JP2019148848A - Vehicle controller - Google Patents

Abstract

An object of the present invention is to provide a vehicle control device capable of running a hearse smoothly by controlling the running of an own vehicle. A vehicle control device includes an external world recognition unit, an action planning unit, and a vehicle control unit. The external world recognition unit 62 identifies the hearse 100h traveling toward the vehicle 10 from the one or more other vehicles 100 traveling in front of or behind the vehicle 10; When identifying the hearse 100h, an action of moving the own vehicle 10 in the direction of the traveling lane 124 or the end of the own vehicle running path 120 and moving the own vehicle 10 away from the hearse 100h is planned. [Selection diagram] FIG.

Description

  The present invention relates to a vehicle control apparatus that performs traveling control of a host vehicle when a special vehicle is encountered.

  In Patent Document 1, when an emergency vehicle (an ambulance, a fire engine, a police car, or the like) approaches a general vehicle that travels by automatic driving control, the system moves and stops the general vehicle so that the emergency vehicle travels preferentially. Is disclosed.

JP 2014-154128 A

  In some areas, it is customary to preferentially run roads on special vehicles other than emergency vehicles, such as a hearse. In such an area, when the driver encounters a hearse, he / she controls the driving of the vehicle according to the custom. However, in autonomous driving vehicles and driving assistance vehicles that are expected to become popular in recent years, it is not considered to control the own vehicle from the viewpoint of smoothly running the hearse.

  The present invention has been made in consideration of such problems, and an object of the present invention is to provide a vehicle control device that can smoothly run a hearse by performing traveling control of the host vehicle.

The vehicle control device according to the first invention is
An external recognition unit that recognizes the periphery of the vehicle,
An action planning unit that plans the behavior of the host vehicle based on the recognition result of the external world recognition unit;
A vehicle control unit that causes the host vehicle to travel according to the behavior planned by the behavior planning unit,
The outside world recognition unit identifies a hearse that travels toward the host vehicle from one or more other vehicles that travel in front of or behind the host vehicle.
The behavior planning unit, when the outside recognition unit identifies the hearse, plans an action of moving the own vehicle in the direction of a driving lane or the end of the driving path to move away from the hearse.

  According to the above-described configuration, the hearse car is preferentially run over the own vehicle by moving the own vehicle in the direction of the travel lane or the end of the travel path, so that the hearse can be smoothly run. In addition, the host vehicle can be made to act according to customs.

The vehicle control device according to the second invention is
An external recognition unit that recognizes the periphery of the vehicle,
An action planning unit that plans the behavior of the host vehicle based on the recognition result of the external world recognition unit;
A vehicle control unit that causes the host vehicle to travel according to the behavior planned by the behavior planning unit,
The outside world recognition unit identifies a hearse that travels toward the host vehicle from one or more other vehicles that travel in front of or behind the host vehicle.
The action planning unit plans an action of moving the host vehicle in the same direction as a movement direction of the other vehicles in the vicinity when the outside world recognition unit identifies the hearse.

  According to the said structure, since a hearse wheel is made to drive | work preferentially rather than the own vehicle by moving the own vehicle like other vehicles, a hearse can be made to drive | work smoothly. In addition, the host vehicle can be made to act according to customs.

In the first and second inventions,
A camera that captures image information by imaging the periphery of the vehicle;
Comprising at least one of a communication device for receiving outside world information transmitted from the outside world,
The outside world recognizing unit may recognize the other vehicle based on the image information or the outside world information.

  According to the said structure, a hearse can be recognized using the image imaged with a camera, and the information transmitted from another vehicle.

In the first and second inventions,
The external world recognition unit may identify the other vehicle having the characteristic as the hearse when the other vehicle recognizes the appearance characteristic of the hearse.

  According to the above configuration, the hearse can be recognized from the characteristics of the hearse, such as the appearance shape, color, decoration, mark, hazard lighting state, flag, and the like.

In the first and second inventions,
The outside world recognizing unit may identify a police vehicle from among the other vehicles, and when recognizing another vehicle following the police vehicle, the other vehicle may be identified as the hearse.

  According to the said structure, a hearse can be recognized from the running state peculiar to a hearse, and the train line which made the police vehicle the head here.

In the first and second inventions,
The external field recognition unit may recognize a crowd lined up along a road and identify another vehicle as the hearse when there is the other vehicle that may be the hearse.

  According to the above configuration, the presence of the hearse can be recognized from the surrounding environment peculiar when the hearse is running, in this case, the presence of the crowd along the road.

In the first and second inventions,
A positioning unit for measuring the position of the vehicle,
The outside world recognizing unit obtains information on whether or not a graveyard exists within a predetermined distance of the position of the host vehicle based on the outside world information or map information, and is a case where a cemetery exists and the hearse When there is the other vehicle that may be, the other vehicle may be identified as the hearse.

  According to the above configuration, the presence of the hearse can be recognized from the surrounding environment peculiar when the hearse is running, here, the presence of the graveyard.

In the first and second inventions,
The outside recognition unit may recognize the presence or absence of a funeral attendant vehicle that follows the hearse with the hearse.

  According to the above configuration, since not only the hearse but also the funeral attendant vehicle is recognized, it is possible to perform the same correspondence to the funeral attendant vehicle as the hearse.

In the first and second inventions,
The external world recognition unit may identify the other vehicle having the characteristics as the funeral attendant vehicle when the other vehicle recognizes the appearance characteristics of the funeral attendant vehicle.

  According to the said structure, a funeral attendant vehicle can be recognized from the characteristic of a funeral attendant vehicle, for example, the lighting state of a mark, a hazard, etc.

In the first and second inventions,
A notification control unit that controls notification to the passenger according to the notification behavior planned by the behavior planning unit;
The behavior planning unit may plan a notification behavior that prompts an occupant to select vehicle control when the outside world recognition unit cannot identify whether the other vehicle is the hearse.

  According to the above configuration, when the vehicle cannot recognize whether the other vehicle is a hearse or not, the driver can select the vehicle control. Therefore, when the other vehicle is a hearse, the driver can appropriately determine the control. As a result, the hearse can be run smoothly.

In the first and second inventions,
A notification control unit that controls notification to the passenger according to the notification behavior planned by the behavior planning unit;
The behavior planning unit may plan a notification behavior that prompts an occupant to select vehicle control when the outside world recognition unit cannot identify whether the other vehicle is the funeral attendant vehicle or not.

  According to the above configuration, when the vehicle cannot recognize whether the other vehicle is a funeral attendant vehicle or not, the driver controls the vehicle appropriately when the other vehicle is a funeral attendant vehicle. As a result, the funeral attendant vehicle can run smoothly.

In the first and second inventions,
The outside recognition unit determines the length of a train consisting of the hearse and one or more funeral attendant vehicles,
The action planning unit may plan an action to stop after moving the host vehicle when the length of the vehicle train is greater than or equal to a predetermined length.

  According to the said structure, the own vehicle can be made to act according to custom.

In the first and second inventions,
After the vehicle stops,
The outside world recognition unit recognizes whether the hearse or the funeral attendant vehicle exists within a predetermined range on the side of the own vehicle,
The behavior planning unit may plan a behavior for resuming the traveling of the host vehicle when the outside recognition unit recognizes that the hearse and the funeral attendant vehicle do not exist within a predetermined range. .

  According to the said structure, the normal driving | running | working of the own vehicle can be restarted rapidly.

In the first and second inventions,
It has a restart switch that outputs a travel restart signal according to the operation of the passenger,
After the vehicle stops,
The outside world recognition unit recognizes whether the hearse or the funeral attendant vehicle exists within a predetermined range on the side of the own vehicle,
The behavior planning unit resumes traveling of the host vehicle when the outside recognition unit recognizes that the hearse and the funeral attendant vehicle are not present within a predetermined range and detects the traveling restart signal. You may make it plan the action to make.

  According to the above configuration, normal traveling of the host vehicle can be resumed at a desired timing.

In the first and second inventions,
A notification control unit that controls notification to the passenger according to the notification behavior planned by the behavior planning unit;
The behavior planning unit plans a notification behavior for notifying an occupant that the hearse wheel and the funeral attendant vehicle are running when the outside world recognition unit identifies the hearse wheel and the funeral attendant vehicle. You may do it.

  According to the above configuration, it is possible to make the occupant recognize the presence of the hearse, and to understand the cause of the behavior of the host vehicle (movement, deceleration, etc. of the host vehicle).

In the first and second inventions,
A positioning unit for measuring the position of the host vehicle;
A route setting unit that sets a planned route from the position of the host vehicle to the destination based on map information,
The action planning unit plans an action for causing the host vehicle to travel along the planned route, and when the outside world recognition unit identifies the hearse wheel and the funeral attendee vehicle, the route setting unit is configured to send the planned route to the route setting unit. Instruct to reset
The route setting unit may reset a new planned route that avoids a road on which the hearse and the funeral attendant vehicle travel in accordance with an instruction from the action planning unit.

  According to the above configuration, it is possible to avoid re-encountering the hearse after the host vehicle resumes normal travel.

  According to the present invention, since the hearse is preferentially run over the host vehicle, the hearse can be smoothly run.

FIG. 1 is a block diagram of a host vehicle including a vehicle control device according to the present embodiment. FIG. 2 is a functional block diagram of the arithmetic device. FIG. 3 is a flowchart of processing performed by the vehicle control device according to the present embodiment. FIG. 4 is a diagram for explaining vehicle control when a hearse is approaching from behind the host vehicle. FIG. 5 is a diagram illustrating vehicle control when a hearse approaches from the front of the host vehicle.

  DESCRIPTION OF EMBODIMENTS Hereinafter, a vehicle control apparatus according to the present invention will be described in detail with reference to the accompanying drawings by giving preferred embodiments.

[1. Configuration of host vehicle 10]
As shown in FIG. 1, the host vehicle 10 includes an input system device group 12 that acquires or stores various types of information, a controller 14 that inputs information output from the input system device group 12, and an output from the controller 14. Output system device group 16 that operates according to various instructions. The vehicle control device 18 according to the present embodiment includes an input system device group 12 and a controller 14. The host vehicle 10 is an automatic driving vehicle (including a fully automatic driving vehicle) in which traveling control is performed by the controller 14, or a driving support vehicle that supports a part of the traveling control.

[1.1. Input system device group 12]
The input system device group 12 includes an external sensor 20, a communication device 32, a map unit 40, a navigation device 42, a vehicle sensor 52, and a restart switch 54. The external sensor 20 detects the state (external environment) around the host vehicle 10. The external sensor 20 includes a plurality of cameras 22 that image the external world, a plurality of radars 24 that detect the distance and relative speed between the vehicle 10 and surrounding objects, and one or more LIDARs 26. The communication device 32 transmits and receives information. The communication device 32 includes a first communication device 34 and a second communication device 36. The first communication device 34 performs vehicle-to-vehicle communication with the communication device 102 provided in the other vehicle 100, and acquires outside world information including information (vehicle type, running state, running position, etc.) of the other vehicle 100. The second communication device 36 performs road-to-vehicle communication with the communication device 122 provided in the infrastructure such as the own vehicle traveling road 120, and acquires external information including road information (information on traffic signals, traffic jam information, etc.). . The map unit 40 stores high-precision map information including information such as the number of lanes, lane type, and lane width. The navigation device 42 sets a planned route from the position of the host vehicle 10 to the destination based on the positioning unit 44 that measures the position of the host vehicle 10 by satellite navigation or autonomous navigation, the map information 48, and the map information 48. A route setting unit 46. The vehicle sensor 52 detects the traveling state of the host vehicle 10. The vehicle sensor 52 includes a vehicle speed sensor, an acceleration sensor, a yaw rate sensor, a tilt sensor, and the like (not shown). The restart switch 54 is provided in the passenger compartment and outputs a travel resumption signal in accordance with the operation of the occupant.

[1.2. Output system group 16]
The output system group 16 includes a driving force output device 80, a steering device 82, a braking device 84, and a notification device 86. The driving force output device 80 includes a driving force output ECU and a driving source such as an engine or a driving motor. The driving force output device 80 generates driving force in response to an accelerator pedal operation performed by a passenger or a driving control instruction output from the controller 14. The steering device 82 includes an electric power steering system (EPS) ECU and an EPS actuator. The steering device 82 generates a steering force in response to a steering wheel operation performed by an occupant or a steering control instruction output from the controller 14. The braking device 84 includes a brake ECU and a brake actuator. The braking device 84 generates a braking force in response to a brake pedal operation performed by an occupant or a braking control instruction output from the controller 14. The notification device 86 includes a notification ECU and an information transmission device (display device, acoustic device, tactile device, etc.). The notification device 86 notifies the occupant in accordance with a notification instruction output from the controller 14 or another ECU.

[1.3. Controller 14]
The controller 14 includes an ECU, and includes an arithmetic device 60 such as a processor and a storage device 72 such as a ROM and a RAM. The controller 14 implements various functions by the arithmetic device 60 executing programs stored in the storage device 72. As shown in FIG. 2, the arithmetic device 60 functions as an external environment recognition unit 62, a vehicle position recognition unit 64, an action plan unit 66, a vehicle control unit 68, and a notification control unit 70.

  The outside world recognition unit 62 recognizes the periphery of the host vehicle 10 based on information output from the outside world sensor 20, the communication device 32, the map unit 40, and the navigation device 42. For example, the external environment recognition unit 62 travels around the host vehicle 10 based on image information acquired by the camera 22, information acquired by the radar 24 and the LIDAR 26, and external environment information acquired by the first communication device 34. The presence, position, size, type, and traveling direction of the other vehicle 100 that stops are recognized, and the distance and relative speed between the host vehicle 10 and the other vehicle 100 are recognized. The external recognition unit 62 also includes image information acquired by the camera 22, information acquired by the radar 24 and the LIDAR 26, a high-precision map stored in the map unit 40, map information 48 stored in the navigation device 42, 2 Based on the external world information acquired by the communication device 36, the shape and position of the recognition target object (road, lane mark, facility around the road, space) included in the road environment are recognized. Further, the external environment recognition unit 62 recognizes a signal (a travelable state or a travel impossible state) indicated by the traffic signal based on the image information acquired by the camera 22 or the external field information acquired by the second communication device 36. To do.

  The own vehicle position recognition unit 64 recognizes the position of the own vehicle 10 based on information output from the map unit 40 and the navigation device 42.

  The behavior planning unit 66 plans an optimal behavior of the host vehicle 10 based on the recognition results of the external environment recognition unit 62 and the host vehicle position recognition unit 64 and the detection information of the vehicle sensor 52. For example, the behavior planning unit 66 plans the behavior of the host vehicle 10 at each time point, and generates a target travel path and a target speed for realizing the behavior. The action planning unit 66 plans an action for causing the host vehicle 10 to reach the destination along the planned route when the planned route is set, and the own vehicle 10 when the planned route is not set. Plan an action that will drive you along the road. The action planning unit 66 also plans actions other than the travel control, for example, the content and timing of notification actions for the passengers.

  The vehicle control unit 68 controls the output system device group 16 based on the behavior planned by the behavior planning unit 66. For example, the vehicle control unit 68 calculates a steering command value according to the target travel path generated by the behavior planning unit 66 and an acceleration / deceleration command value according to the target vehicle speed, and outputs the driving force output device 80 and the steering device 82. Then, a control instruction is output to the braking device 84.

  The notification control unit 70 outputs a notification instruction to the notification device 86 based on the notification behavior planned by the behavior planning unit 66.

  The storage device 72 shown in FIG. 1 stores numerical values such as threshold values used for comparison and determination of each process in addition to various programs executed by the arithmetic device 60.

[2. Operation of Vehicle Control Device 18]
Operation | movement of the vehicle control apparatus 18 is demonstrated using FIG. Here, the situation shown in FIGS. 4 and 5 is assumed. That is, as shown in FIG. 4, while the host vehicle 10 is traveling on the host vehicle travel path 120, the hearse wheel 100 h and the hearse truck 100 h follow from the rear of the host vehicle travel path 120 toward the host vehicle 10. Assume a situation in which one or more funeral attendant vehicles 100a approach. In addition, as shown in FIG. 5, while the host vehicle 10 is traveling on the host vehicle traveling path 120, the hearse vehicle 100 h and one or more of the one or more A situation is assumed in which the funeral attendant vehicle 100a approaches. 4 and 5 show the situation when the vehicle is on the right side. FIG. 5 shows a situation of face-to-face traffic with one lane on one side and no median strip. The process described below is repeatedly executed while the host vehicle 10 is powered on.

  In step S <b> 1, the external environment recognition unit 62 recognizes the vicinity of the host vehicle 10 based on the latest information output from the input system device group 12. And the external field recognition part 62 identifies the other vehicle 100 which approaches from the back or the front toward the own vehicle 10, and identifies the hearse wheel 100h from it. For example, the hearse wheel 100 h is identified from the other vehicles 100 that travel on the own vehicle traveling path 120 behind the own vehicle 10 and have a positive relative speed to the own vehicle 10. In addition, the hearse 100h is identified from the other vehicles 100 that travel on the opposite traveling road 128 in front of the host vehicle 10. However, when there is a median between the own vehicle travel path 120 and the opposite travel path 128, the other vehicle 100 traveling on the opposite travel path 128 is not recognized. The method for identifying the hearse 100h will be described in [3] below.

  When the external world recognition unit 62 identifies the hearse 100h (step S2: YES), the process proceeds to step S3. On the other hand, when the external world recognition unit 62 does not identify the hearse wheel 100h (step S2: NO), the series of processing ends, and the vehicle control device 18 waits until the start timing of the next processing.

  If it transfers to step S3 from step S2, the vehicle control apparatus 18 will perform various control. The action planning unit 66 plans an action of moving the host vehicle 10 in the width direction of the host vehicle traveling path 120 to move away from the hearse 100h. As shown in FIG. 4, when the hearse 100h approaches from behind, the action plan unit 66 assumes a center line 126 that extends in the extending direction of the travel lane 124 through the center in the vehicle width direction of the hearse 100h. Then, the first traveling track 130 or the second traveling track 132 that moves the host vehicle 10 in a direction away from the center line 126 is generated. The first traveling track 130 is a track that guides the host vehicle 10 to the end of the traveling lane 124 that is currently traveling. The second traveling track 132 is a track that guides the host vehicle 10 to the right end (including the shoulder of the road) of the host vehicle traveling path 120. FIG. 4 shows a situation in which the host vehicle 10 travels on the same travel lane 124 as the hearse 100h. However, even when the host vehicle 10 travels on a travel lane 124 different from the hearse 100h, the action plan unit 66 A trajectory for moving the vehicle 10 away from the hearse 100h is generated. As shown in FIG. 5, when the hearse 100 h approaches from the front, the action planning unit 66 generates a third traveling track 134 that moves the host vehicle 10 to the right end of the host vehicle traveling path 120. Further, the action planning unit 66 plans an action of gradually decelerating the host vehicle 10 and finally stopping at the end of the travel lane 124 or the right end of the host vehicle travel path 120. The vehicle control unit 68 calculates the steering amount and deceleration of the host vehicle 10 based on the behavior planned by the behavior planning unit 66, outputs a steering instruction to the steering device 82, and sends a deceleration / stop instruction to the braking device 84. Output.

  Furthermore, the action planning unit 66 plans a notification action that informs the occupant that the hearse 100h is running and that vehicle control is being performed as the hearse 100h approaches. The notification control unit 70 outputs a notification instruction to the notification device 86 in accordance with the notification behavior planned by the behavior planning unit 66.

  In step S4, when the hearse 100h approaches the host vehicle 10 from the rear of the host vehicle traveling path 120 as shown in FIG. 4, the external environment recognition unit 62 determines the rear of the host vehicle 10 and the moving direction. Monitor the opposite side. As shown in FIG. 5, when the hearse 100 h approaches the host vehicle 10 from the front of the opposite running path 128, the external environment recognition unit 62 is positioned in front of the host vehicle 10 and the side opposite to the moving direction. To monitor. The outside world recognition unit 62 recognizes the other vehicle 100 existing in the monitoring direction based on the image information or the outside world information, and identifies the hearse wheel 100h and the funeral attendant vehicle 100a from among them.

  When the external world recognition unit 62 does not identify the hearse wheel 100h and the funeral attendant vehicle 100a (step S5: NO), the hearse wheel 100h and the funeral attendant vehicle 100a have passed the side of the own vehicle 10. At this time, the external recognition unit 62 recognizes that the hearse wheel 100h and the funeral attendant vehicle 100a do not exist in the monitoring direction, and the process proceeds to step S6. On the other hand, when the external world recognition unit 62 identifies the hearse wheel 100h or the funeral attendant vehicle 100a (step S5: YES), the hearse wheel 100h and the funeral attendant vehicle 100a are in a state before passing or passing the side of the own vehicle 10. is there. At this time, the process returns to step S4, and the outside recognition unit 62 continues to monitor the hearse 100h and the funeral attendant vehicle 100a.

  When the process proceeds from step S5 to step S6, the action planning unit 66 plans an action for resuming normal driving, in this case, an action for starting the host vehicle 10 and driving in one of the driving lanes 124. The behavior planning unit 66 plans a notification behavior that informs the occupant that traveling is possible. The notification control unit 70 outputs a notification instruction to the notification device 86 in accordance with the notification behavior planned by the behavior planning unit 66. When the occupant operates the restart switch 54, the action planning unit 66 generates a travel path for moving the host vehicle 10 to the nearest travel lane 124. The vehicle control unit 68 calculates the steering amount and acceleration of the host vehicle 10 based on the behavior planned by the behavior planning unit 66, outputs a steering instruction to the steering device 82, and outputs an acceleration instruction to the driving force output device 80. To do.

[3. Identification method of hearse wheel 100h and funeral attendant vehicle 100a]
An example of a method for identifying the hearse wheel 100h and the funeral attendant vehicle 100a performed by the external recognition unit 62 will be described. The hearse 100h can be identified by any one of the methods (1) to (3) described below. It is also possible to combine at least one of the methods (1) to (3) and at least one of the methods (4) and (5). In this case, the other vehicle 100 that is highly likely to be the hearse 100h is specified by the methods (1) to (3), and it is determined whether or not the other vehicle 100 is the hearse 100h by the methods (4) and (5). It is also possible. In addition, when the identification result by each method is scored and the score is equal to or higher than a predetermined threshold, the target other vehicle 100 can be identified as a hearse vehicle 100h or a funeral attendant vehicle 100a. Of course, other identification methods may be added at the time of identification. The accuracy of identification is increased by combining the methods (1) to (5) and other identification methods. The same applies to the identification method [3.6] of the funeral attendant vehicle 100a.

[3.1. Hearing Wheel 100h Identification Method (1)]
When the external world recognition unit 62 recognizes the appearance characteristics of the hearse 100h on the other vehicle 100 based on the image information, the other vehicle 100 having the characteristic can be identified as the hearse 100h. For example, the color of the vehicle body is black, the height is higher than the predetermined vehicle height, the exterior shape is a shape unique to a hearse, the vehicle body is decorated with a unique feature of a hearse, and a mark specific to the vehicle body When recognizing that it is affixed, that there is a flag in front of the vehicle body or at the top of the front wheel, that a hazard lamp is lit, etc., the other vehicle 100 is identified as a hearse 100h. At this time, a technique such as template matching can be used.

[3.2. Hearing Wheel 100h Identification Method (2)]
When the outside world information received by the first communication device 34 includes information indicating that it is a hearse 100h, the outside recognition unit 62 can identify the other vehicle 100 as the hearse 100h. The external information may include information indicating that the other vehicle 100 is the hearse 100h itself, or includes information indicating that the hearse 100h has the appearance characteristics described in [3.1] above. It may be.

[3.3. Hearing Wheel 100h Identification Method (3)]
The external world recognition unit 62 identifies the police vehicle 100p (see FIG. 4) from the other vehicle 100 based on the image information and the external world information, and recognizes the other vehicle 100 that follows the police vehicle 100p, the other vehicle 100 Can be identified as a hearse 100h. For example, when recognizing the characteristics of the police vehicle 100p such that the other vehicle 100 is a two or more two-wheeled vehicle running in parallel and having a revolving light on the condition that the vehicle speed of the other vehicle 100 is equal to or less than a threshold value, The other vehicle 100 is identified as the police vehicle 100p. Then, the other vehicle 100 that follows the police vehicle 100p while keeping a certain inter-vehicle distance is identified as a hearse 100h.

[3.4. Hearing Wheel 100h Identification Method (4)]
When the outside world recognition unit 62 recognizes the crowd 140 (see FIG. 4) lined up along the road based on the image information, the outside world recognition unit 62 can determine that there is a possibility that the hearse wheel 100h exists. And when recognizing the other vehicle 100 which may be the hearse 100h by another identification method, the other vehicle 100 is identified as the hearse 100h. The outside recognition unit 62 recognizes that there is a crowd 140 when, for example, a predetermined number or more people are lined up along the road and the crowd density is equal to or greater than a threshold value.

[3.5. Hearing wheel 100h identification method (5)]
The outside recognition unit 62 determines whether or not a graveyard exists within a predetermined distance of the position of the host vehicle 10 based on outside world information or map information 48 (or a high-precision map of the map unit 40) acquired by the second communication device 36. Information can be obtained. And when it is a case where a graveyard exists and the other vehicle 100 which may be the hearse 100h by another identification method is recognized, the other vehicle 100 is identified as the hearse 100h.

[3.6. Identification method of funeral attendant vehicle 100a]
When the outside recognition unit 62 recognizes the other vehicle 100 that satisfies the predetermined condition, the outside recognition unit 62 can identify the other vehicle 100 as the funeral attendant vehicle 100a. For example, as in [3.1] above, when the external world recognition unit 62 recognizes the appearance characteristics of the funeral attendant vehicle 100a, the other vehicle 100 having the characteristics is identified as the funeral attendant vehicle 100a. . For example, when recognizing that a mark specific to the vehicle body is affixed or that a hazard lamp is lit, the other vehicle 100 is identified as a funeral attendant vehicle 100a. Similarly to the above [3.2], the external recognition unit 62 sets the other vehicle 100 as the funeral attendant vehicle 100a when the external information includes information indicating the funeral attendant vehicle 100a itself. Identify.

[3.7. Other identification methods]
Other methods for identifying the hearse wheel 100h and the funeral attendant vehicle 100a are also conceivable. For example, the hearse 100h and the funeral attendant vehicle 100a usually travel at a low speed. Therefore, the vehicle speed of the other vehicle 100 may be detected so that the other vehicle 100 traveling at a predetermined vehicle speed or less may be recognized as the hearse vehicle 100h or the funeral attendant vehicle 100a. The hearse 100h may sound a horn. Accordingly, the other vehicle 100 that collects ambient sounds with a microphone and sounds a horn may be recognized as a possibility of being a hearse 100h or a funeral attendant vehicle 100a.

[4. Modified example]
[4.1. Modification (1)]
As shown in FIG. 4 and FIG. 5, the external recognition unit 62 identifies the hearse 100 h, and the other vehicle 100 around the own vehicle 10 is in the direction of the end of the travel lane 124 or the own vehicle travel path 120 (arrow line). When recognizing the movement to X), the action planning unit 66 may plan an action for moving the host vehicle 10 in the same direction as the moving direction of the other vehicle 100.

[4.2. Modification (2)]
When the outside world recognition unit 62 cannot clearly identify whether the other vehicle 100 is the hearse wheel 100h or the funeral attendant vehicle 100a, the vehicle control may be left to the occupant. In this case, the behavior planning unit 66 plans a notification behavior that prompts the occupant to select vehicle control. The notification control unit 70 outputs a notification instruction to the notification device 86 in accordance with the notification behavior planned by the behavior planning unit 66. For example, the occupant may select whether or not to continue the automatic driving, or the occupant may select the avoidance action of the hearse 100h or the funeral attendant vehicle 100a.

[4.3. Modification (3)]
In the embodiment described above, the vehicle control device 18 stops the host vehicle 10 when the outside recognition unit 62 identifies the hearse 100h. Instead of this, the host vehicle 10 may be stopped when the length of the train row composed of the hearse wheel 100h and the funeral attendant vehicle 100a is equal to or greater than the threshold value. In this case, the external world recognition unit 62 recognizes the funeral attendant vehicle 100a at the tail of the vehicle train at any timing before the vehicle 10 moves in a direction away from the hearse 100h, during the movement, or after the movement. To do. The behavior planning unit 66 calculates the length of the vehicle train, and when the vehicle train length is equal to or greater than the threshold value, plans an action for stopping the host vehicle 10, and the vehicle train length is less than the threshold value. To plan the behavior to run parallel at a predetermined speed or less.

[4.4. Modification (4)]
In the embodiment described above, the traveling of the host vehicle 10 is restarted by the occupant operating the restart switch 54. Instead of this, the traveling of the host vehicle 10 may be automatically resumed. In this case, when the outside world recognition unit 62 stops recognizing the hearse 100h and the funeral attendant vehicle 100a within a predetermined range or after a predetermined time from that point, the action planning unit 66 moves the own vehicle 10 to the nearest travel lane 124. Create a trajectory to move. The vehicle control unit 68 calculates the steering amount and acceleration of the host vehicle 10 based on the behavior planned by the behavior planning unit 66, outputs a steering instruction to the steering device 82, and outputs an acceleration instruction to the driving force output device 80. To do.

[4.5. Modification (5)]
In the situation shown in FIG. 4, if the own vehicle 10 resumes traveling after the own vehicle 10 passes the hearse wheel 100 h and the funeral attendant vehicle 100 a, there is a possibility that the hearse vehicle 100 h and the funeral attendant vehicle 100 a may catch up. The planned route may be reset so that the own vehicle 10 cannot catch up with the hearse 100h and the funeral attendant vehicle 100a.

  In this case, the behavior planning unit 66 instructs the navigation device 42 to reset the planned route. The route setting unit 46 sets a new planned route excluding the road on which the hearse 100h and the funeral attendant vehicle 100a travel at that time. When there is a graveyard in the vicinity, a route from the position of the hearse 100h to the graveyard may be predicted, and a new planned route that avoids the route may be set.

  FIG. 5 shows a situation in which the host vehicle 10 travels on a host vehicle travel path 120 having one travel lane 124, but the host vehicle travel has two or more travel lanes 124 on the host vehicle travel path 120. There is also a situation of traveling on the road 120. Under such circumstances, the behavior planning unit 66 determines the behavior of the host vehicle 10 according to the travel position. When there is no other traveling lane 124 between the traveling lane 124 on which the host vehicle 10 travels and the opposite traveling path 128, the action planning unit 66 changes the lane in a direction away from the facing traveling path 128. While generating a traveling track to be generated, a target speed for continuing traveling is generated. When another travel lane 124 of the host vehicle travel path 120 exists between the travel lane 124 in which the host vehicle 10 travels and the opposite travel path 128, the action plan unit 66 continues the travel of the host vehicle 10 as it is.

[5. Summary of this embodiment]
The vehicle control device 18 according to the present embodiment includes an external world recognition unit 62 that recognizes the periphery of the host vehicle 10, an action plan unit 66 that plans the behavior of the host vehicle 10 based on the recognition result of the external world recognition unit 62, A vehicle control unit 68 that causes the host vehicle 10 to travel in accordance with the behavior planned by the planning unit 66. The outside world recognition unit 62 identifies a hearse wheel 100 h that travels toward the host vehicle 10 from one or more other vehicles 100 that travel in front of or behind the host vehicle 10. When the external environment recognition unit 62 identifies the hearse wheel 100h, the action plan unit 66 plans an action of moving the host vehicle 10 in the direction of the end of the driving lane 124 or the host vehicle traveling path 120 to move away from the hearse wheel 100h.

  According to the above-described configuration, since the own vehicle 10 is moved in the direction of the travel lane 124 or the end of the own vehicle traveling path 120, the hearse wheel 100h is preferentially driven over the own vehicle 10, and thus the hearse vehicle 100h is caused to travel smoothly. be able to. Moreover, the own vehicle 10 can be made to act according to custom.

  Alternatively, the action planning unit 66 plans an action for moving the host vehicle 10 in the same direction as the moving direction of the other surrounding vehicle 100 when the outside recognition unit 62 identifies the hearse 100h.

  According to the above configuration, since the hearse vehicle 100h is preferentially run over the own vehicle 10 by moving the own vehicle 10 in the same manner as the other vehicle 100, the hearse wheel 100h can be smoothly run. Moreover, the own vehicle 10 can be made to act according to custom.

  The vehicle control device 18 according to the present embodiment includes at least one of a camera 22 that captures an image of the periphery of the host vehicle 10 to acquire image information, and a communication device 32 that receives external information transmitted from the external environment, The external world recognition part 62 recognizes the other vehicle 100 based on image information or external world information.

  According to the above configuration, the hearse 100h can be recognized using the image captured by the camera 22 and information transmitted from the other vehicle 100.

  When the external world recognition unit 62 recognizes the appearance characteristics of the hearse wheel 100h in the other vehicle 100, the other vehicle 100 having the characteristic is identified as the hearse wheel 100h.

  According to the above configuration, the hearse 100h can be recognized from the characteristics of the hearse 100h, such as the appearance shape, color, decoration, mark, hazard lighting state, flag, and the like.

  When the outside world recognition unit 62 identifies the police vehicle 100p from the other vehicles 100 and recognizes the other vehicle 100 that follows the police vehicle 100p, the outside recognition unit 62 identifies the other vehicle 100 as a hearse 100h.

  According to the above configuration, the hearse wheel 100h can be recognized from the running state unique to the hearse wheel 100h, in this case, the vehicle train headed by the police vehicle 100p.

  The external world recognition unit 62 identifies the other vehicle 100 as the hearse 100h when it recognizes the crowd 140 lined up along the road and there is another vehicle 100 that may be the hearse 100h.

  According to the above configuration, the presence of the hearse 100h can be recognized from the surrounding environment peculiar to the running of the hearse 100h, here, the presence of the crowd 140 lined up along the road.

  The vehicle control device 18 according to the present embodiment includes a positioning unit 44 that measures the position of the host vehicle 10. The outside world recognition unit 62 acquires information on whether or not a cemetery exists within a predetermined distance of the position of the host vehicle 10 based on the outside world information or the map information 48, and is a case where a cemetery exists and a hearse wheel 100h. If there is another vehicle 100 that may be, the other vehicle 100 is identified as a hearse 100h.

  According to the above configuration, the presence of the hearse 100h can be recognized from the surrounding environment peculiar to the running of the hearse 100h, here, the presence of the graveyard.

  The outside world recognition unit 62 recognizes the presence or absence of a funeral attendant vehicle 100a that follows the hearse 100h together with the hearse 100h.

  According to the above configuration, since not only the hearse wheel 100h but also the funeral attendant vehicle 100a is recognized, the same correspondence to the funeral attendant vehicle 100a as the hearse wheel 100h can be performed.

  When the outside world recognition unit 62 recognizes the appearance characteristics of the funeral attendant vehicle 100a on the other vehicle 100, the other vehicle 100 having the characteristics is identified as the funeral attendant vehicle 100a.

  According to the said structure, the funeral attendee vehicle 100a can be recognized from the characteristic of the funeral attendant vehicle 100a, for example, the lighting state of a mark, a hazard, etc.

  The vehicle control device 18 according to the present embodiment includes a notification control unit 70 that controls notification to an occupant according to the notification behavior planned by the behavior planning unit 66. The behavior planning unit 66 plans a notification behavior that prompts the occupant to select vehicle control when the outside world recognition unit 62 cannot identify whether the other vehicle 100 is a hearse 100h.

  According to the above configuration, when the other vehicle 100 cannot recognize whether the other vehicle 100 is the hearse 100h or not, the driver appropriately selects control when the other vehicle 100 is the hearse 100h in order to cause the driver to select the vehicle control. As a result, the hearse 100h can be smoothly driven.

  Moreover, the action plan part 66 plans the alerting | reporting action which encourages a passenger | crew to select vehicle control, when the external field recognition part 62 cannot identify whether the other vehicle 100 is the funeral attendant vehicle 100a.

  According to the above configuration, when the vehicle cannot recognize whether the other vehicle 100 is the funeral attendant vehicle 100a or not, the driver selects the vehicle control when the other vehicle 100 is the funeral attendant vehicle 100a. Can appropriately determine the control, and as a result, the funeral attendant vehicle 100a can smoothly travel.

  The external world recognition unit 62 determines the length of a vehicle train including the hearse wheel 100h and one or more funeral attendee vehicles 100a. The action planning unit 66 plans an action of stopping the host vehicle 10 after moving the host vehicle 10 when the length of the vehicle train is greater than or equal to a predetermined length.

  According to the said structure, the own vehicle 10 can be made to act according to custom.

  After the host vehicle 10 stops, the external environment recognition unit 62 recognizes whether the hearse 100h or the funeral attendant vehicle 100a exists within a predetermined distance on the side of the host vehicle 10. The action planning unit 66 plans an action for resuming the traveling of the host vehicle 10 when the outside recognition unit 62 recognizes that the hearse 100h and the funeral attendant vehicle 100a do not exist within a predetermined range.

  According to the said structure, the normal driving | running | working of the own vehicle 10 can be restarted rapidly.

  The vehicle control device 18 according to the present embodiment includes a restart switch 54 that outputs a travel resumption signal in accordance with the operation of the occupant. After the host vehicle 10 stops, the external world recognition unit 62 recognizes whether the hearse wheel 100h or the funeral attendant vehicle 100a exists within a predetermined range on the side of the host vehicle 10. The action plan unit 66 restarts the traveling of the host vehicle 10 when the outside world recognition unit 62 recognizes that the hearse 100h and the funeral attendant vehicle 100a do not exist within a predetermined range and detects a travel resumption signal. Plan actions.

  According to the said structure, the normal driving | running | working of the own vehicle 10 can be restarted at a desired timing.

  The action planning unit 66 plans a notification action for notifying the occupant that the hearse wheel 100h and the funeral attendant vehicle 100a are traveling when the outside world recognition unit 62 identifies the hearse wheel 100h and the funeral attendant vehicle 100a. .

  According to the above configuration, the presence of the hearse 100h can be recognized by the occupant, and the cause of the behavior of the host vehicle 10 (movement, deceleration, etc. of the host vehicle 10) can be grasped.

  In addition to the positioning unit 44, the vehicle control device 18 according to the present embodiment includes a route setting unit 46 that sets a planned route from the position of the host vehicle 10 to the destination based on the map information 48. The action planning unit 66 plans the action of causing the host vehicle 10 to travel along the planned route. When the external world recognition unit 62 identifies the hearse wheel 100h and the funeral attendant vehicle 100a, the route setting unit 46 re-schedules the planned route. Instruct the setting. The route setting unit 46 resets a new planned route that avoids the road on which the hearse 100h and the funeral attendant vehicle 100a travel in accordance with an instruction from the behavior planning unit 66.

  According to the above configuration, it can be avoided that the own vehicle 10 encounters the hearse 100h again after resuming normal travel.

  In addition, the vehicle control apparatus according to the present invention is not limited to the above-described embodiment, and it is needless to say that various configurations can be adopted without departing from the gist of the present invention.

DESCRIPTION OF SYMBOLS 10 ... Own vehicle 18 ... Vehicle control apparatus 62 ... External world recognition part 66 ... Action plan part 68 ... Vehicle control part 100 ... Other vehicle 100h ... Hearse vehicle 120 ... Own vehicle travel path 124 ... Travel lane

Claims (16)

An external recognition unit that recognizes the periphery of the vehicle,
An action planning unit that plans the behavior of the host vehicle based on the recognition result of the external world recognition unit;
A vehicle control unit that causes the host vehicle to travel according to the behavior planned by the behavior planning unit,
The outside world recognition unit identifies a hearse that travels toward the host vehicle from one or more other vehicles that travel in front of or behind the host vehicle.
The behavior planning unit, when the outside world recognition unit identifies the hearse, plans an action of moving the host vehicle in the direction of the lane or the end of the runway to move away from the hearse. Control device. An external recognition unit that recognizes the periphery of the vehicle,
An action planning unit that plans the behavior of the host vehicle based on the recognition result of the external world recognition unit;
A vehicle control unit that causes the host vehicle to travel according to the behavior planned by the behavior planning unit,
The outside world recognition unit identifies a hearse that travels toward the host vehicle from one or more other vehicles that travel in front of or behind the host vehicle.
The said action plan part plans the action which moves the said own vehicle to the same direction as the movement direction of the said other vehicle of a periphery, when the said external field recognition part identifies the said hearse wheel. The vehicle control apparatus characterized by the above-mentioned. The vehicle control device according to claim 1 or 2,
A camera that captures image information by imaging the periphery of the vehicle;
Comprising at least one of a communication device for receiving outside world information transmitted from the outside world,
The outside world recognizing unit recognizes the other vehicle based on the image information or the outside world information. In the vehicle control device according to claim 3,
The external environment recognition unit identifies the other vehicle having the characteristics as the hearse when the other vehicle recognizes the appearance characteristic of the hearse. In the vehicle control device according to claim 3,
The external control unit identifies a police vehicle from among the other vehicles, and identifies another vehicle as the hearse when recognizing another vehicle following the police vehicle. In the vehicle control device according to any one of claims 3 to 5,
The outside world recognition unit recognizes other vehicles as the hearse when the crowds along the road are recognized and there is the other vehicle that may be the hearse. Control device. In the vehicle control device according to any one of claims 3 to 6,
A positioning unit for measuring the position of the vehicle,
The outside world recognizing unit obtains information on whether or not a graveyard exists within a predetermined distance of the position of the host vehicle based on the outside world information or map information, and is a case where a cemetery exists and the hearse When there is the other vehicle that may be, the other vehicle is identified as the hearse. In the vehicle control device according to any one of claims 1 to 7,
The vehicle control device, wherein the outside recognition unit recognizes the presence or absence of a funeral attendant vehicle that follows the hearse with the hearse. The vehicle control device according to claim 8, wherein
The external environment recognition unit identifies the other vehicle having the characteristics as the funeral attendant vehicle when the other vehicle recognizes the appearance characteristic of the funeral attendant vehicle. The vehicle control device according to any one of claims 1 to 9,
A notification control unit that controls notification to the passenger according to the notification behavior planned by the behavior planning unit;
The vehicle control device, wherein the behavior planning unit plans a notification behavior that prompts an occupant to select vehicle control when the outside world recognition unit cannot identify whether the other vehicle is the hearse. The vehicle control device according to claim 8 or 9,
A notification control unit that controls notification to the passenger according to the notification behavior planned by the behavior planning unit;
The behavior planning unit plans a notification behavior that prompts an occupant to select vehicle control when the outside world recognition unit cannot identify whether the other vehicle is the funeral attendant vehicle or not. apparatus. The vehicle control device according to claim 8 or 9,
The outside recognition unit determines the length of a train consisting of the hearse and one or more funeral attendant vehicles,
The vehicle control device, wherein the action planning unit plans an action of stopping the vehicle after moving the host vehicle when a length of the vehicle train is greater than or equal to a predetermined length. The vehicle control device according to claim 12,
After the vehicle stops,
The outside world recognition unit recognizes whether the hearse or the funeral attendant vehicle exists within a predetermined range on the side of the own vehicle,
The action planning unit plans an action of resuming the traveling of the own vehicle when the outside recognition unit recognizes that the hearse and the funeral attendant vehicle do not exist within a predetermined range. Vehicle control device. The vehicle control device according to claim 12,
It has a restart switch that outputs a travel restart signal according to the operation of the passenger,
After the vehicle stops,
The outside world recognition unit recognizes whether the hearse or the funeral attendant vehicle exists within a predetermined range on the side of the own vehicle,
The behavior planning unit resumes traveling of the host vehicle when the outside recognition unit recognizes that the hearse and the funeral attendant vehicle are not present within a predetermined range and detects the traveling restart signal. A vehicle control device characterized by planning an action to be performed. The vehicle control device according to claim 8, wherein
A notification control unit that controls notification to the passenger according to the notification behavior planned by the behavior planning unit;
The behavior planning unit plans a notification behavior for notifying an occupant that the hearse wheel and the funeral attendant vehicle are running when the outside world recognition unit identifies the hearse wheel and the funeral attendant vehicle. The vehicle control apparatus characterized by the above-mentioned. The vehicle control device according to claim 8, wherein
A positioning unit for measuring the position of the host vehicle;
A route setting unit that sets a planned route from the position of the host vehicle to the destination based on map information,
The action planning unit plans an action for causing the host vehicle to travel along the planned route, and when the outside world recognition unit identifies the hearse wheel and the funeral attendee vehicle, the route setting unit is configured to send the planned route to the route setting unit. Instruct to reset
The said route setting part resets the said new scheduled path | route which avoids the road where the said hearse carriage and the funeral attendant vehicle drive according to the instruction | indication of the said action plan part. The vehicle control apparatus characterized by the above-mentioned.

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