JP6582936B2 - Route generator, automatic travel control system - Google Patents

Description

  The present invention relates to a route generation device that generates a route for a host vehicle to travel, and an automatic travel control system including the route generation device.

  Patent Document 1 describes a technique in which a plurality of indicator lamps are provided at positions that are visible from the following vehicle at the rear of the vehicle, and the indicator lamps that are turned on are switched according to the traveling state of the vehicle. By doing in this way, it is supposed that the intention of the driver of the preceding vehicle can be transmitted to the succeeding vehicle.

JP 2014-19220 A

  By the way, in recent years, development of technology related to automatic driving has been advanced in which part or all of the driving operation necessary for driving a vehicle is automatically performed on behalf of the driver. In such automatic driving, for example, when a pedestrian crossing the road is detected in front of the host vehicle, the pedestrian is preferentially passed by decelerating or stopping before the pedestrian. Need to do.

  At this time, it is desirable that consideration should be given so that the succeeding vehicle does not interfere with the pedestrian crossing the road because the succeeding vehicle overtakes the host vehicle that decelerates or stops. For that purpose, it is considered effective to transmit the intention of the host vehicle to decelerate or stop to the following vehicle. On the other hand, in the method of transmitting the intention using the indicator lamp as described in Patent Document 1, there is a problem that the effect is small unless the driver of the following vehicle grasps the meaning of the indicator pattern.

  The present invention has been made to solve the above problems. An object of the present invention is to provide a technique for effectively allowing a subsequent vehicle to grasp the presence of a crosser by a traveling method performed by the own vehicle in order to preferentially pass a person who crosses a road. To do.

  A route generation device according to an embodiment of the present disclosure includes a crossing person detection unit (21), a region detection unit (22), and a generation unit (24). In addition, the code | symbol in the parenthesis described in this column and a claim shows the correspondence with the specific means as described in embodiment mentioned later as one aspect, Comprising: The technical scope of this invention is shown. It is not limited.

  The crossing person detection unit is configured to detect a crossing person who can be estimated to cross the road in front of the course of the own vehicle (1) which is a vehicle on which the route generation device is mounted. The region detection unit is configured to detect a passable region that is a region where the host vehicle may pass among roads on which the host vehicle is located. When a crossing person is detected by the crossing person detection part, the generation part stops in front of the crossing person by approaching the center side of the road in the passable area detected by the area detection part or A route for traveling so as to decelerate is generated.

  In addition to complying with laws and regulations that prioritize pedestrians, the vehicle overtakes obstacles to crossers by taking the action that the vehicle deliberately stops and slows down toward the center of the road according to the generated route. It is possible to communicate the intention of not wanting to make it to the following vehicle. This allows the following vehicle to grasp that the own vehicle has stopped or decelerated in order to give priority to crossers, and can suppress the following vehicle from moving forward to the center side of the road rather than the own vehicle. .

The block diagram showing the structure of a vehicle control system. The flowchart showing the procedure of a route generation process. A is a figure showing an example of the passable area | region in the road of one lane of one side. B is a diagram illustrating an example of a passable area on a one-lane road. C is a diagram illustrating an example of a passable area on a two-lane road on one side. A is a diagram illustrating an example of a route generated on a one-lane road. B is a diagram illustrating an example of a route generated on a road with one lane on both sides. A is a diagram illustrating an example of a route generated when there is a crosser on the right side of the course of the vehicle 1. B is a diagram illustrating an example of a route generated when there is an oncoming vehicle. A is a diagram illustrating an example of a route that is generated when a crossing person is on the left side of the vehicle 1 on a two-lane road on one side. B is a diagram illustrating an example of a route that is generated when a crossing person is on the right side of the vehicle 1 in a two-lane road on one side. 2 is a diagram illustrating an example of a route generated when there is a two-wheeled vehicle that follows the rear of a vehicle. FIG.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. In addition, this invention is not limited to the following embodiment, It is possible to implement in various aspects.
[Description of configuration of vehicle control system]
The configuration of the vehicle control system of the embodiment will be described with reference to FIG. As illustrated in FIG. 1, the vehicle control system is mounted on the vehicle 1 and includes a sensor 10, a route generation device 20, a control device 30, an operation unit 41, and an information output unit 42.

  The sensor 10 is equipment for observing the surrounding environment of the vehicle 1, and includes a camera 11, a millimeter wave radar 12, a laser radar 13, and a wireless communication unit 14. The sensor 10 outputs information representing the acquired observation result to the route generation device 20. In this embodiment, for example, the sensor 10 is a crossing person who is a person who crosses the road, a passable area which is a road area on which the vehicle 1 may travel, and other vehicles (for example, It is assumed to be used as a sensor for detecting a car or a motorcycle.

  The camera 11 is an imaging device that captures an area around the vehicle 1 (for example, front and rear), and is embodied by, for example, a stereo camera. The millimeter wave radar 12 is an objective sensor that detects an object by radiating a detection wave in the millimeter wave band around the vehicle 1 (for example, forward or backward) and receiving the reflected wave. The laser radar 13 is an objective sensor such as a so-called LIDAR that emits laser light around the vehicle 1 (for example, forward or backward) and detects an object by receiving the reflected light. By scanning the surroundings of the vehicle 1 with the millimeter wave radar 12 and the laser radar 13, the distance to an object (for example, another vehicle, a person, a structure constituting a road) or a road surface existing around the vehicle 1. And information indicating the direction.

  The wireless communication unit 14 is a communication device that performs wireless communication with an external communication device. In the present embodiment, as an application of the wireless communication unit 14, it is assumed that the intention of crossing the road is confirmed by performing wireless communication with a mobile communication terminal possessed by a pedestrian or the like.

  The path generation device 20 is an information processing device mainly configured by a CPU, RAM, ROM, semiconductor memory such as a flash memory (not shown), an input / output interface, and the like. The path generation device 20 is embodied by, for example, a microcontroller in which functions as a computer system are integrated. The function of the path generation device 20 is realized by the CPU executing a program stored in a non-transitional physical storage medium such as a ROM or a semiconductor memory. Note that the number of microcontrollers constituting the path generation device 20 may be one or more.

  The route generation device 20 includes a crossing person detection unit 21, a region detection unit 22, a vehicle detection unit 23, and a route generation unit 24 as a functional configuration realized by the CPU executing a program. Note that the method of realizing these elements constituting the path generation device 20 is not limited to software, and some or all of the elements may be realized using hardware that combines a logic circuit, an analog circuit, and the like. Good.

  The crossing person detection unit 21 detects a crossing person who is estimated to cross the road in front of the course of the vehicle 1 based on the observation result by the sensor 10. In addition, a crossing person here means not only a pedestrian but a person who rides a bicycle and passes a bicycle crossing zone, a person walking with a bicycle or a baby carriage, a person riding a wheelchair, etc. Shall be included. Specifically, the crossing person detection unit 21 uses a discriminator such as pattern recognition for data observed by the camera 11, the millimeter wave radar 12, and the laser radar 13, or information about the crossing person by the wireless communication unit 14. A crossing person is detected using a known technique such as

  The area detection unit 22 detects a passable area that is a front area where the vehicle 1 may pass among roads where the vehicle 1 is located. The passable area refers to a portion of the road on which the vehicle 1 is to pass in the direction of the vehicle 1 based on the regulations of road traffic laws and the like. In the present embodiment, for example, a range that the vehicle 1 should pass through is demarcated by road markings such as a center line, a lane boundary line, a roadway outer line, etc. provided on the road where the vehicle 1 is located, or a structure that divides the road. It shall be treated as a passable area. The center line is a road marking that divides the road according to the direction of vehicle travel. Further, the lane boundary line is a road marking provided to divide a portion to which the vehicle divided by the center line should pass into a finer vehicle lane. The roadway outer line is a road marking provided on the side of the road.

  Specifically, the region detection unit 22 uses a well-known road region recognition technology or road marking recognition technology based on various sensors such as the camera 11 and the laser radar 13 to detect a region corresponding to a road or the road. Recognize road markings and structures to be classified. Thereby, the lane structure of the road where the vehicle 1 is traveling is grasped. Further, the road lane structure may be grasped using road map data used in a navigation system (not shown). And the area | region detection part 22 specifies the passable area | region which the vehicle 1 may pass based on the grasped lane structure of the road.

  The vehicle detection unit 23 detects other vehicles existing around the vehicle 1 based on the observation result by the sensor 10. In the present embodiment, it is assumed that the vehicle detection unit 23 detects an oncoming vehicle in front of the vehicle 1 and a two-wheeled vehicle that follows the rear of the vehicle 1. The route generation unit 24 generates a route for automatically stopping the vehicle 1 before the crossing person in a situation where the crossing person is detected by the crossing person detection unit 21. This route is information representing a trajectory that the vehicle 1 should travel from the start point to the end point with the current position of the vehicle 1 as the start point and the target position before the crossing as the end point. A specific route generation procedure will be described later. The route generation unit 24 outputs information on the generated route to the control device 30.

  The control device 30 is an electronic control device that controls operations of various devices mounted on the vehicle 1. The control device 30 performs a driving operation such as acceleration, steering, and braking on behalf of the driver, and realizes an automatic driving function for automatically controlling the traveling state of the vehicle 1. Specifically, by comparing the current location of the vehicle 1 and the road map data, the operations such as acceleration, steering, braking, etc. necessary for driving the vehicle 1 along a route to a preset destination are determined. To do. Further, in the present embodiment, the control device 30 determines operations such as steering and braking necessary for causing the vehicle 1 to travel according to the route generated by the route generation device 20. And according to the determined operation | movement, various actuators, such as an accelerator, a steering device, a brake, are operated, and the driving | running | working state of the vehicle 1 is controlled. In addition, the automatic driving | operation here refers to the driving | running | working which receives the driving assistance which bears a part of driving operation concerning driving | running | working of the vehicle 1 other than what makes the vehicle 1 drive | work completely automatically according to the set path | route.

  The operation unit 41 is a user interface for inputting an operation instruction from the driver to the route generation device 20. The operation unit 41 provides a function for the driver to select whether to enable or disable the function of the route generation device 20. In addition, when the automatic operation mode by the control device 30 is operating, the route generation device 20 may be configured to always operate, or whether the function of the route generation device 20 is enabled in the automatic operation mode. The configuration may be such that the driver can select whether to invalidate. The information output unit 42 is a user interface for presenting information from the route generation device 20 to the driver. The information output unit 42 is embodied by, for example, a display device that displays an image, an audio output device that outputs audio information, or the like.

[Description of route generation processing]
A procedure of route generation processing executed by each unit of the route generation device 20 will be described with reference to the flowchart of FIG. This process is repeatedly executed at a predetermined control cycle. In the process of describing the flowchart of FIG. 2, as a specific example, FIGS.

In S <b> 100, the route generation device 20 detects a crossing person in front of the course of the vehicle 1 as a function of the crossing person detection unit 21. Specifically, as a result of observation by the sensor 10, when a person who meets any of the following conditions (1) to (4) is detected around the road ahead of the course of the vehicle 1, the person is recognized as a crossing person. It shall be.
(1) A person who actually crosses the road.
(2) A person standing still near a pedestrian crossing.
(3) A person who faces the road and is stationary for a certain period of time.
(4) A person who communicates his intention to “cross the road” by wireless communication.

  In S102, the route generation device 20 determines whether there is a crossing person based on the detection result in S100. When there is no crossing person (that is, S102: NO), the route generation device 20 proceeds to S104. In S <b> 104, the route generation device 20 instructs the control device 30 to perform normal travel that travels along a preset normal route. In this case, the control device 30 causes the vehicle 1 to travel using, for example, a lane centering mode.

  On the other hand, when a crossing person exists (that is, S102: YES), the route generation device 20 proceeds to S106. In S <b> 106, the route generation device 20 detects a passable area in front of the course of the vehicle 1 as a function of the area detection unit 22. Here, a specific example of the passable area detected by the area detection unit 22 according to the lane structure of the road will be described with reference to FIG. In addition, this embodiment assumes the area where the traffic rule of left-hand traffic is applied. Therefore, in areas where traffic rules for right-hand traffic apply, the left and right are reversed.

  FIG. 3A shows an example of a so-called one-lane road in which the road is divided into two lanes according to directions. In FIG. 3A, reference numeral 511 denotes a center line that divides lanes according to directions, and reference numeral 521 denotes a roadway outer line drawn on the road end side of the road. On such a road, the region detection unit 22 detects a region T1 in front of the vehicle 1 sandwiched between the center line 511 and the roadway outer line 521 recognized by the sensor 10 as a traversable region. In addition, when the lane is divided not by road markings such as the center line 511 and the roadway outer line 521 but by structures such as a median strip or curb, it is possible to pass through the area between these structures. Detect as a region.

  FIG. 3B shows an example of a so-called one-lane road that is not divided into lanes according to directions. In FIG. 3B, reference numerals 531 and 532 are roadway sections that are structures or road markings that partition the roadway portion of the road. In such a road, the area detection unit 22 detects the area T2 in front of the vehicle 1 sandwiched between the roadway sections 531 and 532 recognized by the sensor 10 as a passable area.

  FIG. 3C shows an example of a so-called two-lane road that is divided into two vehicle lanes according to directions. In FIG. 3C, reference numeral 512 denotes a center line that divides lanes according to directions, and reference numeral 522 denotes a roadway outer line drawn toward the road end side of the road. Reference numeral 541 denotes a lane boundary line that further divides the lane in the same direction divided by the center line 512 into two vehicle lanes. On such a road, the region detection unit 22 detects a region T3 in front of the vehicle 1 sandwiched between the center line 512 and the roadway outer line 522 recognized by the sensor 10 as a passable region. This accessible area T3 includes two vehicle lanes separated by a lane boundary line 541.

  Returning to the flowchart of FIG. In S <b> 108, the route generation device 20 functions as a function of the route generation unit 24, based on the crossing person's position detected in S <b> 100 and the passable area detected in S <b> 106, a route for dealing with the crossing person. Generate. The route generated here is a traveling locus in which the vehicle 1 gradually decelerates, approaches the center of the road in the passable area, and stops a predetermined distance before the crossing person in the traveling direction of the vehicle 1. Basically it consists of Further, in the generation of the route, the positional relationship between the vehicle 1 and the crossing person and the presence / absence of an oncoming vehicle or a following two-wheeled vehicle detected by the vehicle detection unit 23 are also taken into consideration. Here, a specific example of the route generated by the route generation unit 24 will be described with reference to FIGS.

  The example of FIG. 4A assumes a situation in which there is a crosser 61 on the left side in the traveling direction of the vehicle 1, that is, on the side opposite to the center side of the road when viewed from the vehicle 1 on a one-lane road. is there. However, it is assumed that an oncoming vehicle and a following two-wheeled vehicle are not detected around the vehicle 1. In the example of FIG. 4A, the route generation unit 24 generates a route represented by the symbol L1. This route L1 approaches the boundary on the center line 511 side of the area T1 in which the vehicle 1 can pass to a predetermined separation distance, and the vehicle 1 is a predetermined distance before the position of the traverser 61 with respect to the traveling direction of the vehicle 1. Is set to stop. As described above, the vehicle 1 stops near the center of the road in front of the crossing person, so that the following vehicle can be prevented from passing the vehicle 1.

  On the other hand, in the case of FIG. 4B, on a road with one lane on both sides without a center line, there is a crosser 62 on the left side in the traveling direction of the vehicle 1, that is, on the side opposite to the center side of the road when viewed from the vehicle 1. The situation is assumed. However, it is assumed that an oncoming vehicle and a following two-wheeled vehicle are not detected around the vehicle 1. In the case of FIG. 4B, the route generation unit 24 generates a route represented by the symbol L2. This route L2 is set such that the vehicle 1 stops near a center of the passable area T2 and a predetermined distance before the position of the crossing person 62 with respect to the traveling direction of the vehicle 1. .

  Note that the route L2 is such that the width a and b of the vacant part of the roadway on both the left and right sides of the vehicle 1 are closer to the center of the area T2 where the vehicle 1 can pass to a position where the width is less than half of the width of one lane. It is assumed that it is set. Or the structure set so that the width | variety a and b of the empty part of a roadway may become less than the preset standard vehicle width may be sufficient. The “standard vehicle width” here may be, for example, the vehicle width of the vehicle 1 or the maximum vehicle width of a general vehicle assumed to travel on a road. Moreover, the structure which the driver | operator of the vehicle 1 can set arbitrarily as this value may be sufficient.

  The example of FIG. 5A assumes a situation in which a crosser 63 is present on the right side in the traveling direction of the vehicle 1, that is, on the center side of the road when viewed from the vehicle 1, on a one-lane road. However, it is assumed that an oncoming vehicle and a following two-wheeled vehicle are not detected around the vehicle 1. In the case of FIG. 5A, the route generation unit 24 generates a route represented by the symbol L3. This route L3 is set so that the vehicle 1 stops near the crossing 63 with respect to the traveling direction of the vehicle 1 and the vehicle 1 approaches the center line 511 side as in the route L1 of FIG. 4A. Yes.

  However, in the example of FIG. 5A, when the vehicle 1 approaches the center side of the road, the vehicle 1 approaches the crossing person 63 in the width direction of the road. Therefore, the route L3 is set to correspond to at least one of the following (1) and (2) in order to reduce the degree of approach of the vehicle 1 to the crossing person 63.

  (1) The separation distance between the vehicle 1 and the center line 511, which is a target when the vehicle 1 is moved toward the center line 511, is made longer than the standard separation distance. That is, the amount of movement of the vehicle 1 toward the center of the road is reduced. The “standard separation distance” here is set in advance, for example, applied in a situation where the crossing person is on the opposite side of the center of the road as viewed from the vehicle 1 (see, for example, FIG. 4A). The separated distance.

  (2) A route is generated with the position where the vehicle 1 is stopped being further forward than the standard position. The “standard position” here is a predetermined position that is applied in a situation where, for example, the crossing person is on the opposite side of the center of the road as viewed from the vehicle 1 (see, for example, FIG. 4A). Stop position.

  In FIG. 5A, a broken line with a symbol LR represents a standard route as a comparison target. It is assumed that the “standard separation distance” and the “standard position” described in the above (1) and (2) are applied to the standard route LR. Comparing the route L3 and the route LR, the route L3 has a smaller amount of movement toward the center line 511 side, and the position where the vehicle 1 stops is closer to the front than the standard position. I understand.

  On the other hand, in the case of FIG. 5B, in the road of one lane on one side, there is a crosser 64 on the left side in the traveling direction of the vehicle 1, that is, on the side opposite to the center side of the road as viewed from the vehicle 1. It is assumed that there is an oncoming vehicle 71 in front of the vehicle. In the case of FIG. 5B, the route generation unit 24 generates a route represented by the symbol L4. This route L4 is set so that the vehicle 1 stops toward the center line 511 in the same manner as the route L1 in FIG. 4A and before the crossing person 64 in the traveling direction of the vehicle 1. Yes.

  However, in the case of FIG. 5B, the vehicle 1 approaches the oncoming vehicle 71 in the width direction of the road by approaching the center side of the road. Therefore, in a situation where the oncoming vehicle 71 exists in front of the vehicle 1, the route generation unit 24 sets the route L4 as follows in order to reduce the degree to which the vehicle 1 approaches the oncoming vehicle 71. That is, the separation distance between the vehicle 1 and the center line 511, which is a target when the vehicle 1 is moved toward the center line 511, is set longer than the standard separation distance. That is, the amount of movement of the vehicle 1 toward the center line 511 is reduced. In FIG. 5B, a broken line with a symbol LR represents a standard path as a comparison target. Comparing the route L4 and the route LR, it can be seen that the amount of movement of the route L4 toward the center line 511 is small.

  The example of FIG. 6A assumes a situation in which there is a crosser 65 on the left side in the traveling direction of the vehicle 1, that is, on the side opposite to the center side of the road when viewed from the vehicle 1, on the road with two lanes on one side. is there. However, it is assumed that no oncoming vehicle or subsequent motorcycle is detected around the vehicle 1.

  In the case of FIG. 6A, the route generation unit 24 generates a route represented by the symbol L5. This route L5 approaches the boundary on the side of the center line 512 of the passable area T3 up to a predetermined separation distance, and the vehicle 1 is a predetermined distance before the position of the crosser 65 in the traveling direction of the vehicle 1. Is set to stop.

  On the other hand, the example of FIG. 6B assumes a situation in which a crosser 66 is present on the right side in the traveling direction of the vehicle 1, that is, on the center side of the road when viewed from the vehicle 1, on a two-lane road on one side. However, it is assumed that no oncoming vehicle or subsequent motorcycle is detected around the vehicle 1.

  In the example of FIG. 6B, when the vehicle 1 approaches the center side of the road, the vehicle 1 approaches the crossing person 66 in the width direction of the road. Therefore, in an environment in which two vehicle lanes are included in the accessible region T3, the route generation unit 24 generates a route represented by the symbol L6 in order to reduce the degree of approach of the vehicle 1 to the crossing person 66. To do. In the route L6, the vehicle 1 approaches the boundary on the roadway outer line 522 side of the area T3 in which the vehicle 1 can pass to a predetermined separation distance, and the vehicle 1 is a predetermined distance before the position of the crossing person 66 with respect to the traveling direction of the vehicle 1. Is set to stop.

  In the example of FIG. 7, on a road with one lane on one side, there is a crosser 67 on the left side in the traveling direction of the vehicle 1, that is, on the side opposite to the center side of the road when viewed from the vehicle 1. In this case, it is assumed that there is a succeeding two-wheeled vehicle 72 that follows the vehicle 1.

  In the case of FIG. 7, when the succeeding two-wheeled vehicle 72 is detected, the route generation unit 24 generates a route represented by the symbol L7. The route L7 is set so that the vehicle 1 approaches the roadway outer line 521 to a predetermined separation distance, and the vehicle 1 stops a predetermined distance before the position of the crosser 67 in the traveling direction of the vehicle 1. Yes. By doing in this way, when the vehicle 1 decelerates or stops in front of a crossing person, it can suppress that the two-wheeled vehicle 72 passes through the left side of the vehicle 1 and obstructs a crossing person.

  Returning to the flowchart of FIG. In S110, the route generation device 20 outputs the route information generated in S108 to the control device 30, and instructs the control device 30 to travel according to the route. In this case, the control device 30 determines an operation such as steering / braking necessary for causing the vehicle 1 to travel along the travel locus represented by the route generated by the route generation device 20, and responds to the determined operation. Automatic operation.

  Note that when the automatic driving is performed according to the route generated by the route generation device 20, the route generation device 20 may notify the driver via the information output unit 42. Specifically, information indicating that automatic driving for dealing with crossers is being performed is displayed on a display or output as a voice message. Further, when the person detected as a crossing person does not move for a certain time or longer, the automatic driving based on the route generated by the route generating device 20 may be canceled, that is, normal driving is resumed.

[effect]
The vehicle control system according to the embodiment has the following effects.
When a crossing person is detected in front of the vehicle 1, a route in which the vehicle 1 decelerates or stops before the crossing by the center side of the road can be generated, and the traveling state of the vehicle 1 can be controlled according to the generated route. . By traveling the vehicle 1 according to the route generated in this way, it is possible not only to comply with laws and regulations that prioritize the crossing, but also to communicate to the following vehicle the intention of not overtaking that would interfere with the crossing. This allows the following vehicle to grasp that the vehicle 1 has decelerated or stopped in order to give priority to a crossing person, and suppresses the following vehicle from changing the course toward the center of the road rather than the vehicle 1 and overtaking the vehicle 1. it can.

  In addition, it is possible to generate a route in a manner corresponding to various situations such as a road lane structure, a positional relationship between the vehicle 1 and a crossing person, and the presence or absence of an oncoming vehicle or a following motorcycle. Specifically, it is possible to detect a passable area according to roads having various lane structures such as one lane on one side, one lane on both sides, and two lanes on one side, and generate a route according to the detected passable area. In addition, when the vehicle 1 approaches the center side of the road, the degree of the approach of the vehicle 1 to the crossing person or the oncoming vehicle is reduced when the vehicle 1 is in a positional relationship approaching the crossing person or the oncoming car in the width direction of the road. The route can be generated in such a manner.

[Correspondence with configuration described in claims]
The correspondence between each configuration of the embodiment and the configuration described in the claims is as follows.
S100 executed by the crossing person detection unit 21 corresponds to processing as a crossing person detection unit. S106 executed by the region detection unit 22 corresponds to the processing as the region detection unit. S108 executed by the route generation unit 24 corresponds to processing as a generation unit. The processing executed by the vehicle detection unit 23 corresponds to processing as an oncoming vehicle detection unit and a two-wheeled vehicle detection unit. The operation unit 41 corresponds to a selection unit. The information output unit 42 corresponds to a notification unit.

[Modification]
The functions of one constituent element in the embodiment may be distributed as a plurality of constituent elements, or the functions of a plurality of constituent elements may be integrated into one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment as long as a subject can be solved. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 10 ... Sensor, 11 ... Camera, 12 ... Millimeter wave radar, 13 ... Laser radar, 14 ... Wireless communication part, 20 ... Path generation device, 21 ... Crossing person detection part, 22 ... Area detection part, 23 ... Vehicle detection unit, 24 ... route generation unit, 30 ... control device, 41 ... operation unit, 42 ... information output unit.

Claims (14)

A crossing detection unit (21, S100) configured to detect a crossing that is a person that can be estimated to cross the road in front of the course of the host vehicle (1);
An area detector (22, S106) configured to detect a passable area that is an area through which the host vehicle may pass among roads on which the host vehicle is located;
If the transverse individual is detected by the transverse individual detecting unit, in so that the resign stop the passable region in which the vehicle is detected by the region detecting section from in front said transverse person closer to the center of the road A generator (24, S108) configured to generate a route for traveling;
A path generation device comprising: The route generation device according to claim 1,
When the vehicle approaches the center side of the road, when the vehicle approaches the crossing direction in the width direction of the road, the generation unit sets the degree of proximity to the center side of the road from the standard degree. A route generation device configured to generate the route in a reduced manner or in a manner in which a position at which the host vehicle is stopped is further on the front side than a standard position. A crossing detection unit (21, S100) configured to detect a crossing that is a person that can be estimated to cross the road in front of the course of the host vehicle (1);
An area detector (22, S106) configured to detect a passable area that is an area through which the host vehicle may pass among roads on which the host vehicle is located;
When a crossing person is detected by the crossing detection unit, the own vehicle is stopped or decelerated in front of the crossing by approaching the center of the road in the passable area detected by the area detection unit. A generator (24, S108) configured to generate a route for traveling;
Equipped with a,
When the vehicle approaches the center side of the road, when the vehicle approaches the crossing direction in the width direction of the road, the generation unit sets the degree of proximity to the center side of the road from the standard degree. The route is generated in a reduced manner or in a manner in which the position at which the host vehicle is stopped is further on the front side than the standard position.
Route generator. The route generation device according to any one of claims 1 to 3,
The area detection unit is configured to determine whether or not the road is divided into lanes according to directions,
The generator generates a center of the road so that, in a one-lane road that is not divided into lanes according to directions, the width in the width direction of the road on both sides of the host vehicle is less than a predetermined width. A route generation device configured to generate the route approaching the side. A crossing detection unit (21, S100) configured to detect a crossing that is a person that can be estimated to cross the road in front of the course of the host vehicle (1);
An area detector (22, S106) configured to detect a passable area that is an area through which the host vehicle may pass among roads on which the host vehicle is located;
When a crossing person is detected by the crossing detection unit, the own vehicle is stopped or decelerated in front of the crossing by approaching the center of the road in the passable area detected by the area detection unit. A generator (24, S108) configured to generate a route for traveling;
Equipped with a,
The area detection unit is configured to determine whether or not the road is divided into lanes according to directions,
The generator generates a center of the road so that, in a one-lane road that is not divided into lanes according to directions, the width in the width direction of the road on both sides of the host vehicle is less than a predetermined width. Configured to generate the path approaching the side,
Route generator. The route generation device according to any one of claims 1 to 5,
Further comprising an oncoming vehicle detection unit (23) configured to detect an oncoming vehicle in front of the host vehicle;
When the generation unit generates a route approaching the center side of the road under a condition in which an oncoming vehicle is detected by the oncoming vehicle detection unit, the degree of proximity to the center side of the road is determined based on a standard degree. A route generation device configured to generate the route in a reduced manner. A crossing detection unit (21, S100) configured to detect a crossing that is a person that can be estimated to cross the road in front of the course of the host vehicle (1);
An area detector (22, S106) configured to detect a passable area that is an area through which the host vehicle may pass among roads on which the host vehicle is located;
When a crossing person is detected by the crossing detection unit, the own vehicle is stopped or decelerated in front of the crossing by approaching the center of the road in the passable area detected by the area detection unit. A generator (24, S108) configured to generate a route for traveling;
An oncoming vehicle detection unit (23) configured to detect an oncoming vehicle in front of the host vehicle;
Equipped with a,
When the generation unit generates a route approaching the center side of the road under a condition in which an oncoming vehicle is detected by the oncoming vehicle detection unit, the degree of proximity to the center side of the road is determined based on a standard degree. Configured to generate the path in a reduced manner,
Route generator. The route generation device according to any one of claims 1 to 7 ,
A motorcycle detection unit (23) configured to detect a motorcycle traveling behind the host vehicle;
When the two-wheeled vehicle detection unit detects a succeeding two-wheeled vehicle, the generation unit travels along a path to stop or decelerate in the accessible area near the outside of the road and before the crossing person. A path generator configured to generate. A crossing detection unit (21, S100) configured to detect a crossing that is a person that can be estimated to cross the road in front of the course of the host vehicle (1);
An area detector (22, S106) configured to detect a passable area that is an area through which the host vehicle may pass among roads on which the host vehicle is located;
When a crossing person is detected by the crossing detection unit, the own vehicle is stopped or decelerated in front of the crossing by approaching the center of the road in the passable area detected by the area detection unit. A generator (24, S108) configured to generate a route for traveling;
A two-wheeled vehicle detection unit (23) configured to detect a two-wheeled vehicle that travels following the rear of the host vehicle;
Equipped with a,
When the two-wheeled vehicle detection unit detects a succeeding two-wheeled vehicle, the generation unit travels along a path to stop or decelerate in the accessible area near the outside of the road and before the crossing person. Configured to generate,
Route generator. In claims 1 path generation device according to any one of claims 9,
The area detection unit is configured to detect a center line that divides traffic on the road according to direction as a boundary of the accessible area,
The said production | generation part is a route production | generation apparatus comprised so that the own vehicle might produce | generate the said path | route which approaches the centerline of the said road. The route generation device according to any one of claims 1 to 10 ,
The area detection unit is configured to determine whether or not a plurality of vehicle lanes are provided as the accessible area,
When the generation unit includes a plurality of vehicle traffic zones in which the host vehicle may pass as the passable region, the generation unit is located on the side away from the traverser in the width direction of the road in the passable region A route generation device configured to generate a route that travels so as to stop or decelerate before the crossing by approaching. A route generation device according to any one of claims 1 to 11 ,
A control device (30) configured to execute automatic control for automatically performing at least a part of driving operation related to traveling of the host vehicle so that the host vehicle travels according to the route generated by the route generating device. When,
An automatic travel control system comprising: In the automatic travel control system according to claim 12 ,
When automatic control by the control device is being executed based on the route generated by the route generation device, it is configured to notify the driver of the host vehicle that the automatic control is being executed. The automatic travel control system further comprising a notification unit (42). In the automatic travel control system according to claim 12 or claim 13 ,
A selection unit (41) configured to allow a driver of the host vehicle to select whether or not to execute automatic control based on the route generated by the route generation device;
An automatic travel control system configured to execute the automatic control on the condition that the execution of the automatic control is selected in the selection unit.

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