JP6511938B2 - Traveling control system - Google Patents

Description

The present invention relates to a travel control system that controls the travel of a vehicle.

  Conventionally, there is known a technique of setting a traveling route of the vehicle based on the degree of risk of occurrence of a traffic accident at each intersection (for example, Patent Document 1).

JP, 2006-277165, A

  For example, at intersections of roads that are frequently used in daily life, there is a relatively high share of roads, and vehicles tend to act in concert with the movements of other vehicles. In addition, at intersections that are often used for entering from a side road to a main road, there is a lot of traffic on the main road, and there are few opportunities to enter the main road from the side road. Tend to act to impede the movement of Furthermore, at intersections frequently used by the elderly, vehicles tend to act independently without recognizing other vehicles and regardless of the movement of the other vehicles. Thus, the behavior tendency of vehicles with respect to other vehicles may be different at each intersection. However, in the prior art, there is a case where the traveling of the own vehicle can not be appropriately controlled at the intersection because the traveling of the own vehicle is not controlled in consideration of the behavior tendency of the vehicle at each intersection.

The problem to be solved by the present invention is to provide a travel control system capable of appropriately controlling the travel of the host vehicle at an intersection.

  The present invention acquires the action tendency of the moving obstacle at the intersection, and controls the traveling of the own vehicle based on the action tendency of the moving obstacle at the intersection when the own vehicle travels the intersection. Solve the problem.

  According to the present invention, by controlling the traveling of the own vehicle based on the behavioral tendency of the moving obstacle at the intersection, the traveling of the own vehicle at the intersection is appropriately controlled according to the behavioral tendency of the moving obstacle. Can.

It is a schematic diagram showing an example of the traveling control system concerning this embodiment. It is a figure for demonstrating the action type of the oncoming vehicle with respect to the own vehicle in the scene where the own vehicle turns right at the intersection and the oncoming vehicle goes straight through the intersection. It is a figure for demonstrating the action type of the oncoming vehicle with respect to the own vehicle in the scene where the own vehicle goes straight on the intersection and the oncoming vehicle turns right at the intersection. It is a figure for demonstrating ratio information of the action tendency of the moving obstacle in an intersection. It is a flow chart which shows run control processing concerning a 1st embodiment. (A) is a figure which shows the operation example of the traveling control system which concerns on 2nd Embodiment, (B) is a figure which shows the operation example of the conventional traveling control system. (A) is a figure which shows the other operation example of the traveling control system which concerns on 2nd Embodiment, (B) is a figure which shows the other operation example of the conventional traveling control system. It is a flow chart which shows run control processing concerning a 2nd embodiment. It is a flowchart which shows the control processing of step S210.

First Embodiment
Hereinafter, based on the drawings, a travel control system according to an embodiment of the present invention will be described. FIG. 1 is a block diagram showing a travel control system according to the present embodiment. The travel control system according to the present embodiment includes, as shown in FIG. 1, an on-vehicle device 100 mounted on a vehicle and a server 200 installed outside the vehicle. The in-vehicle apparatus 100 and the server 200 can exchange information with each other via a wireless communication line or a telephone communication line. Although only one in-vehicle apparatus 100 is illustrated in FIG. 1, the traveling control system according to the present embodiment can be configured of a plurality of in-vehicle apparatuses 100 mounted on a plurality of vehicles, respectively. The reference numeral 200 can transmit and receive information to and from the plurality of on-vehicle devices 100, respectively.

  First, the in-vehicle apparatus 100 will be described. As shown in FIG. 1, the in-vehicle device 100 includes a road detection device 110, an obstacle detection device 120, a vehicle state detection device 130, a drive device 140, a steering device 150, a travel control device 160, and an in-vehicle communication device 170. .

  The road detection device 110 detects various data related to the road on which the host vehicle travels. For example, the road detection device 110 can be configured of a camera that captures an image of the front of the vehicle in the traveling direction, a navigation device that detects the traveling position of the vehicle on the map, and the like. For example, the camera that constitutes the road detection device 110 captures the image of the lane mark of the road on which the host vehicle travels by imaging the front of the host vehicle in the traveling direction. Can be output to the travel control device 160 as

  The obstacle detection device 120 detects various data related to obstacles present around the host vehicle. For example, the obstacle detection device 120 can be configured of one or more types of sensors such as a camera for imaging the surroundings of the host vehicle, a laser scanner, and a radar. The camera, laser scanner, radar, etc. constituting the obstacle detection device 120 detect various data indicating the type, shape, position, etc. of the obstacle existing around the vehicle, and output the detected data to the control device 160. Do.

  The vehicle state detection device 130 detects various data related to the state of the vehicle. For example, the vehicle state detection device 130 includes a vehicle speed sensor that detects the vehicle speed of the vehicle, a steering angle sensor that detects a steering angle, an acceleration sensor that detects acceleration, a vehicle controller that detects the operation status of various on-vehicle devices, and the vehicle The navigation device can be configured from a navigation device that detects the position and the destination of the Various data detected by the vehicle state detection device 130 are transmitted to the traveling control device 160 as data indicating the state of the vehicle.

  The drive unit 140 is an electric motor and / or an internal combustion engine which is a traveling drive source, a drive shaft and a power transmission unit including an automatic transmission which transmits the output from these traveling drive sources to drive wheels, and a braking unit which brakes the wheels. And other drive mechanisms. The drive device 140 generates control signals of these drive mechanisms based on input signals from accelerator operation and brake operation and control signals acquired from the travel control device 160, and executes travel control including acceleration and deceleration of the host vehicle. By transmitting control information to the drive device 140, traveling control including acceleration and deceleration of the host vehicle can be automatically performed. In the case of a hybrid vehicle, torque distribution to be output to each of the electric motor and the internal combustion engine according to the traveling state of the vehicle is also sent to the drive device 140.

  The steering device 150 includes a steering actuator such as a motor attached to a column shaft of steering. The steering device 150 executes turning control of the host vehicle based on an input signal by a steering operation. Further, the travel control device 160 can execute turn control by controlling the braking amount of each wheel of the vehicle. In this case, the traveling control device 160 executes turning control of the host vehicle by transmitting control information including the braking amount of each wheel to the steering device 150.

  The travel control device 160 operates as an operation circuit that executes each function by executing a ROM (Read Only Memory) storing a program for controlling the traveling of the host vehicle and the program stored in the ROM. It is a computer provided with CPU (Central Processing Unit) and RAM (Random Access Memory) which functions as an accessible storage device.

  The travel control device 160 executes a program stored in the ROM by the CPU to obtain a road information acquisition function for acquiring road information, an obstacle information acquisition function for acquiring obstacle information, and an own vehicle information. A car information acquisition function, a route search function for searching for a route to a destination, an approach degree calculation function for calculating the degree of approach between the host vehicle and a moving obstacle, and a server judging the action type of the moving obstacle at an intersection The action type transmission function to be sent to 200, the action tendency acquisition function to acquire the action tendency of the moving obstacle at the intersection, the travel plan creation function to create the travel plan of the own vehicle, and the travel of the own vehicle based on the travel plan To realize a traveling control function of controlling Below, each function with which traveling control device 160 is provided is explained.

  The road information acquisition function of the travel control device 160 acquires road information on the road on which the host vehicle travels, based on various data detected by the road detection device 110. For example, the road information acquisition function analyzes the image data of the road including the lane mark in front of the traveling direction of the host vehicle taken by the camera constituting the road detection device 110, thereby determining the type and shape of the road on which the host vehicle travels. Road information such as area, etc. can be acquired. Note that acquisition of road information by the road information acquisition function is repeatedly performed at predetermined intervals.

  The obstacle information acquisition function of the traveling control device 160 acquires obstacle information on an obstacle existing around the host vehicle based on detection data by the obstacle detection device 120. For example, the obstacle information acquisition function is an obstacle existing around the vehicle based on image data obtained by imaging the surroundings of the vehicle from a camera constituting the obstacle detection device 120, detection data such as a laser scanner, radar, etc. Obstacle information such as the type, shape, and position of an object can be acquired. Note that acquisition of obstacle information by the obstacle information acquisition function is repeatedly performed at predetermined intervals.

  The vehicle information acquisition function of the traveling control device 160 acquires vehicle information related to the state of the vehicle based on various data detected by the vehicle state detection device 130. For example, the vehicle information acquisition function includes the vehicle speed of the vehicle detected by the vehicle speed sensor constituting the vehicle state detection device 130, the steering angle of the vehicle detected by the steering angle sensor, the acceleration detected by the acceleration sensor, and the vehicle controller Based on the detected operation signal of the in-vehicle device and various data indicating the position of the own vehicle detected by the navigation device, the own vehicle information such as the vehicle speed, steering angle and acceleration of the own vehicle and the operation status and position of the in-vehicle device is acquired. be able to. Note that acquisition of vehicle information by the vehicle information acquisition function is repeatedly performed at predetermined intervals.

  The route search function of the travel control device 160 searches for a travel route to a destination. In the present embodiment, the user can input a destination via a navigation device or the like. When the user inputs a destination, the route search function refers to the map information stored in the ROM of the traveling control device 160, and the destination input by the user and the own vehicle acquired by the own vehicle information acquisition function Based on the position information, the travel route to the destination is searched and set as the travel route of the vehicle.

The approach degree calculation function of the travel control device 160 calculates the degree of approach of the host vehicle and an obstacle (for example, a four-wheeled vehicle, a two-wheeled vehicle, a pedestrian, a wall, a guardrail, etc.). For example, the approach degree calculation function is based on the host vehicle information including the position P1 and the vehicle speed V1 of the host vehicle and the obstacle information including the position P2 of the obstacle, the vehicle speed V3 of the obstacle, from the host vehicle to the obstacle And the relative vehicle speed V2 of the host vehicle with respect to the obstacle. Furthermore, based on the calculated distance L from the host vehicle to the obstacle and the relative velocity V2 of the host vehicle relative to the obstacle, the approach degree calculation function calculates THW (Time W) as shown in the following formulas (1) and (2). -Calculate Headway) and TTC (Time To Contact). Then, the approach degree calculation function can calculate the approach degree D between the host vehicle and the obstacle, as shown in the following formula (3), based on the calculated THW and TTC. In the following formula (3), α and β are predetermined constants.
THW = the distance L from the host vehicle to the obstacle / the vehicle speed V1 of the host vehicle (1)
TTC = the distance L from the host vehicle to the obstacle / the relative speed V2 of the host vehicle for the obstacle (2)
Degree of approach D = α / THW + β / TTC (3)

  The degree of approach D between the host vehicle and the obstacle is an index showing the degree to which the driver feels that the host vehicle is approaching the obstacle, and the higher the degree of proximity D, the driver's own obstacle to the host vehicle It can be evaluated that you feel that you are approaching an object. As shown in the above equation (3), the shorter the THW or the shorter the TTC, the shorter the time it takes for the host vehicle to approach the obstacle, and the higher the approach degree D. Moreover, the calculation method of the approach degree D of the own vehicle and an obstacle is not limited to the method shown to said Formula (3), A well-known method can also be used. Furthermore, in the present embodiment, the approach degree calculation function repeatedly calculates the approach degree D between the own vehicle and the obstacle, but repeatedly calculates the approach degree D only when a moving obstacle is detected around the own vehicle. Alternatively, the approach degree D may be repeatedly calculated only when the host vehicle travels at an intersection.

  The action type transmission function of the travel control device 160 determines the action type of the moving obstacle with respect to the host vehicle when the host vehicle travels at the intersection, and transmits it to the server 200. Here, FIG. 2 and FIG. 3 are diagrams for explaining the action type of the moving obstacle (oncoming vehicle) with respect to the host vehicle when the host vehicle travels at the intersection. In this embodiment, a moving obstacle acts in synchronization with the movement of the vehicle, a repulsive action in which the moving obstacle acts to impede the movement of the vehicle, and a movement obstacle moves the vehicle. Among the three action types of the maintenance action that ignores and acts independently, the action type of the moving obstacle with respect to the host vehicle is determined. Below, each action type is demonstrated. FIG. 2 is a view for explaining the action type of the oncoming vehicle (moving obstacle) with respect to the own vehicle in a scene where the own vehicle turns right at the intersection and the oncoming vehicle (moving obstacle) goes straight on at the intersection. is there. Further, FIG. 3 is a view for explaining an action type of a moving obstacle with respect to the host vehicle in a scene where the host vehicle goes straight through the intersection and the oncoming vehicle (moving obstacle) turns right at the intersection.

  FIG. 2A shows a scene in which the host vehicle is about to turn right and the oncoming vehicle (moving obstacle) is decelerating because the host vehicle is turning right. Thus, when the oncoming vehicle (moving obstacle) acts (decelerates) in synchronization with the movement (right turn) of the own vehicle, the action type transmission function takes the action type of the oncoming vehicle (moving obstacle) as the synchronized action. to decide. Further, FIG. 3A shows a scene in which the host vehicle is going straight on at an intersection and the oncoming vehicle is decelerating before making a right turn since the host vehicle goes straight on. Also in this case, the action type transmission function determines that the oncoming vehicle (moving obstacle) is acting (decelerating) in synchronization with the movement (straight line) of the own vehicle, and the action type of the oncoming vehicle (moving obstacle) Judged as entrainment.

  Further, FIG. 2B shows a scene where the host vehicle is about to turn to the right, but the oncoming vehicle is accelerating to go straight ahead before the host vehicle turns right. In this way, the oncoming vehicle (moving obstacle) asserts its own initiative, and in order to execute the action (straight line) of the oncoming vehicle (moving obstacle) earlier than the own vehicle, the oncoming vehicle is approached. When an action (straight line) is performed so as to prevent the movement of the own vehicle, the action type transmission function determines the action type of the oncoming vehicle (moving obstacle) as the repulsion action. Further, FIG. 3B shows a scene in which the host vehicle is going straight ahead, but the oncoming vehicle is accelerating in order to make a right turn before the host vehicle. Also in this case, the action type transmission function determines that the oncoming vehicle (moving obstacle) is acting (right turn) to impede the movement (straight ahead) of the own vehicle, and the action type of the oncoming vehicle (moving obstacle) As a repulsive action.

  Further, FIG. 2C shows a scene in which the host vehicle is about to turn to the right, but the oncoming vehicle is traveling straight at a constant speed regardless of the movement of the host vehicle. In this manner, when the oncoming vehicle (moving obstacle) performs the action (straight line) of the oncoming vehicle (moving obstacle) regardless of the action (right turn) of the own vehicle, the action type transmission function Determine the action type as maintenance action. Further, FIG. 3C shows a scene in which the host vehicle is going straight and the oncoming vehicle is going to turn right at a constant speed regardless of the behavior of the host vehicle. Also in this case, the action type transmission function determines that the oncoming vehicle (moving obstacle) is acting independently (right turn) regardless of the action (straight line) of the own vehicle, and the oncoming vehicle (moving obstacle) Determine the action type as maintenance action.

  Then, the action type transmission function transmits the action type of the moving obstacle with respect to the host vehicle to the server 200 together with the identification information of the intersection. Thereby, in the server 200, as shown in FIG. 4, ratio information of the movement type of the moving obstacle with respect to the vehicle is stored for each intersection. In FIG. 4, α indicates the ratio of the synchronized action in which the moving obstacle acts in synchronization with the movement of the vehicle, and β indicates the ratio of the repulsive action in which the moving obstacle interferes with the movement of the vehicle. The ratio is shown, and γ shows the ratio of the maintenance action in which the moving obstacle acts independently regardless of the movement of the host vehicle. Further, the identification information of the intersection can be obtained by referring to the map information stored in the ROM of the traveling control device 160.

  The behavior tendency acquisition function of the travel control device 160 acquires, from the server 200, the behavior tendency of the moving obstacle at the intersection where the host vehicle travels. For example, the action tendency acquisition function first specifies an intersection at which the host vehicle travels as a target intersection on the travel route searched by the route search function. Then, the behavior tendency acquisition function transmits the request signal of the behavior tendency of the moving obstacle at the target intersection to the server 200 via the on-vehicle communication device 170. In response to the request signal, as shown in FIG. 4, the server 200 extracts the ratio information of the movement type of the moving obstacle at the target intersection from the database 210, and based on the extracted ratio information, the movement failure at the target intersection Determine the behavioral tendency of the object (The method of determining the behavioral tendency will be described later.) Then, the server 200 transmits the movement tendency of the moving obstacle at the target intersection to the in-vehicle device 100 via the server communication device 230. Thereby, the action tendency acquisition function of the traveling control device 160 can acquire the action tendency of the moving obstacle at the target intersection.

  The travel plan creation function of the travel control device 160 creates a travel plan including a target trajectory and a target speed when the host vehicle travels. Specifically, the travel plan creation function sets an area where the vehicle is likely to approach an obstacle (for example, a four-wheeled vehicle, a two-wheeled vehicle, a pedestrian, a wall, a guardrail, etc.) as an avoidance area. The target trajectory and the target velocity to avoid are created as a travel plan of the own vehicle.

  For example, in order to set the avoidance area, the travel plan creation function takes the degree of approach of the host vehicle and the obstacle calculated by the approach degree calculation function as the degree of approach at the reference position of the obstacle, and moves away from the obstacle The degree of approach is distributed on a two-dimensional plane so as to reduce the degree of approach. The travel plan creation function is distributed on a two-dimensional plane based on the type of obstacle (for example, four-wheeled vehicle, two-wheeled vehicle, pedestrian, wall, guardrail, etc.) and the relative speed between the host vehicle and the obstacle. The magnitude of each approach degree can be corrected. For example, in the case where the obstacle is a four-wheeled vehicle, the degree of approach ahead of the traveling direction of the obstacle can be higher than in the case where the obstacle is a pedestrian or a stationary object. In addition, as the relative velocity of the obstacle with respect to the host vehicle is higher, the degree of forward movement of the obstacle can also be increased. Then, the travel plan creation function can set an area where the degree of approach distributed on the two-dimensional plane is equal to or more than a predetermined value as the avoidance area.

  Then, the travel plan creation function creates, as a travel plan, a target trajectory on which the vehicle travels and a target speed and a target steering angle at each position on the target trajectory so that the avoidance region set by the vehicle can be avoided. Do. In addition, since the situation around the host vehicle changes constantly, the preparation of the host vehicle's travel plan by the travel plan creation function is repeated at predetermined intervals based on the latest road information, obstacle information, and host vehicle information. It will be.

  Furthermore, in the present embodiment, when the travel plan creation function creates the travel plan when the host vehicle travels the intersection, the travel tendency of the moving obstacle at the intersection is acquired by the activity tendency acquisition function. Based on the travel plan of the host vehicle. In addition, the preparation method of the travel plan based on an action tendency is mentioned later.

  The travel control function of the travel control device 160 controls the travel of the vehicle based on the travel plan created by the travel plan creation function. Specifically, the travel control function calculates target control values of the drive device 140 and the steering device 150 so as to travel at each position of the target trajectory determined in the travel plan at the target vehicle speed and the target steering angle. Then, by outputting the calculated target control value to the drive device 140 and the steering device 150, the traveling control function can control the traveling of the vehicle so that the vehicle travels at the target vehicle speed with the target trajectory. .

  The travel plan creation function repeatedly creates travel plans at predetermined intervals based on the latest road information, obstacle information, and vehicle information. Then, when a travel plan is newly created, the travel control function controls the travel of the host vehicle based on the newly created travel plan. As a result, even when a moving obstacle appears anew, a travel plan is created so as to avoid the newly appearing moving obstacle, and control of the vehicle speed, steering angle, etc. is performed based on the travel plan. As a result, even if a moving obstacle appears newly, the moving obstacle can be appropriately avoided.

  Next, the server 200 will be described. The server 200 includes a database 210, a server control device 220, and a server communication device 230, as shown in FIG.

  The database 210 stores the movement tendency of the moving obstacle with respect to the vehicle for each intersection. In the present embodiment, when the vehicle travels at the intersection, the in-vehicle device 100 mounted on the vehicle determines the action type of the moving obstacle with respect to the vehicle at the intersection (tuning action, repelling action, maintenance action). Sent to As shown in FIG. 4, the server 200 collects the determination results of the action type of the moving obstacle at the intersection from the in-vehicle device 100 of each vehicle, and stores the result in the database 210 for each intersection. As a result, in the database 210, the ratio information of the action type of the moving obstacle to the vehicle at the intersection is stored for each intersection.

  For example, in the example shown in FIG. 4, the intersection A is an intersection of roads used by residents for daily life, and is an intersection where a number of transfers among drivers are relatively frequent. Therefore, at the intersection A, when a vehicle (for example, the host vehicle) travels at the intersection, a moving obstacle (for example, an oncoming vehicle) tends to act in synchronization with the behavior of the vehicle (for example the host vehicle). At intersection A, the ratio α of the entrainment behavior is the highest.

  Further, the intersection B is an intersection of a side road and a main road, and is an intersection often used for entering the main road from the side road. In addition, at intersection B, there is a large traffic volume on the main road, and a vehicle traveling on the main road travels at a relatively high speed, so there is less opportunity for vehicles entering the main road from the side road to enter the main road. ing. Therefore, at intersection B, the vehicle entering the main road from the side road is more likely to turn right or left so as to interrupt the travel of the vehicle traveling on the main road. It is the tallest.

  Further, the intersection C is an intersection where many elderly people use, and is an intersection where a vehicle often travels without being aware of the presence of other vehicles. Therefore, at the intersection C, when a vehicle (for example, the host vehicle) travels at the intersection, the moving obstacle (for example, the oncoming vehicle) tends to travel independently regardless of the behavior of the vehicle (even the host vehicle). As a result, at the intersection C, the ratio γ of the maintenance action is the highest.

  Next, the server control device 220 will be described. The server control device 220 executes a ROM storing a program for transmitting the movement tendency of the moving obstacle at each intersection to the in-vehicle device 100 according to the request of the in-vehicle device 100, and the program stored in the ROM Thus, the computer is a computer including a CPU as an operation circuit that executes each function and a RAM functioning as an accessible storage device.

  The server control device 220 causes the CPU to execute the program stored in the ROM, thereby transmitting the behavior tendency of the moving obstacle at the intersection to the in-vehicle device 100 in response to the request of the in-vehicle device 100; A behavior type storage function of storing the behavior type of the moving obstacle transmitted from the device 100 in the database 210 for each intersection. Below, each function with which the server control apparatus 220 is provided is demonstrated.

  The action tendency transmission function of the server control device 220 transmits the action tendency of the moving obstacle at the target intersection where the vehicle travels to the in-vehicle device 100 in response to a request from the in-vehicle device 100. In the present embodiment, when the vehicle equipped with the in-vehicle apparatus 100 travels at the target intersection, the in-vehicle apparatus 100 sends the request signal of the movement tendency of the moving obstacle at the target intersection to the server 200 together with the identification information of the target intersection. Send. The action tendency transmission function refers to the database 210 in response to the request of the in-vehicle apparatus 100, and takes the action type with the highest ratio among the action types of the moving obstacle at the target intersection as the action tendency of the moving obstacle at the target intersection It judges and transmits to the in-vehicle device 100.

  For example, in the example shown in FIG. 4, the behavior tendency transmission function can determine the movement tendency of the moving obstacle at the intersection A as the synchronization behavior because the ratio of the synchronization behavior is the highest at the intersection A. Further, the behavior tendency transmission function can determine the behavior tendency of the moving obstacle at the intersection B as the repulsion behavior because the ratio of the repulsion behavior is the highest at the intersection B. Furthermore, since the behavior tendency transmission function has the highest ratio of the maintenance behavior at the intersection C, the behavior tendency of the vehicle at the intersection C can be determined as the maintenance behavior. Then, the behavior tendency transmission function transmits the behavior tendency of the moving obstacle at the intersection requested by the in-vehicle apparatus 100 to the in-vehicle apparatus 100 via the server communication device 230. Thus, by determining the action type with the highest ratio at the target intersection among the action types of the moving obstacle as the action tendency of the moving obstacle at the target intersection, the action tendency of the moving obstacle at the target intersection is appropriate It can be judged.

  The action type storage function of the server control device 220 stores the action type of the moving obstacle for the vehicle transmitted from each on-vehicle device 100 in the database 210. In the present embodiment, when a vehicle equipped with the in-vehicle apparatus 100 travels at an intersection, the in-vehicle apparatus 100 causes the vehicle to travel at the intersection, and the behavior type of the moving obstacle (for example, oncoming vehicle) The action information, the repulsive action, or the maintenance action) and the identification information of the intersection at which the vehicle has traveled are transmitted to the server 200. The behavior type storage function acquires the behavior type of the moving obstacle for the vehicle and the identification information of the intersection, which are transmitted from the in-vehicle device 100 via the server communication device 230. Then, the action type storage function stores the action type information of the moving obstacle with respect to the vehicle at the intersection in the database 210 in association with the intersection identification information. As a result, as shown in FIG. 4, the ratio information of the movement type of the moving obstacle with respect to the vehicle is stored in the database 210 for each intersection.

  Next, the travel control process according to the first embodiment will be described with reference to FIG. FIG. 5 is a flowchart showing a traveling control process according to the first embodiment.

  In step S101, the traveling control device 160 acquires various information. Specifically, the own vehicle information acquisition function of the traveling control device 160 acquires the own vehicle information such as the vehicle speed, the steering angle, and the position of the own vehicle detected by the own vehicle state detection device 130. Also, the obstacle information acquisition function of the traveling control device 160 acquires the detection result of the obstacle detection device 120, and based on the acquired detection result of the obstacle detection device 120, an obstacle existing around the host vehicle Obstacle information such as the shape, position, distance to the vehicle, relative velocity with respect to the vehicle, etc. is acquired. Furthermore, the detection result of the road detection device 110 is acquired by the road information acquisition function of the traveling control device 160, and the road information of the road on which the vehicle travels is acquired based on the acquired detection result of the road detection device 110. Ru. Note that the obstacle information acquisition function determines whether or not the obstacle is a moving obstacle based on the shape and relative speed of the obstacle present around the host vehicle, and the obstacle is a moving obstacle In the case, it is also possible to acquire information indicating that it is a moving obstacle as obstacle information.

  In step S102, the traveling control device 160 identifies an intersection where the host vehicle travels. For example, in the present embodiment, when the user inputs a destination, the route search function of the travel control device 160 searches for a travel route from the position of the own vehicle to the destination and is set as the travel route of the own vehicle Ru. The travel control device 160 refers to the map information and specifies, as a target intersection, an intersection at which the host vehicle travels on the travel route of the host vehicle set by the route search function.

  In step S103, the action tendency acquisition function of the travel control device 160 acquires the action tendency of the moving obstacle at the target intersection identified in step S102. For example, when the target intersection is specified in step S102, the behavior tendency acquisition function sends a request signal of the movement tendency of the moving obstacle at the target intersection to the server 200 together with the identification information of the target intersection via the on-vehicle communication device 170. Send. The server 200 receives the request signal and the identification information of the target intersection, and refers to the ratio information of the movement type of the moving obstacle stored in the database 210 to determine the movement tendency of the moving obstacle at the target intersection. Then, the server 200 transmits the movement tendency of the moving obstacle at the target intersection to the in-vehicle device 100 via the server communication device 230. Thereby, the action tendency acquisition function of the in-vehicle apparatus 100 can acquire the action tendency of the moving obstacle at the target intersection from the server 200.

  In step S104, the travel plan creation function of the control device 160 creates a travel plan of the own vehicle. Specifically, based on the road information, the obstacle information, and the vehicle information acquired in step S101, the driving plan creation function sets an area where the vehicle and the obstacle are likely to approach to be an avoidance area. Set Then, the travel plan creation function creates a travel plan of the host vehicle by determining a target trajectory for avoiding the avoidance area and a target speed and a target steering angle at each position on the target trajectory.

  In step S105, the traveling control device 160 determines whether the host vehicle has traveled to the vicinity of the target intersection. If the host vehicle is traveling near the target intersection, the process proceeds to step S106. On the other hand, when the host vehicle has not traveled to the vicinity of the target intersection, the process proceeds to step S109, and travel of the host vehicle is controlled based on the travel plan created in step S104.

  In step S106, the travel plan created by step S104 is corrected by the travel plan creation function of the travel control device 160 based on the behavior tendency of the target intersection acquired in step S103. For example, as shown in FIG. 2A, in a scene where the host vehicle turns right at the intersection and the oncoming vehicle goes straight through the intersection, if the behavior tendency of the moving obstacle at the target intersection is the synchronized behavior, The plan creation function monitors the movement of the oncoming vehicle, and can correct the traveling plan of the own vehicle so that the own vehicle makes a right turn when the oncoming vehicle decelerates.

  Also, as shown in FIG. 2 (B), in a scene where the host vehicle turns right at the intersection and the oncoming vehicle goes straight through the intersection, when the action tendency of the moving obstacle at the intersection is repulsion, the travel plan The creation function waits until, for example, the traffic signal prohibits the oncoming vehicle from going straight and gives a signal to permit the right turn of the subject vehicle, and corrects the travel plan of the subject vehicle so that the subject vehicle makes a right turn after this signal is output. can do. In addition, the travel plan creation function pauses at the intersection before making a right turn, and when the traffic light changes from a green light (Go signal) to a red light (NoGo signal), the own vehicle makes a right turn. It is also possible to correct the travel plan of the vehicle. Furthermore, the travel plan creation function may be configured to correct the travel plan of the host vehicle so that the host vehicle makes a right turn when the distance to the oncoming vehicle is equal to or greater than a predetermined distance.

  Furthermore, as shown in FIG. 2C, in a scene where the host vehicle turns right at the intersection and the oncoming vehicle goes straight through the intersection, when the behavior tendency at the intersection is the maintenance action, the travel plan creation function It is possible to correct the travel plan of the vehicle so as to wait until the oncoming vehicle passes the intersection.

  In step S107, the traveling control function of the traveling control device 160 performs traveling control of the host vehicle based on the traveling plan corrected in step S106. That is, the travel control function determines target control values of the drive device 140 and the steering device 150 so as to travel at the corrected target speed at the corrected target trajectory. Then, the traveling control function outputs the determined target control value to the drive device 140 and the steering device 150. Thus, the traveling of the vehicle can be controlled in accordance with the behavior tendency of the moving obstacle at the target intersection.

  As described above, the travel control system according to the present embodiment acquires the action tendency of the moving obstacle with respect to the vehicle at the target intersection, and when the own vehicle travels the target intersection, the action tendency of the moving obstacle at the target intersection Control the traveling of the host vehicle when traveling the target intersection. Thereby, in the present embodiment, it is possible to appropriately control the traveling of the own vehicle at the intersection in accordance with the action tendency of the moving obstacle.

  For example, as shown in FIG. 2 (A) and FIG. 3 (A), when the behavior tendency of the moving obstacle at the target intersection is the synchronized behavior, the behavior of the moving obstacle changes due to the action of the own vehicle The traveling control of the own vehicle is controlled such that the own vehicle travels the target intersection. When the behavior tendency of the moving obstacle at the target intersection is the synchronized behavior, the moving obstacle acts in synchronization with the behavior of the vehicle when the behavior of the moving obstacle changes due to the behavior of the vehicle In such a case, by causing the host vehicle to travel the target intersection, it is possible to cause the host vehicle to travel the target intersection without approaching the moving obstacle.

  Also, as shown in FIG. 2 (B) and FIG. 3 (B), when the action tendency of the moving obstacle at the target intersection is a repelling action, the possibility that the own vehicle and the moving obstacle approach is low. In a situation (for example, when the oncoming vehicle is prohibited from going straight and the signal to permit the right turn of the subject vehicle is issued, or when the traffic light changes to a stopping signal when the vehicle is temporarily stopped at an intersection, or In the case where the host vehicle is separated from the oncoming vehicle by a predetermined distance or more), the travel of the host vehicle is controlled such that the host vehicle travels the target intersection. If the movement tendency of the moving obstacle at the target intersection is a repulsive action, there is a possibility that the moving obstacle may act to approach the host vehicle, and such a possibility is low. By causing the host vehicle to travel the target intersection, the host vehicle can safely travel the target intersection.

  Furthermore, as shown in FIG. 2 (C) and FIG. 3 (C), when the action tendency of the moving obstacle at the target intersection is the maintenance action, the moving obstacle passes the target intersection and then the own vehicle Control the traveling of the vehicle so that the vehicle travels at the target intersection. When the action tendency of the moving obstacle at the target intersection is a maintenance action, the moving obstacle may act regardless of the action of the host vehicle, so the moving obstacle travels the target intersection first. , You can make your own vehicle travel safely at the target intersection.

Second Embodiment
Subsequently, a traveling control system according to a second embodiment will be described. The traveling control system according to the second embodiment has the same configuration as the traveling control system of the first embodiment, and is the same as the first embodiment except that it operates as described below.

  In the second embodiment, the on-vehicle apparatus 100 is a traveling scene where the traveling scene of the own vehicle can suppress the approach between the own vehicle and the traveling obstacle by causing the moving obstacle to perform a predetermined action. In this case, it has a function of controlling the traveling of the vehicle so as to urge the moving obstacle to a predetermined action. In order to realize the function, in addition to the function according to the first embodiment, the travel control device 160 according to the second embodiment further includes a scene determination function that determines a traveling scene of the host vehicle.

  The scene determination function of the traveling control device 160 determines the traveling scene of the host vehicle. For example, in the scene shown in FIG. 6A, the scene determination function is based on the road information, the obstacle information, and the own vehicle information, and the obstacle ahead of the own vehicle is the oncoming vehicle and the own vehicle Since it can be determined that the oncoming vehicle is passing at the intersection, the traveling scene of the own vehicle can be determined to be a scene where the own vehicle and the oncoming vehicle are passing at the intersection. In the scene shown in FIG. 7A, the scene determination function is based on road information, obstacle information, and own vehicle information, and the road on which the own vehicle travels is a road with two lanes or more on one side. The obstacle ahead of the vehicle is the preceding vehicle traveling on the adjacent lane adjacent to the lane where the vehicle is traveling, and it can be determined that the preceding vehicle changes lanes to the traveling lane of the vehicle. The scene can be determined to be a scene in which the preceding vehicle changes lanes to the travel lane of the host vehicle. In the scene shown in FIG. 7A, the scene determination function determines that the leading vehicle changes lanes to the lane in which the host vehicle is traveling by detecting blinking of the turn indicator of the leading vehicle. Can.

  Furthermore, the scene determination function determines whether or not the determined traveling scene of the host vehicle is a traveling scene in which the proximity between the host vehicle and the mobile obstacle can be suppressed by prompting the mobile obstacle to perform a predetermined action. To judge. For example, in the traveling scene shown in FIG. 6A, the oncoming vehicle (moving obstacle) may turn right at the intersection, and by turning the oncoming vehicle to the right first, the approach between the own vehicle and the oncoming vehicle is suppressed. can do. Further, in the traveling scene shown in FIG. 7A, there is a possibility that the leading vehicle (moving obstacle) may change lanes to the own lane, and the inter-vehicle distance between the own vehicle and the leading vehicle is increased. By doing this, it is possible to suppress the approach between the host vehicle and the preceding vehicle. In the present embodiment, by prompting the moving obstacle for a predetermined action, information on a traveling scene capable of suppressing the approach of the vehicle and the moving obstacle is stored in advance in the ROM of the control device 160. There is. Therefore, the scene determination function refers to the ROM of the control device 160, and the traveling scene of the host vehicle urges the mobile obstacle to perform a predetermined action, thereby suppressing the approach between the host vehicle and the mobile obstacle. It can be determined whether it is a predetermined traveling scene that can be performed.

  Further, in the travel plan creation function according to the second embodiment, the traveling scene of the own vehicle can suppress the approach between the own vehicle and the moving obstacle by urging the moving obstacle to perform a predetermined action. If so, a travel plan of the vehicle is prepared so as to urge the moving obstacle to a predetermined action. In addition, the preparation method of the travel plan for promoting a predetermined action to a moving obstacle is mentioned later.

  Next, with reference to FIG. 8, a traveling control process according to the second embodiment will be described. FIG. 8 is a flowchart showing a traveling control process according to the second embodiment.

  In steps S201 to S205, processing is performed in the same manner as steps S101 to S105 in the first embodiment. That is, after acquisition of various information is performed (step S101), identification of a target intersection where the host vehicle travels is performed, and acquisition of an action tendency of a moving obstacle at the target intersection is performed (step S103). Further, a travel plan of the host vehicle is prepared (step S104), and it is determined whether the host vehicle has traveled to the vicinity of the target intersection (step S105). When the host vehicle travels to the vicinity of the target intersection, the process proceeds to step S206.

  In step S206, the scene determination function of the traveling control device 160 determines the traveling scene of the vehicle based on the road information, the vehicle information, and the obstacle information acquired in step S201. For example, in the scene shown in FIG. 6A, the scene determination function can determine that the traveling scene of the host vehicle is a scene where the host vehicle and the oncoming vehicle pass each other at an intersection. Further, in the scene shown in FIG. 7A, the scene determination function can determine that the traveling scene of the host vehicle is a scene in which the preceding vehicle changes lanes to the lane of the host vehicle.

  In step S207, it is determined by the travel plan creation function of the travel control device 160 whether to urge the moving obstacle on the basis of the action tendency of the moving obstacle at the target intersection acquired in step S203. Setting of the first threshold is performed. For example, the traveling plan creation function sets the value of the first threshold to a predetermined first reference value when the action tendency of the moving obstacle at the target intersection is the synchronized action. In addition, the traveling plan creation function sets the value of the first threshold to a value lower than a predetermined first reference value when the action tendency of the moving obstacle at the target intersection is the repelling action. In addition, when the action tendency of the moving obstacle at the target intersection is a maintenance action, the travel plan creation function sets the value of the first threshold to a value higher than a predetermined first reference value.

  In step S208, in the travel scene determined in step S206 by the travel plan creation function of the travel control device 160, the degree of closeness between the host vehicle and the moving obstacle becomes equal to or higher than the first threshold set in step S207. A determination is made as to whether there are any. For example, in the traveling scene determined in step S206, the travel plan creation function identifies the movement pattern in which the moving obstacle moves, and the vehicle and the moving obstacle when the moving obstacle moves in each movement pattern. The degree of closeness of is calculated by simulation. Then, the travel plan creation function determines whether the degree of approach between the host vehicle and the moving obstacle in each movement pattern may be equal to or greater than a first threshold.

  For example, in the travel scene shown in FIG. 6A, the travel plan creation function is divided into two types of movement patterns: a movement pattern in which the oncoming vehicle travels straight ahead and a movement pattern in which the oncoming vehicle turns right One movement pattern can be identified. Then, the travel plan creation function predicts, by simulation, the degree of approach of the host vehicle and the oncoming vehicle with respect to each of a movement pattern in which the oncoming vehicle travels straight and a movement pattern in which the oncoming vehicle turns right at the intersection. Then, if there is a possibility that the degree of approach between the host vehicle and the oncoming vehicle may become equal to or higher than the first threshold in any one or more movement patterns, the travel plan creation function proceeds to step S210 and moves the obstacle A control process is performed to promote a predetermined action. On the other hand, in any movement pattern, when the degree of approach between the host vehicle and the oncoming vehicle does not become equal to or higher than the first threshold, the process proceeds to step S209 and travels the host vehicle based on the travel plan created in step S206. Control is performed.

  Further, in the traveling scene shown in FIG. 7A, the traveling plan creation function is a moving pattern in which the leading vehicle travels straight without changing the lane as the moving pattern of the leading vehicle which is a moving obstacle, and the leading vehicle It is possible to specify a movement pattern to change lanes to the lane of the vehicle. Then, the traveling plan creation function is based on the simulation that the preceding vehicle travels straight without changing the lane, and the traveling pattern in which the leading vehicle changes lanes to the lane of the own vehicle. Predict the degree of closeness of Then, when there is a case where the approach degree of the own vehicle and the preceding vehicle is equal to or more than the first threshold with respect to any one or more movement patterns, the travel plan creation function proceeds to step S210 and moves the obstacle A control process is performed to promote a predetermined action. On the other hand, in any movement pattern, when the degree of approach between the host vehicle and the preceding vehicle does not become equal to or higher than the first threshold, the process proceeds to step S209 and travels the host vehicle based on the travel plan created in step S206. Control is performed.

  Note that the travel plan creation function is based on the travel scene determined by the scene determination function by storing in advance in the ROM of the travel control device 160 a movement pattern in which the movement obstacle can move, for each travel scene. Thus, it is possible to read out from the ROM a movement pattern in which the movement obstacle can move and identify it. In addition, the travel plan creation function calculates the degree of approach between the host vehicle and the moving obstacle by using the approach degree calculation function, so that the host vehicle and the moving obstacle move when the moving obstacle moves in each movement pattern. The degree of closeness of

  Further, in the present embodiment, as described above, the first threshold is set based on the tendency of the moving obstacle at the target intersection. Specifically, the first threshold is set to a predetermined first reference value when the behavior tendency of the moving obstacle at the target intersection is the synchronized behavior, and the first threshold is predetermined when the behavior is the repelling behavior. The first threshold value is set to a value lower than the first reference value, and in the case of the maintenance action, the first threshold value is set to a value higher than the predetermined first reference value. Thereby, when the action tendency of the moving obstacle at the target intersection is the repelling action, the movement obstacle for suppressing the approach between the own vehicle and the moving obstacle as compared with the case of the synchronized action or the maintenance action It becomes easy to perform control processing which urges a predetermined action on an object. When the action tendency of the moving obstacle at the target intersection is the repelling action, the own vehicle and the moving obstacle are likely to approach in the future. Therefore, by lowering the first threshold, the moving obstacle can be urged to perform a predetermined action, and the approach between the host vehicle and the moving obstacle can be suppressed, and the host vehicle can be traveled safely.

  On the other hand, when the action tendency of the moving obstacle at the target intersection is the maintenance action, the moving obstacle is to suppress the approach between the own vehicle and the moving obstacle, as compared with the case of the entrainment action or the repelling action. It is difficult to perform control processing that causes the user to take a predetermined action. For example, when the action tendency of the moving obstacle at the target intersection is a maintenance action, it is difficult to urge the moving obstacle to perform a predetermined action, so by raising the first threshold, the predetermined action on the moving obstacle is It is possible to control the traveling of the own vehicle so that the own vehicle avoids the moving obstacle, instead of prompting the driver.

  In step S208, as a result of predicting the degree of approach of the host vehicle and the moving obstacle, if the level of approach of the host vehicle and the moving obstacle is equal to or greater than the first threshold in any of the movement patterns, the process proceeds to step S210. move on. In step S210, in order to suppress the approach of the host vehicle and the moving obstacle, control processing is performed to control the traveling of the host vehicle so as to urge the moving obstacle to a predetermined action. The control process of step S210 will be described below with reference to FIG. FIG. 9 is a flowchart showing control processing according to step S210.

  First, in step S301, by the scene determination function of the travel control device 160, the traveling scene of the host vehicle can suppress the approach between the host vehicle and the traveling obstacle by urging the mobile obstacle to perform a predetermined action. A determination is made as to whether it is a traveling scene. For example, in the traveling scene shown in FIG. 6A, by turning the oncoming vehicle to the right first, the approach between the own vehicle and the oncoming vehicle can be suppressed. Therefore, the scene determination function can suppress the approach between the own vehicle and the moving obstacle by urging the moving obstacle (oncoming vehicle) to perform a predetermined action (right turn) in the running scene of the own vehicle. It can be determined that Further, since the traveling scene shown in FIG. 7A is a traveling scene in which the approach of the host vehicle and the leading vehicle can be suppressed by changing the lane of the leading vehicle first, the scene determination function It can be determined that the traveling scene of the vehicle is a traveling scene in which the approaching of the own vehicle and the moving obstacle can be suppressed by urging the moving obstacle (preceding vehicle) to perform a predetermined action (lane change) it can.

  When it is determined that the traveling scene of the own vehicle can suppress the approach between the own vehicle and the moving obstacle by urging the moving obstacle to perform a predetermined action, step S302. On the other hand, if it is determined that the traveling scene can not prevent the approaching movement of the vehicle and the moving obstacle by urging the moving obstacle to perform a predetermined action, the process proceeds to step S311. In step S311, as in step S209, travel control of the host vehicle is performed based on the travel plan created in step S204. That is, the traveling of the own vehicle is controlled such that the own vehicle avoids the moving obstacle, instead of prompting the moving obstacle for a predetermined action.

  In step S302, the travel plan creation function of the travel control device 160 creates a travel plan for prompting the moving obstacle to perform a predetermined action. For example, in the scene shown in FIG. 6A, it is possible to urge the oncoming vehicle, which is a moving obstacle, to make a right turn by reducing the traveling speed of the host vehicle. In this case, the travel plan creation function can create the travel plan of the own vehicle so as to reduce the traveling speed of the own vehicle. Further, in the scene shown in FIG. 7A, by decelerating the traveling speed of the own vehicle, it is possible to urge the lane change of the preceding vehicle which is a moving obstacle. In this case, the travel plan creation function can create the travel plan of the own vehicle so as to reduce the traveling speed of the own vehicle. In addition, the traveling control device 160 performs an action pattern of the own vehicle (for example, in the example shown in FIG. 6A and FIG. 7A) for urging the moving obstacle to a predetermined action for each traveling scene. What to do) is stored in advance in the ROM. As a result, the travel plan creation function can create a travel plan for urging the moving obstacle to perform a predetermined action.

  In step S303, the travel plan creation function of the travel control device 160 predicts the degree of approach between the host vehicle and another moving obstacle when the travel plan created in step S302 is executed. For example, in the example shown in FIG. 6A, in order to urge the oncoming vehicle, which is a moving obstacle, to make a right turn, the vehicle and the following vehicle (others are moved when control is performed to reduce the traveling speed of the vehicle). (An obstacle) may approach. Similarly, also in the example shown in FIG. 7A, in order to urge the preceding vehicle which is a moving obstacle to change lanes, when control is performed to reduce the traveling speed of the own vehicle, It may approach other moving obstacles). Thus, the travel plan creation function predicts, by simulation, the degree of approach in which the host vehicle and another moving obstacle approach when the travel plan created in step S302 is executed.

  Then, in step S304, when the travel plan created in step S302 is executed by the travel plan creation function of the travel control device 160 based on the prediction result of the approach degree in step S303, the own vehicle and other movement obstacles A determination is made as to whether the degree of proximity to an object is equal to or greater than a predetermined second threshold. If the degree of approach between the host vehicle and another moving obstacle is equal to or higher than the predetermined second threshold, the process proceeds to step S311, and travel control of the host vehicle is performed based on the travel plan created in step S204. That is, control for prompting a moving obstacle to perform a predetermined action is not performed, and processing for controlling the traveling of the vehicle is performed so that the vehicle avoids the moving obstacle. On the other hand, when the travel plan created in step S302 is executed, if the degree of approach between the host vehicle and another moving obstacle is less than the predetermined second threshold, the process proceeds to step S305. Then, in step S305, travel control of the host vehicle is performed based on the travel plan created in step S302 by the travel plan creation function of the travel control device 160.

  Further, in step S306, based on the action tendency of the moving obstacle at the target intersection acquired in step S203, the setting of the third threshold and the determination time for determining whether the moving obstacle performed a predetermined action is performed. It will be. For example, the traveling plan creation function sets the value of the third threshold to a predetermined second reference value when the action tendency of the moving obstacle at the target intersection is the synchronized action or the maintenance action. On the other hand, the travel plan creation function sets the value of the third threshold value to a value higher than a predetermined second reference value when the action tendency of the moving obstacle at the target intersection is a repulsive action. In addition, the travel plan creation function sets the determination time to a predetermined reference time when the action tendency of the moving obstacle at the target intersection is the synchronized action or the repulsive action. On the other hand, when the action tendency of the moving obstacle at the target intersection is the maintenance action, the travel plan creation function sets the determination time to a time longer than the predetermined reference time.

  Then, in step S307, it is determined by the travel control function of the travel control device 160 whether or not the moving obstacle has performed a predetermined action. For example, in the scene example shown in FIG. 6A, the traveling control function determines whether the oncoming vehicle has made a right turn as a result of performing control to reduce the vehicle speed of the own vehicle. Moreover, in the example of a scene shown to FIG. 7 (A), a traveling control function judges whether a preceding vehicle performed lane change as a result of having performed control which the own vehicle reduces a vehicle speed. If it is determined that the moving obstacle does not perform the predetermined action, the process proceeds to step S309. On the other hand, when the moving obstacle performs a predetermined action, the process proceeds to step S308.

  In step S308, it is determined that the moving obstacle performs an action to suppress the approach to the host vehicle, so the travel control function of travel control device 160 causes the travel plan created in step S302 to be generated. The traveling control of the host vehicle based on the above is continuously executed. Thus, for example, in the example shown in FIG. 6A, the oncoming vehicle can be turned to the right first, and after the oncoming vehicle turns the intersection to the right, the own vehicle can pass the intersection. Further, in the example shown in FIG. 7A, it is possible to cause the preceding vehicle to change lanes first, and it is possible to continue traveling while maintaining a certain inter-vehicle distance from the preceding vehicle whose lane has been changed.

  When it is determined in step S307 that the moving obstacle does not perform an action for suppressing the approach to the host vehicle, the process proceeds to step S309. In step S309, the traveling control function of the traveling control device 160 controls the traveling of the vehicle so as to urge the moving obstacle to a predetermined action, and then it is determined whether the determination time set in step S306 has elapsed. Is done. If the determination time set in step S306 has not elapsed, the process proceeds to step S310. On the other hand, if the determination time set in step S306 has elapsed, the process proceeds to step S311 and is created in step S204. The travel control of the host vehicle is performed based on the travel plan.

  In step S310, it is determined by the travel control function of the travel control device 160 whether the degree of approach between the host vehicle and the moving obstacle is greater than or equal to the third threshold set in step S306. If the degree of approach between the host vehicle and the moving obstacle is less than the third threshold, the process returns to step S307, and it is determined again whether the moving obstacle has performed a predetermined action. On the other hand, if the degree of approach between the host vehicle and the moving obstacle is equal to or higher than the third threshold, the process proceeds to step S311, and travel control of the host vehicle is performed based on the travel plan created in step S204.

  As described above, in the second embodiment, the traveling scene of the own vehicle urges the moving obstacle to perform a predetermined action, whereby the approaching traveling between the own vehicle and the moving obstacle can be suppressed. Determine if there is. Then, if the traveling scene of the own vehicle is a traveling scene capable of suppressing the approach between the own vehicle and the moving obstacle, a traveling plan for prompting the moving obstacle to a predetermined action is created, Control the running of the vehicle. Thereby, in the second embodiment, it is possible to effectively suppress the approaching of the own vehicle and the moving obstacle itself rather than avoiding the moving obstacle after the approaching vehicle and the moving obstacle approach. Since the vehicle can be driven, the vehicle can travel safely and properly.

  That is, conventionally, as shown in FIG. 6 (B), when the oncoming vehicle turns right and the oncoming vehicle approaches the oncoming vehicle, the traveling of the own vehicle is controlled to avoid the oncoming vehicle. Therefore, conventionally, even after the oncoming vehicle starts turning to the right, the vehicle continues to travel without decelerating until the vehicle approaches the oncoming vehicle to some extent, and the vehicle approaches the oncoming vehicle to some extent, Control to stop the host vehicle quickly is performed. On the other hand, as shown to FIG. 6 (A), in this embodiment, in order to urge an oncoming vehicle to make a right turn, the oncoming vehicle may be made to make a right turn first by decelerating the vehicle speed of the own vehicle beforehand. it can. As a result, the host vehicle can travel at the intersection without approaching the oncoming vehicle.

  Similarly, conventionally, as shown in FIG. 7B, when the preceding vehicle changes lanes and the own vehicle approaches the own vehicle, the traveling of the own vehicle is controlled to avoid the preceding vehicle. . Therefore, even after the lane change of the leading vehicle is started, the host vehicle continues traveling without decelerating until the host vehicle approaches the leading vehicle to some extent, and the host vehicle approaches the front vehicle to some extent, Control to make a sudden stop is performed. On the other hand, as shown to FIG. 7 (A), in this embodiment, in order to urge a preceding vehicle to change lanes, the vehicle speed of the host vehicle is decelerated in advance, so that the preceding vehicle which is a moving obstacle is first. You can change lanes. As a result, the own vehicle can travel safely with a certain distance from the preceding vehicle.

  In the second embodiment, in the traveling scene of the host vehicle, the movement pattern in which the mobile obstacle moves is specified, and the degree of proximity between the host vehicle and the movement obstacle when the mobile obstacle moves in each movement pattern Is calculated by simulation, and when the degree of approach between the host vehicle and the moving obstacle may be equal to or greater than the first threshold value, control processing is performed to urge the moving obstacle to perform a predetermined action. In particular, in the second embodiment, the value of the first threshold is set based on the action tendency of the moving obstacle at the target intersection. That is, when the action tendency of the moving obstacle is the repelling action, the first threshold is set to a lower value than when the action tendency of the moving obstacle is the synchronized action or the maintenance action. Thereby, when the action tendency of the moving obstacle is a repelling action where there is a high possibility that the own vehicle and the moving obstacle approach each other, the control process for promoting the predetermined action to the moving obstacle is easily performed Become. As a result, the own vehicle and the moving obstacle can be prevented from approaching each other, and the own vehicle can travel at the intersection more safely.

  Furthermore, when the action tendency of the moving obstacle is the maintenance action, the first threshold is set to a higher value than when the action tendency of the moving obstacle is the synchronized action or the repulsive action. Here, when the action tendency of the moving obstacle is the maintenance action, the moving obstacle acts regardless of the action of the host vehicle, and it is relatively difficult to urge the moving obstacle to a predetermined action. Therefore, in the present embodiment, when the action tendency of the moving obstacle is a maintenance action, the first threshold is set to a high value to allow the own vehicle to travel so as to avoid the moving obstacle. Is easy to control.

  Further, in the second embodiment, as a result of performing control to urge the moving obstacle to perform a predetermined action, the moving obstacle does not perform a predetermined action, and the proximity degree between the own vehicle and the moving obstacle is predetermined. When it becomes 3 threshold values or more, the traveling of the own vehicle is controlled so that the own vehicle avoids the moving obstacle. In particular, when the action tendency of the moving obstacle is a repulsive action, the third threshold is changed to a higher value than when the action tendency of the moving obstacle is a synchronized action or a maintenance action. Thereby, when the action tendency of the moving obstacle is a repelling action in which the own vehicle and the moving obstacle are likely to approach each other, control for urging the moving obstacle to perform a predetermined action is likely to be continued. As a result, the approach between the moving obstacle and the own vehicle is easily suppressed, and the own vehicle can safely travel at the intersection.

  Furthermore, in the second embodiment, as a result of performing control to urge the moving obstacle to perform a predetermined action, when the moving obstacle does not perform a predetermined action and the predetermined determination time has elapsed, the vehicle Control the traveling of the vehicle so as to avoid moving obstacles. In particular, when the action tendency of the moving obstacle is a maintenance action, the judgment time is extended as compared with the case where the action tendency of the moving obstacle is a synchronized action or a repulsive action. If the movement obstacle's behavior tendency is a maintenance action in which the movement obstacle tends to act independently regardless of the behavior of the vehicle, it tends to take time for the movement obstacle to notice the behavior of the vehicle Yes, by taking a long time to determine whether a moving obstacle has taken a predetermined action, it becomes easier for the moving obstacle to take a predetermined action, and as a result, the own vehicle can safely travel at the intersection. It becomes possible.

  Although the embodiments of the present invention have been described above, these embodiments are described to facilitate the understanding of the present invention, and not to limit the present invention. Therefore, each element disclosed in the above embodiment is intended to include all design changes and equivalents that fall within the technical scope of the present invention.

  For example, in the embodiment described above, the configuration for controlling the traveling of the vehicle is illustrated in a scene where the vehicle travels at an intersection, but the invention is not limited to this configuration. For example, the vehicle changes lanes at the junction In the scene, the traveling of the host vehicle at the junction may be controlled based on the movement tendency of the moving obstacle at the junction.

  Further, in the above-described embodiment, the configuration has been exemplified in which the action type of the moving obstacle with respect to the own vehicle is determined when the own vehicle travels the intersection, and the determined action type of the moving obstacle is transmitted to the server 200. However, the present invention is not limited to this configuration. For example, when the driver of the own vehicle is driving, the behavior type of the own vehicle for the moving obstacle is determined when the own vehicle travels at the intersection, The action type may be transmitted to the server 200 as a movement obstacle action type.

  Furthermore, in the embodiment described above, behavior type ratio information of the moving obstacle at each intersection is stored in the database 210, and the server 200 performs the action of the car moving obstacle at each intersection in response to a request from the in-vehicle device 200. Although the configuration for judging the tendency and transmitting to the in-vehicle apparatus 100 has been exemplified, the present invention is not limited to this configuration. For example, the ratio of action types of moving obstacles at each intersection is investigated in advance. It can be made to memorize only the movement tendency of the moving obstacle in the intersection. In this case, the volume of information stored in the database 210 can be reduced.

  In addition, in the above-described second embodiment, as shown in FIGS. 6A and 7A, a configuration is illustrated in which the traveling speed of the host vehicle is reduced to urge the moving obstacle to a predetermined action. However, the present invention is not limited to this configuration. For example, depending on the traveling scene, acceleration of the vehicle or lane change may be performed in order to urge the moving obstacle to a predetermined action.

  In the embodiment described above, the action tendency acquisition function of the traveling control device 160 corresponds to the acquiring means of the present invention, and the traveling plan creation function and the traveling control function of the traveling control device 160 correspond to the control means of the present invention. The obstacle information acquisition function and the travel plan creation function of the present invention correspond to the detection means of the present invention, and the scene determination function of the travel control device 160 corresponds to the judgment means of the present invention.

100 ... travel control device 110 ... road detection device 120 ... obstacle detection device 130 ... vehicle state detection device 140 ... drive device 150 ... steering device 160 ... travel control device 170 ... in-vehicle communication device 200 ... server 210 ... database 220 ... server Control device 230 ... server communication device

Claims (10)

Acquisition means for acquiring the movement tendency of the moving obstacle with respect to the vehicle at the target intersection where the own vehicle turns right or left;
A traveling control device having control means for controlling traveling of the own vehicle based on an action tendency of the moving obstacle at the target intersection when the own vehicle travels the target intersection ;
Equipped with a server,
The behavior tendency is determined on the basis of the tabulated result of the behavior stored for each intersection, from among the behaviors of moving obstacles for vehicles at intersections, which are previously classified.
The server transmits an action tendency of the moving obstacle at the target intersection in response to a request from a vehicle traveling the target intersection.
The travel control system, wherein the acquisition means acquires the behavioral tendency by receiving the behavioral tendency of the moving obstacle transmitted from the server . The traveling control system according to claim 1, wherein
The behavioral tendency includes a synchronized behavior in which a moving obstacle acts in synchronization with the behavior of the vehicle ,
The said synchronized behavior is
At the intersection, when the vehicle turns and the moving obstacle goes straight as the oncoming vehicle, the movement obstacle decelerates in response to the vehicle turning;
At the intersection, when the own vehicle goes straight and the moving obstacle turns as an oncoming vehicle, the moving obstacle decelerates in response to the going straight of the own vehicle.
When the behavior tendency of the moving obstacle at the target intersection is the synchronized behavior when the host vehicle travels the target intersection, the control means changes the behavior of the movement obstacle by the target vehicle behavior. And a traveling control system for controlling traveling of the own vehicle such that the own vehicle travels the target intersection. The travel control system according to claim 1 or 2, wherein
The action tendency includes a repulsive action in which a moving obstacle acts to impede the action of the vehicle .
The repulsive action is
At the intersection, when the host vehicle turns and the moving obstacle goes straight as the oncoming vehicle, the moving obstacle accelerates to go straight ahead before the host vehicle bends;
At the intersection, when the own vehicle goes straight and the moving obstacle turns as an oncoming vehicle, the moving obstacle accelerates to turn earlier than the straight moving of the own vehicle.
When the own vehicle travels the target intersection, the control means may cause the own vehicle to approach the movement obstacle when the action tendency of the moving obstacle at the target intersection is the repulsive action. A traveling control system for controlling traveling of the own vehicle such that the own vehicle travels at the target intersection when the predetermined condition is low. The traveling control system according to any one of claims 1 to 3, wherein
The behavior tendency includes a maintenance behavior in which a moving obstacle acts independently regardless of the behavior of the vehicle .
The maintenance action is
At the intersection, when the vehicle turns and the moving obstacle goes straight as the oncoming vehicle, the moving obstacle moves straight at a constant speed regardless of the vehicle turning.
At the intersection, when the host vehicle travels straight and the moving obstacle turns as an oncoming vehicle, the moving obstacle bends at a constant speed regardless of whether the host vehicle travels straight,
The control means is configured to, after the moving obstacle passes the target intersection, when the behavior tendency of the moving obstacle at the target intersection is the maintenance action when the host vehicle travels the target intersection. A traveling control system for controlling traveling of the own vehicle such that the own vehicle travels the target intersection. The travel control system according to any one of claims 1 to 4, wherein
The travel control system , wherein the acquisition unit acquires, as the behavior tendency of the moving obstacle at the target intersection , an action having the highest ratio among the actions of the moving obstacle with respect to the vehicle at the intersection, which has been typed in advance . The traveling control system according to any one of claims 1 to 5, wherein
The travel control device
Whether the traveling scene of the own vehicle is a target scene where the approaching of the own vehicle and the moving obstacle can be suppressed by performing a predetermined action by which the moving obstacle can prevent the approaching of the own vehicle and the moving obstacle Further provided with a determination means for determining whether or not
The target scene is
When the moving obstacle is an oncoming vehicle, and the moving obstacle is scheduled to turn when the moving vehicle and the moving obstacle are passing each other at an intersection, the moving obstacle bends first, whereby the own vehicle and the moving obstacle are bent. Intersection driving scene which can control approach with moving obstacle,
When the moving obstacle is a leading vehicle traveling on the adjacent lane of the own lane where the own vehicle is traveling, if the moving obstacle is scheduled to change lane to the own lane, the moving obstacle first changes lanes Lane change traveling scene, which can suppress the approach between the host vehicle and the moving obstacle by executing
The control means
When it is determined that the vehicle is traveling at an intersection, control processing is performed to reduce the speed of the host vehicle so that the moving obstacle bends first .
When it is determined that the lane change traveling scene is performed, a control process is performed to reduce the vehicle speed of the host vehicle so that the moving obstacle performs the lane change first.
A travel control system that determines whether or not to execute the control process based on the movement tendency of the moving obstacle at the target intersection. The travel control system according to claim 6, wherein
The action tendencies, regardless of the tuning behavior, rebound behavior, movement obstacle of the vehicle behavior moving obstacle to act to prevent the behavior of the vehicle moving obstacle to act in unison behavior of the vehicle Including maintenance actions that act independently ,
The said synchronized behavior is
At the intersection, when the vehicle turns and the moving obstacle goes straight as the oncoming vehicle, the movement obstacle decelerates in response to the vehicle turning;
At the intersection, when the own vehicle goes straight and the moving obstacle turns as an oncoming vehicle, the moving obstacle decelerates in response to the going straight of the own vehicle.
The repulsive action is
At the intersection, when the host vehicle turns and the moving obstacle goes straight as the oncoming vehicle, the moving obstacle accelerates to go straight ahead before the host vehicle bends;
At the intersection, when the own vehicle goes straight and the moving obstacle turns as an oncoming vehicle, the moving obstacle accelerates to turn earlier than the straight moving of the own vehicle.
The maintenance action is
At the intersection, when the vehicle turns and the moving obstacle goes straight as the oncoming vehicle, the moving obstacle moves straight at a constant speed regardless of the vehicle turning.
A traveling control system that includes an action of the moving obstacle bending at a constant speed regardless of the going straight of the own vehicle when the own vehicle goes straight and the moving obstacle turns as an oncoming vehicle at an intersection . The travel control system according to claim 7, wherein
The control means
The control process is executed when the degree of approach between the host vehicle and the moving obstacle at the target intersection is equal to or greater than a predetermined approach threshold.
If the action tendency of the moving obstacle is the repelling action, the approach threshold may be set to a lower value than when the action tendency of the moving obstacle is the entrainment action or the maintenance action, or When the action tendency of the moving obstacle is the maintenance action, the approach threshold is set to a higher value than when the action tendency of the moving obstacle is the entrainment action or the repelling action ,
The travel control system, wherein the approach degree indicates a degree to which the driver feels that the host vehicle is approaching an obstacle. The travel control system according to claim 7, wherein
The control means
As a result of performing the control process, when the moving obstacle does not perform the predetermined action, when the degree of approach between the vehicle and the moving obstacle becomes equal to or more than a predetermined avoidance threshold, the vehicle Execute travel control of the vehicle to avoid moving obstacles,
When the action tendency of the moving obstacle is the repelling action, the avoidance threshold is set to a higher value than when the action tendency of the moving obstacle is the synchronization action or the maintenance action ,
The travel control system, wherein the approach degree indicates a degree to which the driver feels that the host vehicle is approaching an obstacle . The travel control system according to any one of claims 7 to 9, wherein
The control means
As a result of performing the control process, when the moving obstacle does not perform the predetermined action, and the predetermined determination time has elapsed, the traveling control of the vehicle is executed so that the vehicle avoids the moving obstacle. And
The traveling control system which sets up the judgment time longer than the case where the action tendency of the moving obstacle is the entrainment action or the repelling action when the action tendency of the moving obstacle is the maintenance action.

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