Patent Application
20200384991
This application claims priority to and the benefit of Japanese Patent Application No. 2019-106480 filed on Jun. 6, 2019, the entire disclosure of which is incorporated herein by reference.
The present invention relates to a vehicle control apparatus, a vehicle, an operation method of the vehicle control apparatus, and a non-transitory computer-readable storage medium.
Conventionally, there is known a lane departure prevention technique as an example of support for an occupant of a vehicle. Japanese Patent Laid-Open No. 2017-13559 discloses that a control start condition or a control end condition is set more strictly as the curvature of a curve increases.
However, the technique disclosed in Japanese Patent Laid-Open No. 2017-13559 is a technique for suppressing steering control when a vehicle is traveling on a curve, and the execution timing of the steering control with respect to the curve may be delayed more than the timing intended by an occupant. That is, it is problematically difficult to execute the lane departure suppression control at an appropriate timing when the vehicle is traveling on a curve.
The present invention provides a technique for implementing lane departure suppression control at an appropriate timing when a vehicle is traveling on a curve.
According to one aspect of the present invention, there is provided a vehicle control apparatus that controls a vehicle, comprising: a detector configured to detect at least one of a division line and a road boundary of a road; a shape detector configured to detect a shape of the road; and a controller configured to execute, based on a determination position in a direction of travel of the vehicle, lane departure suppression control to suppress the departure of the vehicle from at least one of the division line and the road boundary, wherein in a case in which the shape of the road in the direction of travel of the vehicle is not a curve, the controller executes the lane departure suppression control based on a first determination position in the direction of travel of the vehicle, and in a case in which the shape of the road in the direction of travel of the vehicle is the curve, the controller executes the lane departure suppression control based on a second determination position which is farther from the vehicle than the first determination position.
The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the invention and, together with the description, serve to explain the invention.
Hereinafter, embodiments will be described in detail with reference to the attached drawings. Note that the following embodiments are not intended to limit the scope of the claimed invention, and limitation is not made an invention that requires all combinations of features described in the embodiments. Two or more of the multiple features described in the embodiments may be combined as appropriate. Furthermore, the same reference numerals are given to the same or similar configurations, and redundant description thereof is omitted.
A procedure of processing performed by an ECU 20 according to this embodiment shown in
The functions and the like provided by the ECUs 20 to 29 will be described below. Note that the number of ECUs and the provided functions can be appropriately designed in the vehicle 1, and they can be subdivided or integrated as compared to this embodiment.
The ECU 20 executes control associated with automated driving of the vehicle 1. In automated driving, at least one of steering and acceleration/deceleration of the vehicle 1 is automatically controlled. The ECU 20 can also execute control related to driving support of the vehicle 1. Driving support includes, for example, adaptive cruise control (ACC) for reducing the driving load of a driver by executing travel by following a preceding vehicle by maintaining an appropriate following distance, and lane departure suppression control for suppress departure from a lane (division line). Automatic control of acceleration/deceleration is mainly performed in adaptive cruise control (ACC), and automatic control of the steering operation is mainly performed in lane departure suppression control.
The ECU 21 controls an electric power steering device 3. The electric power steering device 3 includes a mechanism that steers front wheels in accordance with a driving operation (steering operation) of a driver on a steering wheel 31. In addition, the electric power steering device 3 includes a motor that generates a driving force to assist the steering operation or automatically steer the front wheels, and a sensor that detects the steering angle. If the driving state of the vehicle 1 is automated driving or driving support, the ECU 21 automatically controls the electric power steering device 3 in correspondence with an instruction from the ECU 20 and controls the direction of travel of the vehicle 1.
The ECUs 22 and 23 perform control of detection units (detector) 41 to 43 that detect the peripheral state of the vehicle and information processing of detection results. Each detection unit 41 is a camera (to be sometimes referred to as the camera 41 hereinafter) that captures the front side of the vehicle 1. In this embodiment, the cameras 41 are attached to the windshield inside the vehicle cabin at the roof front of the vehicle 1. When images captured by the cameras 41 are analyzed, the contour of a target or a division line (a white line or the like) of a lane on a road can be extracted.
The detection unit 42 is Light Detection and Ranging (LIDAR) (to be sometimes referred to as the LIDAR 42 hereinafter), and detects a target around the vehicle 1 or measures the distance to a target. In this embodiment, five LIDARs 42 are provided; one at each corner of the front portion of the vehicle 1, one at the center of the rear portion, and one on each side of the rear portion. The detection unit 43 is a millimeter wave radar (to be sometimes referred to as the radar 43 hereinafter), and detects a target around the vehicle 1 or measures the distance to a target. In this embodiment, five radars 43 are provided; one at the center of the front portion of the vehicle 1, one at each corner of the front portion, and one at each corner of the rear portion.
The ECU 22 performs control of one camera 41 and each LIDAR 42 and information processing of detection results. The ECU 23 performs control of the other camera 41 and each radar 43 and information processing of detection results. Since two sets of devices that detect the peripheral state of the vehicle are provided, the reliability of detection results can be improved. In addition, since detection units of different types such as cameras, LIDARs, and radars are provided, the peripheral environment of the vehicle can be analyzed multilaterally.
The ECU 24 performs control of a gyro sensor 5, a GPS sensor 24b, and a communication device 24c and information processing of detection results or communication results. The gyro sensor 5 detects a rotary motion of the vehicle 1. The course of the vehicle 1 can be determined based on the detection result of the gyro sensor 5, the wheel speed, or the like. The GPS sensor 24b detects the current position of the vehicle 1. The communication device 24c performs wireless communication with a server that provides map information and traffic information and acquires these pieces of information. The ECU 24 can access a map information database 24a formed in the storage device. The ECU 24 searches for a route from the current position to the destination.
The ECU 25 includes a communication device 25a for inter-vehicle communication. The communication device 25a performs wireless communication with another vehicle on the periphery and performs information exchange between the vehicles.
The ECU 26 controls a power plant 6. The power plant 6 is a mechanism that outputs a driving force to rotate the driving wheels of the vehicle 1 and includes, for example, an engine and a transmission. The ECU 26, for example, controls the output of the engine in correspondence with a driving operation (accelerator operation or acceleration operation) of the driver detected by an operation detection sensor 7a provided on an accelerator pedal 7A, or switches the gear ratio of the transmission based on information such as a vehicle speed detected by a vehicle speed sensor 7c. If the driving state of the vehicle 1 is automated driving, the ECU 26 automatically controls the power plant 6 in correspondence with an instruction from the ECU 20 and controls the acceleration/deceleration of the vehicle 1.
The ECU 27 controls lighting devices (headlights, taillights, and the like) including direction indicators 8 (turn signals). In the example shown in
The ECU 28 controls an input/output device 9. The input/output device 9 outputs information to the driver and accepts input of information from the driver. A voice output device 91 notifies the driver of the information by voice. A display device 92 notifies the driver of information by displaying an image. The display device 92 is arranged, for example, in front of the driver's seat and constitutes an instrument panel or the like. Note that although a voice and display have been exemplified here, the driver may be notified of information using a vibration or light. Alternatively, the driver may be notified of information by a combination of some of the voice, display, vibration, and light. Furthermore, the combination or the notification form may be changed in accordance with the level (for example, the degree of urgency) of information of which the driver is to be notified.
An input device 93 is a switch group that is arranged at a position where the driver can perform an operation, is used to issue an instruction to the vehicle 1, and may also include a voice input device.
The ECU 29 controls a brake device 10 and a parking brake (not shown). The brake device 10 is, for example, a disc brake device which is provided for each wheel of the vehicle 1 and decelerates or stops the vehicle 1 by applying a resistance to the rotation of the wheel. The ECU 29, for example, controls the operation of the brake device 10 in correspondence with a driving operation (brake operation) of the driver detected by an operation detection sensor 7b provided on a brake pedal 7B. If the driving state of the vehicle 1 is automated driving or driving support, the ECU 29 automatically controls the brake device 10 in correspondence with an instruction from the ECU 20 and controls deceleration and stop of the vehicle 1. The brake device 10 or the parking brake can also be operated to maintain the stop state of the vehicle 1. In addition, if the transmission of the power plant 6 includes a parking lock mechanism, it can be operated to maintain the stop state of the vehicle 1.
Control of the vehicle 1 executed by the ECU 20 will be described next. The ECU 20 obtains, from the ECUs 22 and 23, information related to the peripheral state (for example, the division lines of the road, the road boundaries, oncoming vehicles, targets, and the like) of the vehicle 1, and issues instructions to the ECUs 21, 26, and 29 based on the obtained information to control the steering and deceleration/acceleration of the vehicle 1. For example, the ECU 20 executes lane departure suppression control to suppress the vehicle 1 from departing from a division line or a road boundary.
However, the determination position of the lane departure suppression control with respect to the road boundary 204 may be changed in accordance with whether the shape of the road with respect to the road boundary 204 is a curve. For example, in a case in which the shape of the road is a curve, the determination position can be set at a determination position P3 shown in
Reference numeral 301 denotes a distance from the first division line 201 to the determination position P1 of the vehicle 1; 302, a distance from the first division line 201 to the determination position P2 of the vehicle 1; and 303, a distance from the road boundary 204 to the determination position P3 of the vehicle 1. Reference numeral 304 denotes a distance from the road boundary 204 to the determination position P4 of the vehicle 1.
The lane departure suppression control with respect to the first division line 201 is executed based on the distance from the first division line 201 to a determination position (the determination position P1 or the determination position P2) of the vehicle 1. Each of the determination position P1 and the determination position P2 with respect to the first division line 201 is a reference position for determining a lateral distance which is the distance in a road width direction with respect to the first division line 201. For example, the lane departure suppression control will be executed in a case in which the distance from the first division line 201 to the determination position of the vehicle 1 (the determination position P1 or the determination position P2) is equal to or less than a threshold.
The lane departure suppression control with respect to the road boundary 204 is executed based on the distance from the road boundary 204 to the determination position P3 of the vehicle 1. The determination position P3 of the lane departure suppression control with respect to the road boundary 204 is a reference position for determining a lateral distance which is a distance in the road width direction with respect to the road boundary 204. For example, the lane departure suppression control will be executed in a case in which the distance from the road boundary 204 to the determination position P3 of the vehicle 1 is equal to or less than a threshold.
That is, in a case in which the shape of the road in the direction of travel of the vehicle 1 is not a curve, the lane departure suppression control with respect to the first division line 201 will be performed based on the determination position P2 in the direction of travel of the vehicle 1. In a case in which the shape of the road in the direction of travel of the vehicle 1 is a curve, the lane departure suppression control with respect to the first division line 201 will be performed based on the determination position P1 which is farther from the vehicle 1 than the determination position P2. Note that the ECU 20 can calculate the curvature of the road to determine whether the shape of the road is a curve. It can be determined that the shape of the road is a curve when the value of the curvature is equal to or less than a threshold, and that the shape of the road is not a curve when the value of the curvature more than the threshold.
In addition, regardless of whether the shape of the road is a curve, the lane departure suppression control with respect to the road boundary 204 will be executed based on the fixed determination position P3.
Note that although an example in which the determination position P1 is set when the shape of the road is a curve has been described in
Although, the determination position is changed linearly in accordance with the curvature of the road in the graph 401, the determination position need not always be changed linearly. For example, the determination position may be changed stepwise in the manner of a graph 402 which represents that the determination position can be changed stepwise for each predetermined curvature range. As another example, the determination position may be changed curvilinearly in accordance with the curvature as in the manner of a graph 403 and a graph 404. It is sufficient as long as a relationship in which the determination position becomes farther from the vehicle 1 as the curvature increases and the determination position becomes closer to the vehicle as the curvature decreases is set. As a result, control which is more suitable for the shape of the road can be performed.
In this case, reference numeral 405 denotes a graph representing the determination position for the lane departure suppression control with respect to the road boundary 204. Since the determination position (the determination position P3) with respect to the road boundary 204 is a fixed position which is apart from the vehicle 1 by a predetermined distance, the position does not change in accordance with the curvature.
However, if the determination position of the lane departure suppression control with respect to the road boundary 204 is set to be changeable instead of being set as a fixed position, the determination position may be changed in accordance with the curvature of the road. In this case, reference numeral 406 denotes a graph representing the determination position for lane departure suppression control with respect to the road boundary 204. The determination position is set to be at a position farther from the vehicle 1 as the curvature of the road increases. As a result, control which is more suitable for the shape of the road can be performed.
<Processing>
The procedure of processing executed by the vehicle control apparatus according to this embodiment will be described next with reference to the flowchart of
In step S501, the ECU 20 detects a division line of the road based on information related to the peripheral state of the vehicle 1 obtained from the ECUs 22 and 23. In step S502, the ECU 20 detects a road boundary based on the information related to the peripheral state of the vehicle 1 obtained from the ECUs 22 and 23. In step S503, the ECU 20 detects the shape of the road based on the information of the division line obtained in step S501 or the information of the road boundary detected in step S502. Alternatively, the shape of the road may be detected based on the map information which has been held in advance. In this case, for example, the shape of the road can be detected by obtaining the information of the shape of the road of a position corresponding to the current position of the vehicle 1.
In step S504, the ECU 20 executes, based on the shape of the road, the lane departure suppression control for suppressing the departure of the self-vehicle from the division line detected in step S501. More specifically, in a case in which the shape of the road in the direction of travel of the vehicle 1 is not a curve, the ECU 20 will execute the lane departure suppression control based on a first determination position (for example, the determination position P2) in the direction of travel of the vehicle 1. In a case in which the shape of the road in the direction of travel of the vehicle 1 is a curve, the lane departure suppression control will be executed based on a second determination position (for example, the determination position P1) which is farther from the vehicle 1 than the first determination position. Note that in the process of this step, the second determination position (for example, the determination position P1) may be set at a position farther from the vehicle 1 as the curvature of the curve of the road increases, as shown in each of the graphs 401 to 404 of
In step S505, the ECU 20 executes the lane departure suppression control for suppressing the self-vehicle from departing from the road boundary detected in step S502. More specifically, the ECU 20 performs control to execute the lane departure suppression control with respect to the road boundary based on a fixed determination position (for example, the determination position P3) regardless of the shape of the road. For example, as shown in the graph 405 of
As described above, according to this embodiment, in a case in which the shape of the road in the direction of travel of the vehicle is not a curve, the lane departure suppression control is executed based on the determination position in the direction of travel of the vehicle, and in a case in which the shape of the road is a curve, the lane departure suppression control is executed based on the second determination position which is farther from the vehicle than the first determination position.
As a result, since the execution determination of the lane departure suppression control will be performed by using a position which is far from the self-vehicle in the direction of travel in a case in which the shape of the road ahead has a curve, the lane departure suppression control can be executed, without changing the threshold of the distance in the lateral direction with respect to the division line, at an early timing when the self-vehicle enters the curve. Therefore, the lane departure suppression control for suppressing the departure of the self-vehicle from the division line can be executed based on a determination position suitable for the shape of the road, and the lane departure suppression control can be executed at an appropriate timing when the self-vehicle is traveling on a curve.
Note that the above embodiment has described an example in which different control is performed depending on whether the shape of the road ahead of the vehicle 1 is a curve without considering the shape of the road on which the vehicle 1 is currently traveling. However, in a case in which the shape of the road on which the vehicle is currently traveling is straight and the vehicle is to enter a curved road from the straight road, the lane departure suppression control may be executed based on a determination position that is set farther from the vehicle 1. As a result, the vehicle will be prevented from making a sudden turn since the lane departure suppression control is executed at an early timing when the self-vehicle is to enter a curve, and travel according to the intention of the occupant can be implemented.
Although the above embodiment has described an example in which appropriate lane departure suppression control with respect to each division line and each road boundary is performed by detecting each division line and each road boundary, it may be set so that the lane departure suppression control according to this embodiment will be executed with respect to only the division line or so that the lane departure suppression control according to this embodiment will be executed with respect to only the road boundary.
According to this embodiment, the lane departure suppression control can be implemented at an appropriate timing when the vehicle is traveling on a curve.
A program for implementing each function of one or more driving support apparatuses described in the embodiments is supplied to a system or apparatus via a network or storage medium, and one or more processors in the computer of the system or apparatus can read out and execute the program. This form can also implement the present invention.
1. A vehicle control apparatus according to the above-described embodiment is a vehicle control apparatus that controls a vehicle (for example, 1), comprising:
a detector (for example, 20, 22, 23, 41, 42, 43) configured to detect at least one of a division line (for example, 201) and a road boundary (for example, 204) of a road;
a shape detector (for example, 20, 22, 23, 41, 42, 43) configured to detect a shape of the road; and
a controller (for example, 20) configured to execute, based on a determination position (for example, P1, P2, P3, P4) in a direction of travel of the vehicle, lane departure suppression control to suppress the departure of the vehicle from at least one of the division line and the road boundary,
wherein
in a case in which the shape of the road in the direction of travel of the vehicle is not a curve, the controller executes the lane departure suppression control based on a first determination position (for example, P2, P4) in the direction of travel of the vehicle, and
in a case in which the shape of the road in the direction of travel of the vehicle is the curve, the controller executes the lane departure suppression control based on a second determination position (for example, P1, P3) which is farther from the vehicle than the first determination position.
According to this embodiment, lane departure suppression control for suppressing the departure of the vehicle from the division line can be executed based on a determination position suitable for the shape of the road, and the lane departure suppression control can be implemented at an appropriate timing when the vehicle is traveling on a curve. Hence, lane departure suppression control according to the intention of the occupant can be implemented.
2. In the vehicle control apparatus according to the above-described embodiment, the second determination position (for example, P1, P3) is a position farther from the vehicle as a curvature of the road increases (for example, 401-404, 406).
According to this embodiment, the lane departure suppression control that is more suitable for the shape of the road can be implemented.
3. In the vehicle control apparatus according to the above-described embodiment, the determination position (for example, P1, P2, P3, P4) is a reference position for determining a lateral distance (for example, 301, 302, 303, 304) which is a distance in a road width direction with respect to one of the division line and the road boundary.
According to this embodiment, lane departure suppression control can be executed based on the distance from the division line to the determination position. For example, a lane departure suppression control function can be operated in a case in which the distance is equal to or less than a threshold.
4. In the vehicle control apparatus according to the above-described embodiment, in the lane departure suppression control with respect to the division line, the controller changes the determination position (for example, P1, P2) in accordance with the shape of the road, and in the lane departure suppression control with respect to the road boundary, the controller does not change determination position (for example, P3), regardless of the shape of the road, by maintaining a fixed position which is apart from the vehicle by a predetermined distance.
According to this embodiment, it is possible to prevent the vehicle from getting too close to the road boundary.
5. In the vehicle apparatus according to the above-described embodiment, in a case in which the shape of the road in the direction of travel of the vehicle is a curve and the lane departure suppression control with respect to the division line in an outer-side direction when the vehicle is to make a turn is to be performed, the controller executes the lane departure suppression control based on the second determination position.
According to this embodiment, the lane departure suppression control with respect to the division line in the outer-side direction when the vehicle is to make a turn can be executed at an early timing, and control in accordance with the curve will be started at an early timing.
6. In the vehicle control apparatus according to the above-described embodiment, in a case in which the vehicle is to enter a curved road from a straight road, the controller executes the lane departure suppression control based on the second determination position.
According to this embodiment, it is possible to prevent the vehicle from making a sudden turn since the lane departure suppression control is executed at an early timing when the vehicle enters a curve, and travel according to the intention of the occupant can be implemented. In addition, it is possible to prevent the vehicle from getting excessively close to the division line.
7. A vehicle (for example, 1) according to the above-described embodiment is a vehicle comprising a vehicle control apparatus according to the above-described embodiment.
According to this embodiment, the processing executed by the vehicle control apparatus can be implemented in a vehicle.
8. An operation method of a vehicle control apparatus according to the above-described embodiment is an operation method of a vehicle control apparatus that controls a vehicle (for example, 1), the method comprising: detecting (for example, S501) at least one of a division line (for example, 201) and a road boundary (for example, 204) of a road;
detecting (for example, S503) a shape of the road; and
executing (for example, S504), based on a determination position (for example, P1, P2) in a direction of travel of the vehicle, lane departure suppression control to suppress the departure of the vehicle from at least one of the division line and the road boundary, wherein in the executing, in a case in which the shape of the road in the direction of travel of the vehicle is not a curve, the lane departure suppression control is executed based on a first determination position (for example, P2) in the direction of travel of the vehicle, and in a case in which the shape of the road in the direction of travel of the vehicle is the curve, the lane departure suppression control is executed based on a second determination position (for example, P1) which is farther from the vehicle than the first determination position.
According to this embodiment, lane departure suppression control for suppressing the departure of the vehicle from the division line can be executed based on a determination position suitable for the shape of the road, and the lane departure suppression control can be implemented at an appropriate timing when the vehicle is traveling on a curve. Hence, lane departure suppression control according to the intention of the occupant can be implemented.
9. A program according to the above-described embodiment is a program for causing a computer to function as a vehicle control apparatus according to the above-described embodiment.
According to this embodiment, the contents of the present invention can be implemented by a computer.
The invention is not limited to the foregoing embodiments, and various variations/changes are possible within the spirit of the invention.
| Number | Date | Country | Kind |
|---|---|---|---|
| 2019-106480 | Jun 2019 | JP | national |
