not starting the area (S309). The vehicle according to Configuration 2.
According to this structure, it becomes easy to respond to the action of a sidewalk person.
<Configuration 4>
The vehicle according to any one of configurations 1 to 3, wherein the providing means includes a lighting device (8) or an acoustic device (11).
According to this configuration, traffic can be urged using light or sound.
<Configuration 5>
The vehicle according to any one of configurations 1 to 4, wherein the sidewalk passers include a pedestrian and a bicycle driver.
According to this configuration, traffic can be urged toward pedestrians and bicycle drivers.
<Configuration 6>
The vehicle according to any one of configurations 1 to 5, wherein the area includes a pedestrian crossing (205).
According to this configuration, traffic can be urged on a pedestrian crossing.
<Configuration 7>
Control device (20) for vehicle (1) comprising detection means (41 to 43) for detecting the external environment of the vehicle and providing means (8, 11) for providing information to the external environment of the vehicle. Because
While the vehicle is stopped,
Based on the situation of the outside world detected by the detection means, it is determined whether there is a sidewalk person (207) who may pass through the area (206) on the planned course of the vehicle (S305). ),
When it is determined that there is a sidewalk person (207) who may pass through the area, the providing means is used to prompt the sidewalk person to pass through the area (S306).
A control device for controlling the vehicle as described above.
According to this configuration, a control device that smoothens the operation of the vehicle is provided.
<Configuration 8>
A control method for a vehicle (1), comprising: detection means (41-43) for detecting the external environment of the host vehicle; and provision means (8, 11) for providing information to the external environment of the host vehicle. ,
While the vehicle is stopped,
A step of determining whether there is a sidewalk passer (207) who may pass through the area (206) on the planned course of the vehicle based on the situation of the outside world detected by the detection means ( S305)
When it is determined that there is a sidewalk person who may pass through the area, the step of prompting the sidewalk person to pass through the area using the providing means (S306);
The control method characterized by including.
According to this structure, the control method which makes driving | running | working of a vehicle smooth is provided.
<Configuration 9>
A program for causing a computer to execute each step of the control method according to Configuration 8. According to this configuration, a program for smoothing the operation of the vehicle is provided.

1 vehicle, 2 control device, 20-29 ECU, 205 pedestrian crossing, 207 pedestrian

Claims (9)

A vehicle,
Detecting means for detecting an external environment of the vehicle;
Providing means for providing information to the outside world of the vehicle;
Control means for controlling the vehicle,
While the vehicle is stopped, the control means
Based on the situation of the outside world detected by the detection means, it is determined whether there is a sidewalk passer who may pass through an area on the planned course of the vehicle,
When it is determined that there is a sidewalk person who may pass through the area, the vehicle is controlled to urge the sidewalk person to pass through the area using the providing means. Vehicle.   The control means starts driving when the sidewalk passer does not start passing the area even after a predetermined time has elapsed after prompting the sidewalk passer of the area. The vehicle according to claim 1, wherein the vehicle is controlled.   The said control means controls the said vehicle so that it may pass the said area | region slowly, when the said sidewalk passer starts driving | running | working according to not passing the said area | region. 2. The vehicle according to 2.   The vehicle according to any one of claims 1 to 3, wherein the providing means includes a lighting device or a sound device.   The vehicle according to any one of claims 1 to 4, wherein the sidewalk passers include a pedestrian and a bicycle driver.   The vehicle according to claim 1, wherein the area includes a pedestrian crossing. A vehicle control apparatus comprising: a detecting unit that detects an external environment of the vehicle; and a providing unit that provides information to the external environment of the vehicle,
While the vehicle is stopped,
Based on the situation of the outside world detected by the detection means, it is determined whether there is a sidewalk passer who may pass through an area on the planned course of the vehicle,
When it is determined that there is a sidewalk person who may pass through the area, the vehicle is controlled to urge the sidewalk person to pass through the area using the providing means. Control device. A vehicle control method comprising: a detecting unit that detects a situation of the outside world of the host vehicle; and a providing unit that provides information to the outside world of the host vehicle
While the vehicle is stopped,
Determining whether there is a sidewalk passer who may pass through an area on the planned course of the vehicle, based on the external environment detected by the detection means;
When it is determined that there is a sidewalk passer who may pass through the area, the step of urging the sidewalk passer to pass the area using the providing means;
The control method characterized by including.   The program for making a computer perform each process of the control method of Claim 8.