JP6943031B2 - Driving judgment method and driving judgment device - Google Patents

Description

The present invention relates to a traveling determination method and a traveling determination device.

Conventionally, a technique has been disclosed in which when a vehicle enters an entrance / exit from a rotary intersection, if there is a pedestrian near the entrance / exit, the driver is notified that there is a pedestrian.

Japanese Unexamined Patent Publication No. 2014-10809

The above-mentioned technique notifies the driver of a vehicle traveling at a rotary intersection, that is, a roundabout, that there is a pedestrian, and it is necessary for the driver to determine how to drive. For example, a sudden stop of a vehicle increases the possibility of obstructing the flow of the vehicle traveling around the roundabout.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a traveling determination method and a traveling determination device capable of reducing the possibility of obstructing the flow of a vehicle in a roundabout.

Traveling determination method of the control apparatus according to an aspect of the present invention obtains the position and information of the intended travel path of the vehicle of a road that connects the roundabout, withdrawal is determined road based on the information of the intended travel path Detchi Obtains the detection result of the stop factor that stops the own vehicle, determines whether or not there is a stop factor based on the detection result, and if it is determined that there is a stop factor, the own vehicle enters the exit road. It is judged that the running in the roundabout should be continued without doing so.

According to the present invention, it is possible to reduce the possibility of obstructing the flow of the vehicle in the roundabout.

FIG. 1 is a functional block diagram showing a part of a vehicle equipped with a travel determination device according to an embodiment of the present invention. FIG. 2 is a flowchart of a travel determination method performed by the travel determination unit 11. FIG. 3 is a diagram showing a specific example of vehicle behavior based on the travel determination performed by the travel determination unit 11.

Hereinafter, embodiments will be described with reference to the drawings. The same members are designated by the same reference numerals, and the description thereof will be omitted again.

As shown in FIG. 1, the vehicle includes a control device 1, a front detection unit 2, a rear detection unit 3, a GPS (Global Positioning System) radio wave reception unit 4, a map database 5, a navigation system 6, an actuator unit 7, and a direction indicator. 8 is provided. The vehicle shown in FIG. 1 is referred to as "own vehicle" so as not to be confused with other vehicles.

The control device 1 includes a travel determination unit 11 that determines the travel of the own vehicle, and a travel control unit 12 that controls the travel of the own vehicle. It is assumed that the travel determination unit 11 stores the dimensions (length, width, height, etc.) of the own vehicle used for the travel determination.

The travel determination unit 11 corresponds to a travel determination circuit of the travel determination device, and can be realized by using a microcomputer including a CPU (central processing unit), a memory, and an input / output unit. A computer program for operating the microcomputer as the driving determination unit 11 is installed and executed on the microcomputer. As a result, the microcomputer functions as the traveling determination unit 11. Here, an example in which the travel determination unit 11 is realized by software is shown, but of course, the travel determination unit 11 may be configured by preparing dedicated hardware for executing each of the following information processing. It is possible.

The front detection unit 2 detects a stopping factor that stops the own vehicle, such as a pedestrian or a stopped vehicle in front of the own vehicle, and includes one or both of the radar device 21 and the camera 22. The rear detection unit 3 detects a following vehicle or the like following the own vehicle, and includes one or both of the radar device 31 and the camera 32.

The GPS radio wave receiving unit 4 obtains the position of its own vehicle by receiving radio waves from three or more GPS satellites. The map database 5 includes map information of the area in which the own vehicle travels. Map information includes information such as the locations of roads and intersections. The intersection includes a cross intersection, a T-shaped intersection, and a roundabout called a roundabout.

A roundabout is an intersection where three or more roads connect to a ring road (referred to as a ring road), and here, the roundabout means a ring road. Map information includes roundabout information. Roundabout information includes the location of the roundabout and connecting roads.

The navigation system 6 provides guidance to a destination set by an occupant such as a driver of the own vehicle. The navigation system 6 calculates a planned travel route to the destination and provides guidance to the destination. Further, the navigation system 6 outputs information on the planned travel path to the control device 1.

The actuator unit 7 includes an accelerator opening variable unit 71 for changing the accelerator opening degree, a brake amount variable unit 72 for changing the brake depression amount, and a steering angle variable unit 73 for changing the steering angle of the steering. The direction indicator 8 includes a direction indicator light on the left side of the vehicle body and a direction indicator light on the right side of the vehicle body.

Next, the travel determination method performed by the travel determination unit 11 will be described.
The travel determination unit 11 acquires the position of the own vehicle from the GPS radio wave receiving unit 4 while the own vehicle is traveling, and acquires the position of the roundabout from the map information of the map database 5. Then, the position of the own vehicle and the position of the roundabout are collated, and it is always determined whether or not the own vehicle is located at the roundabout.

Further, the travel determination unit 11 acquires the detection result of the rear of the vehicle by the radar device or the camera of the rear detection unit 3, and based on the detection result, is traveling the relative speed between the own vehicle and the following vehicle and the distance between the vehicles. Always asks.

Further, the travel determination unit 11 acquires the position of the road connected to the roundabout from the map information, and acquires the information of the planned travel route from the navigation system 6. Then, based on the position of this road and the information on the planned travel route, the position of the road on which the own vehicle exits the roundabout (hereinafter referred to as the exit route) is obtained.

Then, when the own vehicle is located at the roundabout and approaches the exit road, that is, when the own vehicle enters the exit road from the roundabout, the travel determination unit 11 is shown in the flowchart of FIG. Do the action.

In FIG. 2, first, the traveling determination unit 11 acquires the detection result of the front of the vehicle by the radar device or the camera of the front detection unit 2, and determines whether or not there is a stopping factor for stopping the own vehicle based on the detection result. (S1). The stopping factor is, for example, a pedestrian trying to cross a pedestrian crossing provided near the roundabout of the exit road, or another vehicle stopped in front of the pedestrian crossing.

If there is no stopping factor (S1: NO), the travel determination unit 11 determines that the own vehicle should enter the exit road (S3), and ends the process.

The travel control unit 12 drives, for example, the accelerator opening variable unit 71, the brake amount variable unit 72, and the steering angle variable unit 73 of the actuator unit 7 based on the determination result of step S3, and causes the own vehicle to enter the exit path. .. After that, based on the information on the planned travel path, the accelerator opening variable portion 71 and the like of the actuator unit 7 are driven to drive the own vehicle to the destination.

If there is a stop factor (S1: YES), the travel determination unit 11 determines whether or not there is a following vehicle following the own vehicle based on the detection result behind the vehicle (S5). If there is no following vehicle (S5: NO), the process proceeds to step S3.

If there is a following vehicle (S5: YES), the travel determination unit 11 obtains the distance between the own vehicle and the stopping factor based on the detection result in front of the vehicle, and based on the position and distance of the own vehicle, the traveling determination unit 11 itself. The planned stop position when the vehicle stops is obtained (S7).

Next, the travel determination unit 11 determines whether or not at least a part of the own vehicle is located at the roundabout when the own vehicle stops at the planned stop position based on the position of the roundabout, the planned stop position, and the dimensions of the own vehicle. (S9).

When the travel determination unit 11 determines that all of the own vehicles are not located at the roundabout (S9: NO), the travel determination unit 11 determines that the own vehicle should be stopped at the planned stop position (S11), and ends the process.

For example, the travel control unit 12 drives the accelerator opening variable unit 71, the brake amount variable unit 72, and the steering angle variable unit 73 of the actuator unit 7 based on the determination result in step S11, and travels the own vehicle to the planned stop position. And stop at the planned stop position.

When the travel determination unit 11 determines that at least a part of the own vehicle is located at the roundabout (S9: YES), the planned stop position is based on the relative speed between the own vehicle and the following vehicle and the distance between the vehicles. It is determined whether or not the own vehicle stopped at is obstructing the running of the following vehicle (S13). For example, the travel determination unit 11 calculates the upper limit value of the distance between vehicles based on the relative speed, and if the distance between vehicles is longer than the upper limit value, determines that the traveling of the following vehicle is not hindered. If it is determined not to interfere with the running of the following vehicle (S13: NO), the process proceeds to step S11.

When the travel determination unit 11 determines that the traveling of the following vehicle is obstructed (S13: YES), the travel determination unit 11 of the own vehicle when the roundabout continues to travel without entering the exit road based on the detection result in front of the vehicle. The position, that is, whether or not there is a vehicle space in front of the own vehicle is determined (S15).

If there is no space ahead (S15: NO), the travel determination unit 11 determines that the following vehicle should be alerted (S17), and proceeds to step S11.

The travel control unit 12 alerts the following vehicle by continuously blinking both direction indicator lights of the direction indicator 8 based on the determination result of step S17, for example.

If there is a space in front of the vehicle (S15: YES), the travel judgment unit 11 determines that the vehicle should not be alerted to the following vehicle and that the vehicle should continue traveling in the roundabout without entering the exit road (S19). ), Finish the process.

The travel control unit 12 drives, for example, the accelerator opening variable unit 71, the brake amount variable unit 72, and the steering angle variable unit 73 of the actuator unit 7 based on the determination result of step S19, and causes the own vehicle to enter the exit path. Instead, run the roundabout.

If the own vehicle stops in the roundabout or at the planned stop position, sudden braking of the following vehicle may be required, or the own vehicle and the following vehicle may collide. That is, it may interfere with the running of the following vehicle. However, in the present embodiment, since the own vehicle is not stopped and the roundabout is traveled, the traveling of the following vehicle is not hindered. That is, the possibility of obstructing the flow of the vehicle in the roundabout can be reduced.

A specific description will be given with reference to FIG.
As shown in FIG. 3A, it is assumed that the road R1 of the roads R1 to R3 connected to the roundabout RA is the exit road. When the own vehicle 100 traveling on the roundabout RA approaches the road R1 and there is a pedestrian P trying to cross the pedestrian crossing R11 provided near the roundabout RA on the road R1, there is a stop factor (S1: YES). judge.

When the own vehicle 100 has a following vehicle 101 (S5: YES), the planned stop position of the own vehicle 100 is obtained (S7). When the stopped vehicle 102 is stopped before the pedestrian crossing R11, the own vehicle 100 may be located at the roundabout RA (S9: YES) when the stopped vehicle 102 is stopped at the planned stop position.

Further, when the own vehicle 100 stopped at the planned stop position obstructs the traveling of the following vehicle 101 (S13: YES) and there is a space in front (S15: YES), the road R1 is as shown in FIG. 3 (b). It is determined that the vehicle should continue running in the roundabout RA without entering the (exit road) (S19).

As shown in FIG. 3C, even if there is no stopped vehicle 102, when the vehicle stops at the planned stop position in front of the pedestrian crossing R11, a part of the own vehicle 100 is located at the roundabout RA (S9: YES). There is.

Further, if the following vehicle 101 is obstructed from running (S13: YES) and there is a space in front (S15: YES), as shown in FIG. 3 (d), the round does not enter the road R1 (exit road). It is determined that the running in the about RA should be continued (S19).

As described above, in the present embodiment, when it is determined by the traveling determination circuit (11) whether or not there is a stop factor for stopping the vehicle leaving the exit road from the roundabout, and it is determined that there is a stop factor. , Judge that the vehicle should continue the roundabout without entering the exit road. Therefore, the own vehicle that has stopped due to the stopping factor does not interfere with the running of the following vehicle, and the possibility of obstructing the flow of the vehicle at the roundabout can be reduced.

In addition, when the vehicle stops at the planned stop position when the vehicle stops due to a stop factor, it is determined whether or not at least a part of the vehicle is located at the roundabout. Then, when it is determined that not all of the vehicles are located at the roundabout, it is determined that the vehicle should stop at the planned stop position.

Therefore, if the own vehicle does not stop outside the roundabout, it does not obstruct the traffic of other vehicles in the roundabout, and the possibility of entering the exit route from the roundabout increases. Therefore, it is possible to reduce the frequency with which the vehicle continues to travel in the roundabout without entering the exit road, and it is possible to reduce the possibility of obstructing the flow of the vehicle in the roundabout.

In addition, when the vehicle stops at the planned stop position when the vehicle stops due to a stop factor, at least a part of the vehicle is located at the roundabout, and the vehicle stopped at the planned stop position interferes with the running of the following vehicle. Judge whether or not. Then, when it is determined that all of the vehicles are not located at the roundabout or do not interfere with the running of the following vehicle, it is determined that the vehicle should stop at the planned stop position.

Therefore, even if your vehicle runs out of the roundabout and stops, if it does not interfere with the following vehicle, for example, there is no following vehicle, it will not obstruct the traffic of other vehicles in the roundabout, so you will be on the exit route from the roundabout. The chances of getting in are increased. Therefore, it is possible to reduce the frequency with which the vehicle continues to travel in the roundabout without entering the exit road, and it is possible to reduce the possibility of obstructing the flow of the vehicle in the roundabout.

In the present embodiment, if it is determined in step S1 that there is a stop factor, the process proceeds to step S5, but the process proceeds to step S19 without proceeding to step S5, that is, the vehicle does not enter the exit road and is in the roundabout. You may decide that you should continue running.

Further, if it is determined in step S9 that at least a part of the own vehicle is located at the roundabout, the vehicle should proceed to step S19 without proceeding to step S13, that is, the vehicle should continue running in the roundabout without entering the exit road. You may judge that.

Further, in the present embodiment, the travel control unit 12 controls the travel of the vehicle based on the determination result of the travel determination unit 11. However, based on the determination result of step S19, for example, the screen display or voice of the navigation system 6 is used to notify the driver of the vehicle of the content such as "Please drive the roundabout without entering the exit road". You may. Further, based on the determination result in step S11, for example, the screen display or voice of the navigation system 6 informs the driver of the vehicle of the content such as "Enter the exit road and stop before the pedestrian crossing". You may. Further, based on the determination result in step S17, for example, the driver of the vehicle may be notified of the content such as "Please blink the hazard lamp" by the screen display or voice of the navigation system 6.

Further, in the present embodiment, the traveling determination device is mounted on the target vehicle traveling in the roundabout. However, the same is true by mounting a server device capable of communicating with the target vehicle or a travel judgment device on another vehicle that is not the target vehicle, and transmitting and receiving necessary information and instructions by communication between the server device or the other vehicle and the target vehicle. The traveling determination method may be performed remotely. Communication between the server device and the target vehicle can be executed by wireless communication or road-to-vehicle communication. Communication between another vehicle and the target vehicle can be executed by so-called vehicle-to-vehicle communication.

Although embodiments of the present invention have been described above, the statements and drawings that form part of this disclosure should not be understood to limit the invention. Various alternative embodiments, examples and operational techniques will be apparent to those skilled in the art from this disclosure.

1 Control device 2 Front detection unit 3 Rear detection unit 4 GPS radio wave reception unit 5 Map database 6 Navigation system 7 Actuator unit 8 Direction indicator 11 Travel judgment unit 12 Travel control unit 21, 31 Radar device 22, 32 Camera 100 Own vehicle 101 Following vehicle 102 Stopped vehicle P Pedestrian R1 to R3 Road R11 Pedestrian crossing RA Round about

Claims (4)

It is a running judgment method of the control device that judges whether the own vehicle will continue running in the roundabout.
The control device is
Obtain information on the position of the road connecting to the roundabout and the planned travel path of the own vehicle,
In Detchi withdrawal is determined the road based on the information of the intended travel path, obtains the detection result of the stop factor to stop the vehicle,
Based on the detection result, it is determined whether or not there is the stop factor.
A traveling determination method, characterized in that, when it is determined that there is a stopping factor, it is determined that the own vehicle should continue traveling in the roundabout without entering the exit road. Obtaining the planned stop position when the own vehicle stops due to the stop factor,
When the own vehicle stops at the planned stop position, it is determined whether or not at least a part of the own vehicle is located at the roundabout.
When it is determined that at least a part of the own vehicle is located in the roundabout, it is determined that the own vehicle should travel the roundabout without entering the exit road, while all of the own vehicle is in the roundabout. The traveling determination method according to claim 1, wherein when it is determined that the vehicle is not located at the about, it is determined that the own vehicle should stop at the planned stop position. Obtaining the planned stop position where the own vehicle is scheduled to stop due to the stop factor,
When the own vehicle stops at the planned stop position, at least a part of the own vehicle is located at the roundabout, and the own vehicle stopped at the planned stop position is a following vehicle following the own vehicle. Determine if it interferes with driving,
When it is determined that at least a part of the own vehicle is located at the roundabout and interferes with the running of the following vehicle, it is determined that the own vehicle should run the roundabout without entering the exit road. On the other hand, if it is determined that not all of the own vehicle is located at the roundabout or does not interfere with the running of the following vehicle, it is determined that the own vehicle should stop at the planned stop position. The driving determination method according to claim 1. It is a travel judgment device equipped with a control device that determines whether or not the own vehicle continues to travel in the roundabout.
The control device acquires the information of the intended travel path of the position and the vehicle road to be connected to the roundabout, the in the road and is retreat Detchi determined based on the vehicle information of the intended travel path , acquires the detection result of the stop factor to stop the vehicle, on the basis of the detection result, determines whether the stop factor is present, when it is determined that the stop factor is present, the own vehicle is the traveling determination apparatus characterized that you determines that without entering the exit road to continue traveling in said roundabout.

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