• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    In a vehicle driving assistance system 100, an ECU 10 sets plural travel route candidates RC on the basis of travel road information acquired from a camera 21 and the like, sets plural sampling points SP on these plural travel route candidates RC, calculates the route evaluation parameter value at each of these plural sampling points SP, and sets a target travel route from the plural travel route candidates RC on the basis of this route evaluation parameter value. In particular, as a distance between a center line C1 of a host vehicle lane 5a and the sampling point SP is increased, the ECU 10 increases the route evaluation parameter value at the sampling point SP. As a distance between a vehicle 1 and the sampling point SP is reduced, a change rate of the route evaluation parameter value with respect to the distance between the center line C1 and the sampling point SP is increased.
    公开号:EP3683550A1
    申请号:EP20151597.0
    申请日:2020-01-14
    公开日:2020-07-22
    发明作者:Hideki Takahashi
    申请人:Mazda Motor Corp；
    IPC主号:G01C21-00
    专利说明:
    [0001] The present invention relates to a vehicle driving assistance system and a vehicle driving assistance method for setting a travel route for a vehicle and assisting with driving on the basis of this travel route. [Background Art]
    [0002] Conventionally, as travel route generation algorithms for a vehicle, a potential method, a spline interpolation function, an A-star (A*) method, the Dijkstra method, RRT, a state lattice method, and the like are used.
    [0003] In the A-star method and the Dijkstra method, grids that are partitioned vertically and horizontally are each set as a node, and the nodes are expanded in a manner to minimize cost (route cost) . In this way, a route is searched. For example, in JP-A-2011-128758 , a route search system that selects a route with the minimum cost among routes from a start point to an end point included in an area represented by the grids is disclosed. In the route search system, the node with the minimum cost is expanded, more specifically, the number of expanding directions from the node with the minimum cost is set according to a moving direction, and the moving direction for the expanded node with the minimum cost is determined.
    [0004] In the state lattice method, a grid area including a large number of grid points is set in a travel road, these grid points are sequentially connected to set a large number of travel route candidates, and one travel route is selected from these travel route candidates. For example, in WO 2013/051081 , a vehicle driving assistance system is disclosed. In the vehicle driving assistance system, the plural travel routes are set on a grid map, movement cost indicative of a degree of danger in the case where a host vehicle travels is set for each cell of the grid map, and one of the travel routes is selected on the basis of this movement cost. [Summary of the Invention][Problem to be solved by the invention]
    [0005] When the travel route is set, it is preferred to appropriately set such a route that the vehicle travels at a center position on a host vehicle lane (a lane where the host vehicle travels on the travel road). However, in the related art, it is impossible to appropriately set a route that allows the vehicle to travel at the center position on the host vehicle lane. Hereinafter, travel of the vehicle at the center position on the host vehicle lane will appropriately be referred to as "lane centering". [Means for solving the Problem]
    [0006] The present invention has been made to solve the above-described problem, and therefore has a purpose of providing a vehicle driving assistance system and a vehicle driving assistance method capable of appropriately defining a route evaluation parameter so as to set a travel route on which a vehicle travels at a center position of a host vehicle lane.
    [0007] The achievement of this object in accordance with the invention is set out in the independent claims. Further developments of the invention are the subject matter of the dependent claims.
    [0008] In order to achieve the above purpose, the present invention is a vehicle driving assistance system, and the vehicle driving assistance system includes: a travel road information acquisition device that acquires travel road information on a travel road of a vehicle; and a controller configured to set a target travel route for the vehicle in the travel road on the basis of the travel road information and to execute driving control of the vehicle such that the vehicle travels along the target travel route. The controller is configured to: set plural travel route candidates as candidates for setting the target travel route on the basis of the travel road information; set plural sampling points on each route of the plural travel route candidates; calculate route evaluation parameter value at each of the plural sampling points set on each of the plural travel route candidates; and select one travel route of the plural travel route candidates as the target travel route on the basis of the route evaluation parameter value. The controller is further configured to: increase the route evaluation parameter value at the sampling point as a distance between a center line of a host vehicle lane, on which the vehicle travels, in the travel road and the sampling point is increased; and increase a change rate of the route evaluation parameter value with respect to the distance between the center line and the sampling point as a distance between the vehicle and the sampling point along the travel road is reduced.
    [0009] In the present invention that is configured as described above, the controller increases the route evaluation parameter value at the sampling point as the distance between the sampling point on the set travel route candidate and the center line of the host vehicle lane in the travel road is increased. In particular, the controller increases the change rate (in other words, a change amount or a gradient of the change) of the route evaluation parameter value with respect to the distance between the center line and the sampling point as the distance between the vehicle and the sampling point is reduced. In this way, in an area located relatively close to the vehicle (a short-distance area), since the change rate of the route evaluation parameter value with respect to the distance from the center line is large, the lane centering is preferentially considered when the travel route is set, that is, an influence of the route evaluation parameter value related to the lane centering on route selection is increased. As a result, in the short-distance area, it is possible to appropriately select the travel route in which the lane centering is prioritized, and thus accuracy of the lane centering can be improved. Meanwhile, in an area located relatively far from the vehicle (a long-distance area), the change rate of the route evaluation parameter value with respect to the distance from the center line is low. Thus, it is unlikely to preferentially consider the lane centering when the travel route is set. That is, the influence of the route evaluation parameter value related to the lane centering on the route selection becomes insignificant. In the long-distance area, it is difficult to secure accuracy of the travel road information acquisition device (typically, a camera). Thus, estimation accuracy of a shape and the like of the travel road is degraded. Accordingly, in such a long-distance area, the change rate of the route evaluation parameter value with respect to the distance from the center line is reduced. In this way, the prioritization of the lane centering can appropriately be suppressed for the travel road, the estimation accuracy of the shape and the like of which is not secured. As it has been described so far, according to the present invention, it is possible to appropriately define the route evaluation parameter such that the travel route on which the vehicle travels at a center position of the host vehicle lane is set.
    [0010] In the present invention, in the case where the sampling point is located within the host vehicle lane, the controller is preferably configured to increase the change rate of the route evaluation parameter value with respect to the distance between the center line and the sampling point to be higher than the change rate in the case where the sampling point is located on the outside of the host vehicle lane. According to the present invention that is configured as described above, in the case where the sampling point is located within the host vehicle lane, it is possible to appropriately secure the influence of the route evaluation parameter value related to the lane centering on the route selection. On the other hand, in the case where the sampling point is located on the outside of the host vehicle lane, it is possible to appropriately suppress the influence of the route evaluation parameter value related to the lane centering on the route selection.
    [0011] In the present invention, in the case where the sampling point is located within the host vehicle lane, the controller is preferably configured to: increase the change rate of the route evaluation parameter value with respect to the distance between the center line and the sampling point as the distance between the vehicle and the sampling point along the travel road is reduced in the case where the sampling point is located within the host vehicle lane; and set the same change rate of the route evaluation parameter value with respect to the distance between the center line and the sampling point regardless of the distance between the vehicle and the sampling point along the travel road in the case where the sampling point is located on the outside of the host vehicle lane. Also, in the present invention that is configured as described above, it is possible to appropriately suppress the influence of the route evaluation parameter value related to the lane centering on the route selection in the case where the sampling point is located on the outside of the host vehicle lane.
    [0012] In the present invention, the controller is preferably configured to change the change rate of the route evaluation parameter value with respect to the distance between the center line and the sampling point stepwise according to the distance between the vehicle and the sampling point along the travel road. In the present invention that is configured as described above, the controller changes the change rate of the route evaluation parameter value stepwise according to the distance between the vehicle and the sampling point. Thus, the several change rates of the route evaluation parameter value only have to be stored. As a result, there is no need to calculate the change rate of the route evaluation parameter value that should be applied according to the distance between the vehicle and the sampling point. Therefore, it is possible to reduce a calculation load.
    [0013] In another aspect, in order to achieve the above purpose, the present invention is a vehicle driving assistance method that is executed by a controller including a computer, and the method includes: a step of setting plural travel route candidates as candidates for setting a target travel route for a vehicle in a travel road on the basis of travel road information on the travel road of the vehicle; a step of setting plural sampling points on each route of the plural travel route candidates; a step of calculating route evaluation parameter value at each of the plural sampling points set on each of the plural travel route candidates; a step of selecting one travel route of the plural travel route candidates as the target travel route on the basis of the route evaluation parameter value; and a step of executing driving control of the vehicle such that the vehicle travels along the target travel route. In the step of calculating the route evaluation parameter value, the step further increases the route evaluation parameter value at the sampling point as a distance between a center line of a host vehicle lane, on which the vehicle travels, in the travel road and the sampling point is increased, and increases a change rate of the route evaluation parameter value with respect to the distance between the center line and the sampling point as a distance between the vehicle and the sampling point along the travel road is reduced.
    [0014] Also, in the invention configured as described above, it is possible to appropriately define the route evaluation parameter such that the travel route on which the vehicle travels at the center position of the host vehicle lane is set. [Advantage of the invention]
    [0015] According to the vehicle driving assistance system and the vehicle driving assistance method of the present invention, it is possible to appropriately define the route evaluation parameter such that the travel route on which the vehicle travels at the center position of the host vehicle lane is set. In particular, the accuracy of a device for acquiring travel road information is taken into account when defining the route evaluation parameter. The choice of an appropriate route evaluation parameter leads, for example, to an improved accuracy of the lane centering. [Brief Description of the Drawings]
    [0016] [Fig. 1] Fig. 1 is a block diagram illustrating a schematic configuration of a vehicle driving assistance system according to an embodiment of the present invention.[Fig. 2] Fig. 2 is an explanatory view of basic concept of driving assistance according to the embodiment of the present invention.[Fig. 3] Fig. 3 is an explanatory view of a precondition for defining a route evaluation parameter according to the embodiment of the present invention.[Fig. 4] Fig. 4 is a map defining the route evaluation parameter according to the embodiment of the present invention.[Fig. 5] Fig. 5 is a flowchart of driving assistance processing according to the embodiment of the present invention. [Modes for Carrying Out the Invention]
    [0017] A description will hereinafter be made on a vehicle driving assistance system and a vehicle driving assistance method according to an embodiment of the present invention with reference to the accompanying drawings. [System Configuration]
    [0018] A description will firstly be made on a configuration of the vehicle driving assistance system according to the embodiment of the present invention with reference to Fig. 1. Fig. 1 is a block diagram illustrating a schematic configuration of the vehicle driving assistance system according to the embodiment of the present invention.
    [0019] A vehicle driving assistance system 100 is configured to execute driving assistance control (automated driving control) for setting a target travel route for a vehicle 1 and causing the vehicle 1 to travel along this target travel route. As illustrated in Fig. 1, the vehicle driving assistance system 100 includes an electronic control unit (ECU) 10 as a vehicle controller or a controller, plural types of sensors, and plural control systems.
    [0020] More specifically, the plural types of the sensors are or comprise a camera 21, a radar 22, a vehicle speed sensor 23 for detecting behavior of the vehicle 1 and a driving operation by an occupant, an acceleration sensor 24, a yaw rate sensor 25, a steering angle sensor 26, an accelerator sensor 27, and a brake sensor 28. Furthermore, the plural types of the sensors are or comprise a positioning system 29 for detecting a position of the vehicle 1 and a navigation system 30. The plural control systems are or comprise an engine control system 31, a brake control system 32, and a steering control system 33.
    [0021] Moreover, other types of the sensors may be a peripheral sonar system for measuring a distance from and a position of a structure around the vehicle 1, a corner radar provided at each of four corners of the vehicle 1 to measure approach of the peripheral structure, and an inner camera for capturing an image of the inside of a vehicle cabin in the vehicle 1.
    [0022] The ECU 10 executes various calculations on the basis of signals received from the plural types of the sensors, and sends control signals to the engine control system 31, the brake control system 32, and the steering control system 33 so as to appropriately actuate an engine system, a brake system, and a steering system, respectively. The ECU 10 is constructed of a computer that includes one or more processors (typically CPUs), memory for storing various programs (ROM, RAM, or the like), an input/output device, and the like. The ECU 10 corresponds to an example of the "controller" in the present invention.
    [0023] The camera 21 captures an image around the vehicle 1, and outputs image data. Based on the image data received from the camera 21, the ECU 10 identifies objects (for example, a preceding vehicle, a parked vehicle, a pedestrian, a travel road, road marking lines (a lane divider, a white line, and a yellow line), a traffic signal, a traffic sign, a stop line, an intersection, an obstacle, and the like). The ECU 10 may acquire information on the object from the outside through a traffic infrastructure, inter-vehicle communication, or the like. In this way, a type, a relative position, a moving direction, and the like of the object are identified.
    [0024] The radar 22 measures a position and a speed of the object (particularly, the preceding vehicle, the parked vehicle, the pedestrian, a dropped object on a travel road 5, or the like). For example, a millimeter-wave radar can be used as the radar 22. The radar 22 transmits a radio wave in an advancing direction of the vehicle 1, and receives a reflected wave that is generated when the object reflects the transmitted wave. Then, based on the transmitted wave and the received wave, the radar 22 measures a distance between the vehicle 1 and the object (for example, an inter-vehicular distance) and a relative speed of the object to the vehicle 1. In this embodiment, instead of the radar 22, a laser radar, an ultrasonic sensor, or the like may be used to measure the distance from the object and the relative speed of the object. Alternatively, plural types of sensors may be used to constitute a position and speed measuring device.
    [0025] The camera 21 and the radar 22 correspond to an example of the "travel road information acquisition device" in the present invention.
    [0026] The vehicle speed sensor 23 detects an absolute speed of the vehicle 1. The acceleration sensor 24 detects acceleration of the vehicle 1. This acceleration includes acceleration in a longitudinal direction and acceleration in a lateral direction (that is, lateral acceleration). In this specification, the acceleration includes not only a change rate of the speed in a speed increasing direction but also a change rate of the speed in a speed reducing direction (that is, deceleration).
    [0027] The yaw rate sensor 25 detects a yaw rate of the vehicle 1. The steering angle sensor 26 detects a rotation angle (a steering angle) of a steering wheel of the vehicle 1. The ECU 10 executes specified calculation on the basis of the absolute speed detected by the vehicle speed sensor 23 and the steering angle detected by the steering angle sensor 26, and can thereby acquire a yaw angle of the vehicle 1 (that is, an angle defined by the longitudinal direction of the vehicle 1 with respect to an x-axis, which will be described later). The accelerator sensor 27 detects a depression amount of an accelerator pedal. The brake sensor 28 detects a depression amount of a brake pedal.
    [0028] The positioning system 29 is a GPS system and/or a gyroscopic system, and detects the position of the vehicle 1 (current vehicle position information). The navigation system 30 stores map information therein, and can provide the map information to the ECU 10. Based on the map information and the current vehicle position information, the ECU 10 identifies a road, the intersection, the traffic signal, a building, and the like existing around (particularly, in the advancing direction of) the vehicle 1. The map information may be stored in the ECU 10. The navigation system 30 also corresponds to an example of the "travel road information acquisition device" in the present invention.
    [0029] The engine control system 31 controls an engine of the vehicle 1. The engine control system 31 is a component capable of regulating engine output (drive power) and, for example, includes an ignition plug, a fuel injection valve, a throttle valve, a variable valve mechanism that changes opening/closing timing of intake/exhaust valves, and the like. When the vehicle 1 has to be accelerated or decelerated, the ECU 10 sends the control signal to the engine control system 31 so as to change the engine output.
    [0030] The brake control system 32 controls a brake system of the vehicle 1. The brake control system 32 is a component capable of regulating a braking force of the brake system and, for example, includes a hydraulic pump, a valve unit, and the like. When the vehicle 1 has to be decelerated, the ECU 10 sends the control signal to the brake control system 32 so as to generate the braking force.
    [0031] The steering control system 33 controls a steering device of the vehicle 1. The steering control system 33 is a component capable of regulating the steering angle of the vehicle 1 and, for example, includes an electric motor for an electric power steering system, and the like. When the advancing direction of the vehicle 1 has to be changed, the ECU 10 sends the control signal to the steering control system 33 so as to change a steering direction. [Basic Concept of Driving Assistance]
    [0032] Next, a description will be made on basic concept of driving assistance that is executed by the above-described ECU 10 in the embodiment of the present invention with reference to Fig. 2. Fig. 2 illustrates a situation where the vehicle 1 travels on the travel road 5.
    [0033] First, the ECU 10 executes the calculation to identify the position of the vehicle 1 on the travel road 5 on the basis of travel road information. The travel road information is information on the travel road 5 where the vehicle 1 travels, and is acquired by the camera 21, the radar 22, the navigation system 30, and the like. For example, the travel road information includes information on a shape of the travel road (a straight road, a curved road, curvature of the curved road), a travel road width, the number of lanes, a lane width, and the like.
    [0034] Next, the ECU 10 executes the calculation based on the travel road information, so as to set plural virtual grid points Gn (n = 1, 2, ...N) on the travel road 5 existing ahead of the advancing direction of the vehicle 1. In the case where an extending direction of the travel road 5 is defined as an x-direction and a width direction of the travel road 5 is defined as a y-direction, the grid points Gn are arranged in a lattice shape along the x-direction and the y-direction. An origin of x-y coordinates is set to a point corresponding to the position of the vehicle 1.
    [0035] An area where the ECU 10 sets the grid points Gn is stretched in front of the vehicle 1 for a distance L along the travel road 5. The distance L is calculated on the basis of the speed of the vehicle 1 at the time of the calculation. In this embodiment, the distance L is a distance for which the vehicle 1 is assumed to travel at a speed (V) during the calculation for a specified fixed time t (for example, three seconds) (L = V × t). However, the distance L may be a specified fixed distance (for example, 100 m) or a function of the speed (and the acceleration). In addition, a width W of the area where the grid points Gn are set is set to a substantially equal value to a width of the travel road 5. When the plural grid points Gn are set, just as described, the position of the vehicle 1 on the travel road 5 can be identified.
    [0036] Here, the travel road 5 illustrated in Fig. 2 is a straight section, and thus the grid points Gn are arranged in a rectangular shape. However, the grid points Gn are arranged along the extending direction of the travel road. Thus, in the case where the travel road includes a curved section, the grid points Gn are arranged along curvature of the curved road.
    [0037] Next, based on the travel road information, the ECU 10 executes calculation to set a travel route candidate RC (that is, a candidate that possibly becomes the target travel route where the vehicle 1 actually travels). More specifically, the ECU 10 sets the plural travel route candidates RC by a route search using the state lattice method. In the state lattice method, the plural travel route candidates RC are set from the position of the vehicle 1 in a manner to be branched toward the grid points Gn existing in the advancing direction of the vehicle 1. In Fig. 2, travel route candidates RCa, RCb, RCc are illustrated as some of the plural travel route candidates RC set by the ECU 10.
    [0038] The ECU 10 may set the travel route candidates RC on the basis of obstacle information in addition to the travel road information. This obstacle information is information on presence or absence of the obstacle (for example, the preceding vehicle, the parked vehicle, the pedestrian, the dropped object, or the like) on the travel road 5 in the advancing direction of the vehicle 1, a moving direction thereof, a moving speed thereof, and the like, and is acquired by the camera 21 and the radar 22.
    [0039] Next, as illustrated in Fig. 2, the ECU 10 sets plural sampling points SP along each of the travel route candidates RC, and calculates a route evaluation parameter value at each of the sampling points SP. Each of these sampling points SP is a discrete point (position), which is provided on the route of each of the travel route candidates RC and at which the route evaluation parameter value is calculated. More specifically, for each of the plural travel route candidates RC, the ECU 10 calculates the route evaluation parameter value at each of the plural sampling points SP.
    [0040] Next, based on the thus-calculated route evaluation parameter value of each of the plural travel route candidates RC, the ECU 10 selects a route with the minimum route evaluation parameter value from the plural travel route candidates RC, and sets such a route as the target travel route. Then, the ECU 10 sends the control signal to at least one of the engine control system 31, the brake control system 32, and the steering control system 33 such that the vehicle 1 travels along the set target travel route. [Calculation of Route Evaluation Parameter Value]
    [0041] Next, a description will be made on the route evaluation parameter according to the embodiment of the present invention. Basically, the route evaluation parameter is defined according to plural factors such as the speed, front/rear acceleration, the lateral acceleration, a route change rate, and/or the obstacle. The route evaluation parameter may specifically be a parameter whose value is indicative of the suitability of a route, e.g. for achieving a given objective such as time efficiency, security, cost efficiency etc. Exemplarily, the suitability of the route may be inversely proportional to the value of the route evaluation parameter, so that the most suitable route minimizes the value of the route evaluation parameter. This embodiment is characterized by defining, as one of such plural types of the route evaluation parameter, the route evaluation parameter according to the position of the vehicle 1 on the travel road 5 (more specifically, the positions of the sampling points SP on the travel route candidate RC) such that the vehicle 1 travels at a center position of a host vehicle lane in the travel road 5 (a lane where the host vehicle 1 travels on the travel road 5). A specific description will hereinafter be made on this route evaluation parameter.
    [0042] A specific description will be made on the route evaluation parameter according to the embodiment of the present invention with reference to Figs. 3 and 4. First, Fig. 3 is an explanatory view of a precondition for defining the route evaluation parameter according to the embodiment of the present invention. Similar to Fig. 2, Fig. 3 illustrates the situation where the vehicle 1 travels on the travel road 5.
    [0043] In Fig. 3, the reference sign "5a" denotes the host vehicle lane on which the vehicle (the host vehicle) 1 travels in the travel road 5, the reference sign "C1" denotes a center line corresponding to a center position of the host vehicle lane 5a, and the reference sign "W1" denotes a width of the host vehicle lane 5a. When the width W1 of such a host vehicle lane 5a is used, a distance from the center line C1 to an end of the host vehicle lane 5a in the width direction is "W1/2". In the case where the travel road 5 is a one-lane road (a one-way road), the travel road 5 corresponds to the host vehicle lane 5a, and the above-described width W corresponds to the width W1.
    [0044] In addition, in Fig. 3, the reference sign "L1" denotes a distance from the vehicle 1 along the travel road 5 for defining an area (a short-distance area) located relatively close to the vehicle 1, the reference sign "L3" denotes a distance from the vehicle 1 along the travel road 5 for defining an area (a long-distance area) located relatively far away from the vehicle 1, and the reference sign "L2" denotes a distance from the vehicle 1 along the travel road 5 for defining an area (a middle-distance area) between such a short-distance area and such a long-distance area. An area, a distance of which from the vehicle 1 is shorter than L1, is the short-distance area, an area, a distance of which from the vehicle 1 is equal to or longer than L1 and is shorter than L2, is the middle-distance area, and an area, a distance of which is equal to or longer than L2 and is shorter than L3, is the long-distance area (an area, a distance of which from the vehicle 1 is equal to or longer than L3 may also be included in the long-distance area).
    [0045] More specifically, the short-distance area, the middle-distance area, and the long-distance area, just as described, are defined according to accuracy of the travel road information acquisition device (typically, accuracy of the camera 21). That is, the short-distance area is an area where the accuracy of the travel road information acquisition device is sufficiently secured, the middle-distance area is an area where the accuracy of the travel road information acquisition device starts being degraded, and the long-distance area is an area where it is difficult to secure the accuracy of the travel road information acquisition device. For example, on the basis of the accuracy of the camera 21 (in an example, the accuracy of the camera 21 is degraded by approximately 10% at a distance of 50 m from the vehicle 1), the distances L1, L2, and L3 are respectively set to 10 m, 30 m, 50m. The distances L1, L2 and L3 represent distance threshold values.
    [0046] Next, Fig. 4 is a map defining the route evaluation parameter, which can also be referred to as "route cost", according to the embodiment of the present invention. In Fig. 4, a horizontal axis represents a distance from the center line C1, more specifically, a distance between the sampling point SP and the center line C1 on the travel route candidate RC, and a vertical axis represents the route evaluation parameter or route cost according to this distance from the center line C1 (the route evaluation parameter to be set with respect to each of sampling points SP) . In addition, a graph G1 indicated by a solid line represents a map that is applied in the short-distance area, a graph G2 indicated by a broken line represents a map that is applied in the middle-distance area, and a graph G3 indicated by a one-dot chain line represents a map that is applied in the long-distance area. The ECU 10 refers to the map as illustrated in Fig. 4 to determine the route evaluation parameter value at the sampling point SP, for which the route evaluation parameter value should be calculated, according to the distance between the sampling point SP and the center line C1.
    [0047] In this embodiment, as shown in graphs G1 to G3, basically, as the distance between the center line C1 and the sampling point SP is reduced, the route evaluation parameter value at the sampling point SP is reduced, and as the distance between the center line C1 and the sampling point SP is increased, the route evaluation parameter value at the sampling point SP is increased. In this way, the travel route in which the vehicle 1 travels at the center position of the host vehicle lane 5a, that is, the travel route that realizes the lane centering can appropriately be set.
    [0048] More specifically, in this embodiment, in the case where the distance between the center line C1 and the sampling point SP is shorter than the distance "W1/2" from the center line C1 to the end of the host vehicle lane 5a in the width direction, a change rate (a change amount, a degree of a gradient) of the route evaluation parameter value for the distance between the center line C1 and the sampling point SP is changed among the short-distance area, the middle-distance area, and the long-distance area. That is, in the case where the sampling point SP is located within the host vehicle lane 5a, the change rate of the route evaluation parameter value is increased in the short-distance area to be higher than the change rates in the middle-distance area and the long-distance area (a gradient of the graph G1 is increased to be larger than gradients of the graphs G2, G3), and the change rate of the route evaluation parameter value in the long-distance area is reduced to be lower than the change rates in the short-distance area and the middle-distance area (the gradient of the graph G3 is reduced to be smaller than the gradients of the graphs G1, G2). In other words, as the sampling point SP approaches the vehicle 1, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is increased, and as the sampling point SP separates from the vehicle 1, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is reduced.
    [0049] In this way, in the short-distance area, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is high. Thus, the lane centering is preferentially considered when the travel route is set. That is, an influence of the route evaluation parameter value related to the lane centering on the route selection becomes significant. As a result, in the short-distance area, it is possible to appropriately select the travel route in which the lane centering is prioritized, and thus accuracy of the lane centering is improved.
    [0050] Meanwhile, in the long-distance area, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is low. Thus, it is unlikely to preferentially consider the lane centering when the travel route is set. That is, the influence of the route evaluation parameter value related to the lane centering on the route selection becomes insignificant. In the long-distance area, it is difficult to secure the accuracy of the camera 21 or the like as described above. Thus, estimation accuracy of the shape and the like of the travel road 5 is degraded. Accordingly, in such a long-distance area, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is reduced. In this way, the prioritization of the lane centering is suppressed for the travel road 5, the estimation accuracy of the shape and the like of which is not secured.
    [0051] In addition, in this embodiment, in the case where the distance between the center line C1 and the sampling point SP is shorter than the distance "Wl/2", the change rate of the route evaluation parameter value for the distance between the center line C1 and the sampling point SP is increased to be higher than the change rate in the case where the distance between the center line C1 and the sampling point SP is equal to or longer than "W1/2". That is, in the case where the sampling point SP is located within the host vehicle lane 5a, the change rate of the route evaluation parameter value is increased to be higher than the change rate in the case where the sampling point SP is located on the outside of the host vehicle lane 5a. In this way, in the case where the sampling point SP is located within the host vehicle lane 5a, the influence of the route evaluation parameter value related to the lane centering on the route selection is increased. On the other hand, in the case where the sampling point SP is located on the outside of the host vehicle lane 5a, the influence of the route evaluation parameter value related to the lane centering on the route selection is reduced.
    [0052] Furthermore, in this embodiment, unlike the case where the sampling point SP is located within the host vehicle lane 5a, in the case where the sampling point SP is located on the outside of the host vehicle lane 5a, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is set to be the same among the short-distance area, the middle-distance area, and the long-distance area (the gradients of the graphs G1, G2, and G3 are set to be the same) . Also, in this case, the influence of the route evaluation parameter value related to the lane centering on the route selection is reduced in the case where the sampling point SP is located on the outside of the host vehicle lane 5a. [Driving Assistance Processing]
    [0053] Next, Fig. 5 is a flowchart of driving assistance processing according to the embodiment of the present invention. This processing is repeatedly executed in specified cycles (for example, every 0.05 to 0.2 seconds) by the ECU 10.
    [0054] First, in step S1, the ECU 10 acquires the travel road information from the camera 21, the radar 22, and the navigation system 30.
    [0055] Next, in step S2, the ECU 10 identifies the shape of the travel road 5 (for example, the extending direction of the travel road 5, the width of the travel road 5, and the like) on the basis of the travel road information, and sets the plural grid points Gn (n = 1, 2,...N) on the travel road 5. For example, the ECU 10 sets the grid point Gn for every 10 m in the x-direction and at every 0.875 m in the y-direction.
    [0056] Next, in step S3, the ECU 10 sets the plural travel route candidates RC by the route search using the state lattice method on the basis of the travel road information. More specifically, the ECU 10 sets the plural travel route candidates RC in the manner to be branched from the position of the vehicle 1 toward the grid points Gn existing in the advancing direction of the vehicle 1. The ECU 10 may set the travel route candidates RC on the basis of the obstacle information in addition to the travel road information.
    [0057] Next, in step S4, the ECU 10 sets the plural sampling points SP along each of the travel route candidates RC. For example, on each route of the travel route candidates RC, the ECU 10 sets the sampling points SP at equally-spaced intervals (every 0.2 m in an example) in the x-direction.
    [0058] Next, in step S5, the ECU 10 calculates the route evaluation parameter value of each of the plural travel route candidates RC. More specifically, for each of the plural travel route candidates RC, the ECU 10 calculates the route evaluation parameter value at each of the plural sampling points SP. Then, the ECU 10 calculates the route evaluation parameter value, which is applied to the travel route candidate RC, from the plural route evaluation parameter values that are calculated at each of the plural sampling points SP in the single travel route candidate RC. For example, the ECU 10 sets an average value of the plural route evaluation parameter values at the plural sampling points SP as the route evaluation parameter value of the single travel route candidate RC. In this way, the ECU 10 calculates the route evaluation parameter value of all of the plural travel route candidates RC.
    [0059] In some examples, when calculating the route evaluation parameter value at each of the sampling points SP, in addition to the route evaluation parameter that is defined according to the distance from the above-described center line C1, the ECU 10 calculates values for the plural types of the route evaluation parameter, such as the route evaluation parameter that is defined according to the speed, the route evaluation parameter that is defined according to the front/rear acceleration, the route evaluation parameter that is defined according to the lateral acceleration, the route evaluation parameter that is defined according to the route change rate, and the route evaluation parameter that is defined according to the obstacle. Then, the ECU 10 calculate the route evaluation parameter value, which is finally applied at each of the sampling points SP, by weighing each of the thus-acquired plural types of the route evaluation parameter, for example. In other examples, only the route evaluation parameter that is defined according to the distance from the center line C1 is used.
    [0060] In particular, in this embodiment, in the case where the ECU 10 calculates the route evaluation parameter value that is defined according to the distance from the center line C1, the ECU 10 refers to the map illustrated in Fig. 4 to calculate the route evaluation parameter value. In detail, in regard to the sampling point SP as a calculation target of the route evaluation parameter value, the ECU 10 calculates the route evaluation parameter value according to the distance between the center line C1 and the sampling point SP on the basis of the area where the sampling point SP belongs (one of the short-distance area, the middle-distance area, and the long-distance area). That is, the ECU 10 uses the graph that corresponds to the area where the sampling point SP belongs (one of the graphs G1, G2, and G3 in Fig. 4), so as to calculate the route evaluation parameter value according to the distance from the center line C1.
    [0061] In this case, the ECU 10 determines the area where the sampling point SP belongs on the basis of the x coordinate of the sampling point SP. More specifically, in the case where the x coordinate is shorter than the distance L1, the ECU 10 determines the area where the sampling point SP belongs as the short-distance area. In the case where the x coordinate is equal to or longer than L1 and is shorter than L2, the ECU 10 determines the area where the sampling point SP belongs as the middle-distance area. In the case where the x coordinate is equal to or longer than L2 and is shorter than L3, the ECU 10 determines the area where the sampling point SP belongs as the long-distance area. In addition, the ECU 10 calculates the distance between the center line C1 and the sampling point SP on the basis of the y coordinate of the sampling point SP. More specifically, the y coordinate is defined by the position of the vehicle 1 in the width direction of the travel road 5, that is, a position of a y-axis. Accordingly, the ECU 10 adds or subtracts a distance between this y-axis and the center line C1 to or from the y coordinate of the sampling point SP, so as to calculate the distance between the center line C1 and the sampling point SP. Here, the ECU 10 calculates the position of the center line C1 in the host vehicle lane 5a on the basis of the image data of the camera 21 included in the travel road information. More specifically, the ECU 10 identifies the host vehicle lane 5a on the basis of the road marking line (the lane divider, the white line, or the yellow line) and the like included in the image data, and calculates the position of the center line C1 from the center position in this identified host vehicle lane 5a in the width direction.
    [0062] Next, in step S6, the ECU 10 sets the target travel route. More specifically, the ECU 10 selects the route with the minimum route evaluation parameter value from the plural travel route candidates RC on the basis of the route evaluation parameter value of each of the plural travel route candidates RC calculated as described above, and sets such a route as the target travel route.
    [0063] Next, in step S7, the ECU 10 executes driving control (vehicle behavior control) including speed control and/or steering control of the vehicle 1 such that the vehicle 1 travels along the target travel route. More specifically, the ECU 10 sends the control signal to at least one of the engine control system 31, the brake control system 32, and the steering control system 33 and executes at least one of the engine control, braking control, and the steering control. [Operation and Effects]
    [0064] Next, a description will be made on an operation and effects according to the embodiment of the present invention.
    [0065] In this embodiment, in the vehicle driving assistance system 100, which sets the plural travel route candidates RC on the basis of the travel road information acquired from the camera 21 or the like, sets the plural sampling points SP on each of these plural travel route candidates RC, calculates the route evaluation parameter value at each of these plural sampling points SP, and sets the target travel route from the plural travel route candidates RC on the basis of this route evaluation parameter value, the ECU 10 increases the route evaluation parameter value at the sampling point SP as the distance between the center line C1 and the sampling point SP in the host vehicle lane 5a is increased. In particular, the ECU 10 increases the change rate of the route evaluation parameter value with respect to the distance between the center line C1 and the sampling point SP as the distance between the vehicle 1 and the sampling point SP is reduced.
    [0066] In this way, in the short-distance area from the vehicle 1, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is high. Thus, the lane centering is preferentially considered when the travel route is set, that is, the influence of the route evaluation parameter value related to the lane centering on the route selection becomes significant. As a result, in the short-distance area, it is possible to appropriately select the travel route in which the lane centering is prioritized, and thus the accuracy of the lane centering is improved.
    [0067] Meanwhile, in the long-distance area from the vehicle 1, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is low. Thus, it is unlikely to preferentially consider the lane centering when the travel route is set. That is, the influence of the route evaluation parameter value related to the lane centering on the route selection becomes insignificant. In the long-distance area, it is difficult to secure the accuracy of the camera 21 or the like. Thus, the estimation accuracy of the shape and the like of the travel road 5 is degraded. Accordingly, in such a long-distance area, the change rate of the route evaluation parameter value with respect to the distance from the center line C1 is reduced. In this way, the prioritization of the lane centering can appropriately be suppressed for the travel road 5, the estimation accuracy of the shape and the like of which is not secured.
    [0068] In addition, in this embodiment, in the case where the sampling point SP is located within the host vehicle lane 5a, the ECU 10 increases the change rate of the route evaluation parameter value with respect to the distance between the center line C1 and the sampling point SP to be higher than the change rate in the case where the sampling point SP is located on the outside of the host vehicle lane 5a. In this way, in the case where the sampling point SP is located within the host vehicle lane 5a, the influence of the route evaluation parameter value related to the lane centering on the route selection can appropriately be increased. On the other hand, in the case where the sampling point SP is located on the outside of the host vehicle lane 5a, the influence of the route evaluation parameter value related to the lane centering on the route selection can appropriately be reduced.
    [0069] In addition, in this embodiment, in the case where the sampling point SP is located on the outside of the host vehicle lane 5a, the ECU 10 sets the same change rate of the route evaluation parameter value with respect to the distance from the center line C1 regardless of the distance between the vehicle 1 and the sampling point SP unlike the case where the sampling point SP is located within the host vehicle lane 5a. Also, in this case, the influence of the route evaluation parameter value related to the lane centering on the route selection can appropriately be reduced in the case where the sampling point SP is located on the outside of the host vehicle lane 5a.
    [0070] Furthermore, in this embodiment, the ECU 10 changes the change rate of the route evaluation parameter value with respect to the distance between the center line C1 and the sampling point SP stepwise according to the distance between the vehicle 1 and the sampling point SP. As a result, the several change rates of the route evaluation parameter value according to the distance between the vehicle 1 and the sampling point SP are stored. Thus, the change rate of the route evaluation parameter value, which should be applied according to the distance between the vehicle 1 and the sampling point SP, does not have to be calculated. Therefore, it is possible to reduce a calculation load for calculating the route evaluation parameter value. [Modified Examples]
    [0071] In the above-described embodiment, the change rate of the route evaluation parameter value with respect to the distance between the center line C1 and the sampling point SP is changed stepwise according to the distance between the vehicle 1 and the sampling point SP. In another example, the change rate of the route evaluation parameter value with respect to the distance between the center line C1 and the sampling point SP may continuously be changed according to the distance between the vehicle 1 and the sampling point SP. In this way, it is possible to apply the change rate of the route evaluation parameter value, for which the distance between the vehicle 1 and the sampling point SP is accurately considered.
    [0072] In the above-described embodiment, the vehicle 1 sets the route evaluation parameter such that the travel route on which the vehicle 1 travels at the center position of the host vehicle lane 5a is set. In another example, the route evaluation parameter may be defined such that the travel route on which the vehicle 1 travels at a position out of the center position of the host vehicle lane 5a is set. For example, the route evaluation parameter may be defined such that the vehicle 1 travels on a travel route of so-called out-in-out when traveling at a corner.
    [0073] In addition, in the above-described embodiment, an example in which the present invention is applied to the vehicle 1 having the engine as a drive source has been described (see Fig. 1). However, the present invention can also be applied to a vehicle having an electric motor as the drive source (an electric vehicle or a hybrid vehicle). Furthermore, in the above-described embodiment, the braking force is applied to the vehicle 1 by the brake system (the brake control system 32). However, in another example, the braking force may be applied to the vehicle by regeneration of the electric motor. [Description of Reference Signs and Numerals]
    [0074] 1:Vehicle5:Travel road5a:Host vehicle lane10:ECU21:Camera22:Radar30:Navigation System100:Vehicle driving assistance systemC1:Center lineGn:Grid pointRC:Route candidateSP:Sampling point
    权利要求:
    Claims (15)
    [0001] A vehicle driving assistance system (100) comprising:
    a travel road information acquisition device that acquires travel road information on a travel road (5) of a vehicle (1); and
    a controller (10) configured to set a target travel route for the vehicle (1) in the travel road (5) on the basis of the travel road information and to execute driving control of the vehicle (1) such that the vehicle (1) travels along the target travel route, wherein
    the controller (10) is configured to:
    set plural travel route candidates (RC) as candidates for setting the target travel route on the basis of the travel road information;
    set plural sampling points (SP) on each route of the plural travel route candidates (RC);
    calculate a route evaluation parameter value at each of the plural sampling points (SP) set on each of the plural travel route candidates (RC); and
    select one travel route of the plural travel route candidates (RC) as the target travel route on the basis of the route evaluation parameter value, and
    the controller (10) is further configured to:
    increase the route evaluation parameter value at the sampling point (SP) as a distance between a center line (C1) of a host vehicle lane (5a), on which the vehicle (1) travels, in the travel road (5) and said sampling point (SP) is increased, and
    increase a change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) as a distance between the vehicle (1) and the sampling point (SP) along the travel road (5) is reduced.
    [0002] The vehicle driving assistance system (100)according to claim 1, whereinin the case where the sampling point (SP) is located within the host vehicle lane (5a), the controller (10) is configured to increase the change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) to be higher than the change rate in the case where the sampling point (SP) is located on the outside of the host vehicle lane (5a).
    [0003] The vehicle driving assistance system (100) according to any one of the preceding claims, whereinthe controller (10) is configured to:increase the change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) as the distance between the vehicle (1) and the sampling point (SP) along the travel road (5) is reduced in the case where the sampling point (SP) is located within the host vehicle lane (5a).
    [0004] The vehicle driving assistance system (100) according to claim 3, wherein the controller (10) is configured to:set the same change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) regardless of the distance between the vehicle (1) and the sampling point (SP) along the travel road (5) in the case where the sampling point (SP) is located on the outside of the host vehicle lane (5a).
    [0005] The vehicle driving assistance system (100) according to any one of the preceding claims, whereinthe controller (10) is configured to change the change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) stepwise according to the distance between the vehicle (1) and the sampling point (SP) along the travel road (5).
    [0006] The vehicle driving assistance system (100) according to claim 5, wherein the controller (10) is further configured to compare the distance between the vehicle (1) and the sampling point (SP) along the travel road (5) with one or more distance threshold values.
    [0007] The vehicle driving assistance system (100) according to claim 6, wherein the one or more distance threshold values are set based on an accuracy of the travel road information acquisition device.
    [0008] A vehicle driving assistance method executed by a controller (10) including a computer, the vehicle driving assistance method comprising:
    a step of setting plural travel route candidates (RC) as candidates for setting a target travel route for a vehicle (1) in a travel road (5) on the basis of travel road information on the travel road (5) of the vehicle (1);
    a step of setting plural sampling points (SP) on each route of the plural travel route candidates (RC);
    a step of calculating a route evaluation parameter value at each of the plural sampling points (SP) set on each of the plural travel route candidates (RC);
    a step of selecting one travel route of the plural travel route candidates (RC) as the target travel route on the basis of the route evaluation parameter value; and
    a step of executing driving control of the vehicle (1) such that the vehicle (1) travels along the target travel route, and
    in the step of calculating the route evaluation parameter value, the method further comprises:
    increasing the route evaluation parameter value at the sampling point (SP) as a distance between a center line (C1) of a host vehicle lane (5a), on which the vehicle (1) travels, in the travel road (1) and said sampling point (SP) is increased; and
    increasing a change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) as a distance between the vehicle (1) and the sampling point (SP) along the travel road (5) is reduced.
    [0009] The vehicle driving assistance method according to claim 8, whereinin the case where the sampling point (SP) is located within the host vehicle lane (5a), the method comprises increasing the change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) to be higher than the change rate in the case where the sampling point (SP) is located on the outside of the host vehicle lane (5a).
    [0010] The vehicle driving assistance method according to claim 8 or 9 further comprising:increasing the change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) as the distance between the vehicle (1) and the sampling point (SP) along the travel road (5) is reduced in the case where the sampling point (SP) is located within the host vehicle lane (5a).
    [0011] The vehicle driving assistance method according to claim 10 further comprising:setting the same change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) regardless of the distance between the vehicle (1) and the sampling point (SP) along the travel road (5) in the case where the sampling point (SP) is located on the outside of the host vehicle lane (5a).
    [0012] The vehicle driving assistance method according to any one of claims 8 to 11 further comprising:changing the change rate of the route evaluation parameter value with respect to the distance between the center line (C1) and the sampling point (SP) stepwise according to the distance between the vehicle (1) and the sampling point (SP) along the travel road (5).
    [0013] The vehicle driving assistance method according to claim 12 further comprising:comparing the distance between the vehicle (1) and the sampling point (SP) along the travel road (5) with one or more distance threshold values.
    [0014] The vehicle driving assistance method according to claim 13, wherein the one or more distance threshold values are set based on an accuracy of a travel road information acquisition device.
    [0015] A computer program product comprising computer-readable instructions, which, when executed by a computer, cause the computer to carry out the method of any one of claims 8 to 14.
    类似技术:
    公开号 | 公开日 | 专利标题
    US10654482B2|2020-05-19|Autonomous driving vehicle system
    EP3088280B1|2018-03-28|Autonomous driving vehicle system
    EP3115272B1|2017-11-29|Control system of automated driving vehicle
    US9933783B2|2018-04-03|Automatic driving vehicle system
    US9340207B2|2016-05-17|Lateral maneuver planner for automated driving system
    JP6429217B2|2018-11-28|Route generation device, route generation method, and route generation program
    KR20160138349A|2016-12-05|Automatic driving system for vehicle
    US10877482B2|2020-12-29|Trajectory setting device and trajectory setting method
    US10118641B2|2018-11-06|Drive assist device
    US20190080266A1|2019-03-14|Cost based path planning for autonomous driving vehicles
    US7224290B2|2007-05-29|Traffic environment recognition method and system for carrying out the same
    US10754339B2|2020-08-25|Dynamic programming and quadratic programming based decision and planning for autonomous driving vehicles
    JP5786941B2|2015-09-30|Autonomous driving control system for vehicles
    US10247830B2|2019-04-02|Vehicle position determination device, vehicle control system, vehicle position determination method, and vehicle position determination program product
    JP5162103B2|2013-03-13|Support control device
    JP6421391B2|2018-11-14|Vehicle control device, vehicle control method, and vehicle control program
    JP2014025925A|2014-02-06|Vehicle controller and vehicle system
    CN102132335B|2013-10-23|Traveling environment recognition device
    US9196163B2|2015-11-24|Driving support apparatus and driving support method
    EP3358302B1|2021-03-31|Travel control method and travel control device
    KR101558350B1|2015-10-08|Apparatus for controlling transmission of vehicle
    JP6446731B2|2019-01-09|Vehicle control device, vehicle control method, and vehicle control program
    US10322720B2|2019-06-18|Vehicle control device including object detection, speed distribution area setting and avoidance control execution sections
    JP2005050187A|2005-02-24|Neighboring vehicle detection device
    US20200301431A1|2020-09-24|Vehicle control device and vehicle control method
    同族专利:
    公开号 | 公开日
    US20200231150A1|2020-07-23|
    JP2020111299A|2020-07-27|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    法律状态:
    2020-06-19| PUAI| Public reference made under article 153(3) epc to a published international application that has entered the european phase|Free format text: ORIGINAL CODE: 0009012 |
    2020-07-22| AK| Designated contracting states|Kind code of ref document: A1 Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
    2020-07-22| AX| Request for extension of the european patent|Extension state: BA ME |
    2021-01-22| STAA| Information on the status of an ep patent application or granted ep patent|Free format text: STATUS: REQUEST FOR EXAMINATION WAS MADE |
    2021-02-24| 17P| Request for examination filed|Effective date: 20210114 |
    2021-02-24| RBV| Designated contracting states (corrected)|Designated state(s): AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR |
    优先权:
    申请号 | 申请日 | 专利标题
    [返回顶部]