JP7138132B2 - Control device and vehicle - Google Patents

Description

TECHNICAL FIELD The present invention relates to a control device and a vehicle that control travel of a vehicle.

For vehicles represented by four-wheeled vehicles, collision mitigation braking (CRB), which provides step-by-step assistance to avoid collisions with preceding vehicles, pedestrians, and oncoming vehicles, or to reduce damage, is a driving assistance technology that assists the driver's driving. A function called CMBS (Collision Mitigation Brake System) is known (see Patent Documents 1 and 2). With CMBS, when a vehicle ahead, a pedestrian, or an oncoming vehicle (object to be detected) is detected by a radar or camera, a warning is given by sound or display, and when the vehicle approaches the object to be detected, braking is applied lightly. , and when the vehicle comes closer to the object to be detected, it applies strong braking to help avoid collisions and reduce damage.

For example, Patent Literature 1 discloses setting a detection area of a detection target in accordance with a pedestrian crossing based on map information or image information captured by a camera. Further, Patent Document 2 discloses that an object moving in a direction (lateral direction) away from the own vehicle in an adjacent lane adjacent to the lane in which the own vehicle travels is excluded from detection objects (support control). It is

JP 2009-271766 A JP-A-2005-145282

However, the prior art does not disclose setting the detection area of the object to be detected more finely according to the surrounding conditions of the own vehicle. In particular, when there is a pedestrian crossing around the vehicle, pedestrians are included in the objects to be detected, so it is necessary to set the detection area of the object to be detected more finely.

SUMMARY OF THE INVENTION An object of the present invention is to provide a new technique for setting more precisely and appropriately a detection range in which a detection target should be detected in relation to surrounding conditions of a vehicle.

A control device as one aspect of the present invention is a control device that controls a vehicle, and includes a detection unit that detects a surrounding situation of the vehicle, and a detection target existing in the surrounding situation that is detected by the detection unit. a control unit that detects and controls traveling of the vehicle according to the detection object, wherein the surrounding situation includes a pedestrian crossing that the vehicle crosses and a sidewalk that is in contact with the pedestrian crossing; The control unit sets a detection range in which the detection object should be detected with respect to the surrounding situation, and the detection range includes a pedestrian crossing area including the pedestrian crossing and a sidewalk area including the sidewalk. , the crosswalk area and the sidewalk area have different shapes when viewed from above, and the control unit moves from outside the detection range toward the detection range. The detection range is expanded so as to include the detection target when the detection target that is moving along with the detection target exists in the surrounding situation .

A control device as another aspect of the present invention is a control device for controlling a vehicle, comprising: a detection unit that detects a surrounding situation of the vehicle; and a control unit that controls the running of the vehicle according to the detection object, and the surrounding situation includes a pedestrian crossing that the vehicle crosses and a sidewalk that is in contact with the pedestrian crossing, The control unit sets a detection range in which the detection object is to be detected with respect to the surrounding situation, and the detection range includes a pedestrian crossing area including the pedestrian crossing and a sidewalk area including the sidewalk. wherein, when the crosswalk area and the sidewalk area are viewed in plan, the sidewalk area includes a portion that protrudes from the crosswalk area along an axis parallel to the traveling direction of the vehicle; The unit expands the detection range to include the detection target moving toward the detection range from outside the detection range, if the detection target is present in the surrounding situation. Characterized by

A vehicle as still another aspect of the present invention includes a detection unit that detects a surrounding situation of the vehicle; and a control unit for controlling the running of the vehicle, wherein the surrounding conditions include a pedestrian crossing crossed by the vehicle and a sidewalk adjacent to the pedestrian crossing, and the control unit controls the surrounding conditions. to set a detection range in which the detection object is to be detected, the detection range includes a crosswalk area including the crosswalk and a sidewalk area including the sidewalk, and the crosswalk area and the sidewalk area When viewed from above, the crosswalk area and the sidewalk area have different shapes, and the control unit detects a detection target moving toward the detection range from outside the detection range. When the object exists in the surrounding situation, the detection range is expanded so as to include the object to be detected .

A vehicle as still another aspect of the present invention includes a detection unit that detects a surrounding situation of the vehicle; and a control unit for controlling the running of the vehicle, wherein the surrounding conditions include a pedestrian crossing crossed by the vehicle and a sidewalk adjacent to the pedestrian crossing, and the control unit controls the surrounding conditions. to set a detection range in which the detection object is to be detected, the detection range includes a crosswalk area including the crosswalk and a sidewalk area including the sidewalk, and the crosswalk area and the sidewalk area When viewed from above, the sidewalk area includes a portion that protrudes from the pedestrian crossing area along an axis parallel to the traveling direction of the vehicle, and the control unit detects the crosswalk area from outside the detection range. When a detection target moving toward the detection range exists in the surrounding situation, the detection range is expanded so as to include the detection target .

Further objects or other aspects of the present invention will be made clear by the embodiments described below with reference to the accompanying drawings.

According to the present invention, for example, it is possible to provide a new technique for more finely and appropriately setting a detection range in which a detection target should be detected with respect to surrounding conditions of a vehicle.

1 is a block diagram showing the configuration of a control device as one aspect of the present invention; FIG. FIG. 3 is a diagram for explaining a detection range that is generally set for a vehicle surrounding situation; It is a figure which shows an example of the detection range set in this embodiment. It is a figure which shows an example of the detection range set in this embodiment. It is a figure which shows an example of the detection range set in this embodiment. It is a figure which shows an example of the detection range set in this embodiment. It is a figure which shows an example of the detection range set in this embodiment. It is a figure which shows an example of the detection range set in this embodiment. It is a figure which shows an example of the detection range set in this embodiment.

Hereinafter, embodiments will be described in detail with reference to the accompanying drawings. It should be noted that the following embodiments do not limit the invention according to the claims, and not all combinations of features described in the embodiments are essential to the invention. Two or more of the features described in the embodiments may be combined arbitrarily. Also, the same or similar configurations are denoted by the same reference numerals, and redundant explanations are omitted.

FIG. 1 is a block diagram showing the configuration of a control device as one aspect of the present invention. The control device shown in FIG. 1 is a device that controls the traveling of the vehicle 1 , and in this embodiment, the automatic driving of the vehicle 1 . In FIG. 1, a vehicle 1 is shown schematically in a plan view and a side view. The vehicle 1 is, for example, a sedan-type four-wheel passenger car (four-wheel vehicle).

The control device shown in FIG. 1 includes a control unit 2 (control section). The control unit 2 includes a plurality of ECUs 20 to 29 communicatively connected by an in-vehicle network. Each of the ECUs 20 to 29 includes a processor typified by a CPU, a storage device such as a semiconductor memory, an interface with an external device, and the like. The storage device stores programs executed by the processor, data used by the processor for processing, and the like. Each of the ECUs 20 to 29 may include multiple processors, storage devices, interfaces, and the like.

The functions and the like handled by each of the ECUs 20 to 29 will be described below. It should be noted that the number of ECUs and the functions they are in charge of can be appropriately designed, and it is possible to subdivide or integrate them more than in the present embodiment.

The ECU 20 executes control related to automatic driving of the vehicle 1 . In automatic driving, at least one of steering and acceleration/deceleration of the vehicle 1 is automatically controlled. In this embodiment, the ECU 20 automatically controls both steering and acceleration/deceleration.

The ECU 21 controls the electric power steering device 3 . The electric power steering device 3 includes a mechanism that steers the front wheels according to the driver's driving operation (steering operation) on the steering wheel 31 . The electric power steering device 3 also includes a motor that exerts a driving force for assisting a steering operation or automatically steering the front wheels, a sensor that detects a steering angle, and the like. When the driving state of the vehicle 1 is automatic driving, the ECU 21 automatically controls the electric power steering device 3 in response to instructions from the ECU 20 to control the traveling direction of the vehicle 1 .

The ECUs 22 and 23 perform control of the detection units 41 to 43 for detecting the surrounding conditions of the vehicle 1 and information processing of detection results. The detection unit 41 is a camera that captures an image of the front of the vehicle 1 (hereinafter sometimes referred to as camera 41). In this embodiment, two cameras 41 are provided on the roof front portion of the vehicle 1 . By analyzing the image captured by the camera 41, it is possible to extract the outline of the target, the lane markings (for example, white lines) on the road, and the like. As a result, the ECUs 22 and 23 can detect pedestrians and other vehicles. It can recognize information (crosswalks, sidewalks, shoulders, runways, etc.) and obstacles on the road.

The detection unit 42 is a lidar (LIDER: Light Detection and Ranging (for example, laser radar), hereinafter sometimes referred to as the lidar 42). The lidar 42 detects targets around the vehicle 1 and measures the distance to such targets. In this embodiment, five riders 42 are provided, one at each corner of the front of the vehicle 1, one at the center of the rear, and one at each side of the rear. The detection unit 43 is a millimeter wave radar (hereinafter sometimes referred to as radar 43). The radar 43 detects targets around the vehicle 1 and measures distances to such targets. In this embodiment, five radars 43 are provided, one at the center of the front of the vehicle 1, one at each corner of the front, and one at each corner of the rear. there is

The ECU 22 controls the one camera 41 and each rider 42 and processes information on detection results. The ECU 23 performs control of the other camera 41 and each radar 43 and information processing of detection results. Thus, by providing two sets of devices for detecting the surrounding conditions of the vehicle 1, the reliability of detection results is improved, and by providing detection units of different types such as cameras, lidars, and radars, the It is possible to analyze the surrounding environment from many angles. Further, the ECUs 22 and 23 detect the relative speed between the vehicle 1 and the target based on the distances between the vehicle 1 and the target around the vehicle 1 measured by the lidar 42 and the radar 43, respectively, and determine the absolute speed of the vehicle 1. Further based on the speed information, the absolute speed of targets around the vehicle 1 can also be detected.

The ECU 24 performs control and detection results of the gyro sensor 5, the GPS sensor 24b, and the communication device 24c, or information processing of communication results. The gyro sensor 5 detects rotational 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, and the like. GPS sensor 24 b detects the current position of vehicle 1 . The communication device 24c performs wireless communication with a server that provides map information and traffic information, and acquires these information. The ECU 24 can access a map information database 24a built in a storage device, and searches for a route from the current location to the destination. The ECU 24 also includes a communication device 24d for inter-vehicle communication. The communication device 24d performs wireless communication with other vehicles in the vicinity to exchange information between the vehicles.

ECU 25 controls power plant 6 . The power plant 6 is a mechanism that outputs driving force for rotating the driving wheels of the vehicle 1, and includes, for example, an engine and a transmission. For example, the ECU 25 controls the output of the engine in response to the driver's driving operation (accelerator operation or acceleration operation) detected by the operation detection sensor 7a provided on the accelerator pedal 7A, or adjusts the vehicle speed detected by the vehicle speed sensor 7c. The gear stage of the transmission is switched based on such information. When the driving state of the vehicle 1 is automatic driving, the ECU 25 automatically controls the power plant 6 in response to instructions from the ECU 20 to control the acceleration and deceleration of the vehicle 1 .

The ECU 26 controls lamps (headlights, taillights, etc.) including the direction indicators 8a (winkers). In this embodiment, the direction indicators 8a are provided at the front, door mirrors, and rear of the vehicle 1 .

The ECU 27 controls the detection unit 9 that detects the situation inside the vehicle and processes the information of the detection results. As the detection unit 9, in this embodiment, a camera 9a for photographing the inside of the vehicle and an input device 9b for receiving input of information from passengers inside the vehicle are provided. The camera 9a is provided in the front part of the roof of the vehicle 1 in this embodiment, and photographs an occupant (for example, a driver) in the vehicle. The input device 9b is a switch group that is arranged at a position that can be operated by a passenger in the vehicle and that gives an instruction to the vehicle 1 .

The ECU 28 controls the output device 10 . The output device 10 outputs information to the driver and receives input of information from the driver. The voice output device 10a notifies the driver of information by voice. The display device 10b notifies the driver of information by displaying an image. The display device 10b is arranged, for example, in front of the driver's seat and constitutes an instrument panel or the like. In addition, in the present embodiment, voice and display are exemplified, but information may be notified by vibration or light. Information may also be notified by combining a plurality of sounds, displays, vibrations, and lights.

The ECU 29 controls the braking device 11 and a parking brake (not shown). The brake device 11 is, for example, a disc brake device, is provided on each wheel of the vehicle 1, and decelerates or stops the vehicle 1 by applying resistance to the rotation of the wheels. The ECU 29 controls the operation of the brake device 11 in response to the driver's driving operation (brake operation) detected by the operation detection sensor 7b provided on the brake pedal 7B, for example. When the driving state of the vehicle 1 is automatic driving, the ECU 29 automatically controls the braking device 11 in response to instructions from the ECU 20 to control deceleration and stopping of the vehicle 1 . The brake device 11 and the parking brake can also be operated to keep the vehicle 1 stopped. Moreover, if the transmission of the power plant 6 has a parking lock function, it is also possible to operate the parking lock function to keep the vehicle 1 in a stopped state.

In the vehicle 1 configured in this way, as driving assistance technology for assisting the driving of the driver, a collision mitigation brake ( CMBS) is provided. In the CMBS, the detection units 41 to 43 detect the surrounding conditions of the vehicle 1 (hereinafter sometimes referred to as vehicle surrounding conditions), and the ECU 20 (cooperating with the ECUs 22 and 23) detects the detection units 41 to 43. It detects objects to be detected that exist in the surroundings of the vehicle, and controls traveling of the vehicle 1 according to the objects to be detected that exist in the surroundings of the vehicle (in cooperation with the ECUs 25 and 29). The detection target includes pedestrians (bicycles), preceding vehicles, oncoming vehicles, etc. Basically, the detection target is described as a pedestrian. Further, control of running of the vehicle 1 includes braking of the vehicle 1 by control of the power plant 6 and the brake device 11 .

In order to improve the function (accuracy) of such CMBS, how to set the detection range (interference area) that indicates the range in which the detection object should be detected in the vehicle surroundings with respect to the vehicle surroundings is important. Hereinafter, a detection range that is generally set for a vehicle surrounding situation where a crosswalk exists will be described with reference to FIGS. 2(a), 2(b) and 2(c). Here, left-hand traffic is assumed as the traffic rule for vehicles on the road.

FIG. 2(a) shows a plan view of the vehicle surrounding situation VSS detected by the detection units 41 to 43. FIG. The vehicle surrounding situation VSS includes the driving lane L1 of the own vehicle 1 (vehicle 1), the oncoming lane L2 of the driving lane L1, the crosswalk PC for the pedestrian P to cross the driving lane L1 and the oncoming lane L2, and the driving It includes stop lines SL1 and SL2 provided in the lane L1 and the oncoming lane L2, respectively, and sidewalks SW provided on both sides of the roadway including the driving lane L1 and the oncoming lane L2. When setting the detection range DR for the vehicle surrounding situation VSS, first, as shown in FIG. , the length W1 in the lateral direction (traveling direction of the own vehicle 1) is determined. Next, as shown in FIG. 2B, when the own vehicle 1 passes in front of the pedestrian P, the vertical direction of the area added to the area A1 is not hindered so as not to hinder the walking (crossing) of the pedestrian P. Determine the length W2 (in the vehicle width direction). Then, from the lengths W1 and W2 thus determined, a detection range DR for detecting the pedestrian P, which is the object to be detected, is determined as shown in FIG. 2(c).

However, in order to further improve the CMBS function, it is necessary to make the detection range set for the surrounding conditions of the vehicle finer and more appropriate. In particular, when there is a pedestrian crossing in the surroundings of the vehicle, the object to be detected is a pedestrian. Therefore, it is desired to set the detection range more finely and appropriately.

Therefore, in this embodiment, as shown in FIG. The present invention provides a new technique for setting the detection range DR more finely and appropriately for the vehicle surrounding situation VSS than the technique.

FIG. 3 is a diagram showing an example of the detection range DR set for the vehicle surrounding situation VSS detected by the detection units 41 to 43 in this embodiment, and shows a plan view of the vehicle surrounding situation VSS. showing. Referring to FIG. 3, the detection range DR includes a crosswalk area PCA including the crosswalk PC and a sidewalk area SWA including the sidewalk SW. The crosswalk area PCA and the sidewalk area SWA have different shapes. . In this way, by making the shape of the crosswalk area PCA and the shape of the sidewalk area SWA different from each other in plan view, the degree of freedom in setting the detection range DR increases, and the detection range DR DR can be set more finely and appropriately.

The respective shapes of the crosswalk area PCA and the sidewalk area SWA that constitute the detection range DR shown in FIG. 3 will be specifically described. The pedestrian crossing area PCA includes, in addition to the pedestrian crossing PC, a predetermined margin MG extending in the lateral direction (direction in which the host vehicle 1 travels) from the pedestrian crossing PC, and has a rectangular shape in plan view. In this embodiment, the margin MG is provided for both the left end PCL and the right end PCR of the pedestrian crossing PC, but only one of the left end PCL and right end PCR of the pedestrian crossing PC is provided. may be provided. Also, the margin MG may be zero. The sidewalk area SWA includes the sidewalk SW and is in contact with the pedestrian crossing area PCA. A boundary BD is defined as a portion where the crosswalk area PCA and the sidewalk area SWA are in contact with each other. The crosswalk area PCA and the sidewalk area SWA have the same width in the traveling direction of the own vehicle 1 at the boundary BD. In other words, at the boundary BD, the width WD1 of the crosswalk area PCA in the traveling direction of the own vehicle 1 is the same as the width WD2 of the sidewalk area SWA in the traveling direction of the own vehicle 1 . Moreover, the sidewalk area SWA has a shape in which the width WD2 increases with increasing distance from the boundary BD, and as shown in FIG. 3, has a trapezoidal shape in a plan view.

By setting the detection range DR as shown in FIG. The CMBS can appropriately respond to P2 and the pedestrian P3 crossing the pedestrian crossing PC. The detection range DR shown in FIG. 3 is particularly useful for appropriately matching the CMBS to the pedestrian P1. This is because the sidewalk area PCA includes a portion PP that protrudes from the pedestrian crossing area PCA along an axis parallel to the traveling direction of the own vehicle 1, and the pedestrian P1 can be quickly detected by the portion PP. is. On the other hand, the detection range DR shown in FIG. 2(a) can appropriately correspond to the CMBS with respect to the pedestrians P2 and P3, but does not correspond appropriately with the pedestrian P1. can't

FIGS. 4A and 4B are diagrams showing another example of the detection range DR set for the vehicle surrounding situation VSS detected by the detection units 41 to 43 in this embodiment. , a plan view of the vehicle surrounding situation VSS. 4A and 4B, the detection range DR includes a crosswalk area PCA including the crosswalk PC and a sidewalk area SWA including the sidewalk SW. SWA has a shape different from each other. Since the pedestrian crossing area PCA shown in FIGS. 4A and 4B has the same shape as the pedestrian crossing area PCA shown in FIG. 3, detailed description thereof is omitted here. The sidewalk area SWA shown in FIGS. 4(a) and 4(b) has a shape in which the width WD2 in the traveling direction of the vehicle 1 narrows as the distance from the boundary BD increases, and has a triangular shape in plan view.

By setting the detection range DR as shown in FIGS. 4(a) and 4(b) in this way, the pedestrian P1 walking on the sidewalk SW toward the crosswalk PC and the pedestrian P1 near the crosswalk PC The CMBS can appropriately respond to the pedestrian P2 stopping on the sidewalk SW and the pedestrian P3 crossing the pedestrian crossing PC. The detection range DR shown in FIG. 4A is particularly useful for making the CMBS appropriately respond to the pedestrian P1 walking on the sidewalk SW from the side of the own vehicle 1 toward the pedestrian crossing PC. . This is because the sidewalk area SWA shown in FIG. 4A has a triangular shape in which the width WD3 of the vehicle 1 in the vehicle width direction becomes narrower as the distance from the vehicle 1 increases. On the other hand, the detection range DR shown in FIG. 4B is particularly suitable for CMBS to appropriately respond to a pedestrian P1 walking on the sidewalk SW from the side facing the own vehicle 1 toward the pedestrian crossing PC. useful for This is because the sidewalk area SWA shown in FIG. 4B has a triangular shape in which the width WD3 of the vehicle 1 in the vehicle width direction increases as the distance from the vehicle 1 increases.

In addition, when a pedestrian (detection object) moving toward the detection range DR from outside the detection range DR exists in the vehicle surrounding situation VSS, the ECU 20 adjusts the detection range so as to include the pedestrian. DR may be expanded. The ECU 20 can expand the detection range DR by expanding the margin MG, for example. Thereby, the CMBS can appropriately respond to a pedestrian moving toward the detection range DR from outside the detection range DR.

From the viewpoint of expanding the detection range DR, when the number of pedestrians present in the vehicle surrounding situation VSS is large, the detection range DR is expanded more than when the number of pedestrians present in the vehicle surrounding situation VSS is small. do it. When the number of pedestrians is large, there is a possibility that the number of pedestrians who do not cross the pedestrian crossing PC but cross the driving lane L1 and the oncoming lane L2 from the outside of the pedestrian crossing PC increases. Therefore, when there are many pedestrians present in the vehicle surrounding situation VSS, by expanding the detection range DR, the number of pedestrians crossing the driving lane L1 and the oncoming lane L2 from the outside of the pedestrian crossing PC increases. The CMBS can be adapted appropriately to the environment.

As shown in FIG. 5, the pedestrian crossing area PCA includes, in addition to the pedestrian crossing PC and the margin MG, a stop line SL1 existing between the own vehicle 1 and the pedestrian crossing PC and a line between the pedestrian crossing PC. A region A2 may be further included. FIG. 5 is a diagram showing another example of the detection range DR set for the vehicle surrounding situation VSS detected by the detection units 41 to 43 in this embodiment, and is a plan view of the vehicle surrounding situation VSS. showing the situation. By setting the detection range DR as shown in FIG. 5, the CMBS can be appropriately applied even to a pedestrian crossing the driving lane L1 and the oncoming lane L2 from outside the pedestrian crossing PC in front of the vehicle 1. can correspond. Incidentally, by widening the margin MG, it is possible to include the area A2 between the stop line SL1 and the pedestrian crossing PC in the pedestrian crossing area PCA.

In an actual road environment, as shown in FIG. 6, guardrails GR may be provided along the driving lane L1 and the adjacent lane L2. FIG. 6 is a diagram showing another example of the detection range DR set for the vehicle surrounding situation VSS detected by the detection units 41 to 43 in this embodiment, and is a plan view of the vehicle surrounding situation VSS. showing the situation. In such a case, the detection range DR may be set so as not to include the area GRA where the guardrail GR exists. The area GRA where the guardrail GR exists can be considered as an area where it is difficult for pedestrians to enter the driving lane L1 and the adjacent lane L2. By not including such a region in the detection range DR (that is, excluding it from the detection range DR), it is possible to prevent the detection range DR from being unnecessarily enlarged. When the guardrail GR exists in the area A2 between the stop line SL1 and the pedestrian crossing PC, the area A2 is included in the pedestrian crossing area PCA from the viewpoint of suppressing unnecessary expansion of the detection range DR. preferably not. Further, similarly to excluding the area A2 from the pedestrian crossing area PCA, when the area GRA where the guardrail GR exists and the margin MG overlap, the margin MG may also be excluded from the detection range DR.

Further, the detection range DR to be set for the vehicle surrounding situation VSS is the state of the own vehicle 1 with respect to the pedestrian crossing PC. It changes according to the time of stopping in front of the pedestrian crossing PC and the time of starting in order to cross the pedestrian crossing PC after the own vehicle 1 stops in front of the pedestrian crossing PC. Therefore, the ECU 20 may change the shape of the detection range DR set for the vehicle surroundings VSS depending on whether the vehicle 1 is running, stopped, or started. Specifically, the ECU 20 sets a detection region DR shown in FIG. is set, and when the own vehicle 1 is started, a detection area DR shown in FIG. 4(b) is set. When the own vehicle 1 is traveling, the pedestrian P1 walking on the sidewalk SW toward the crosswalk PC, the pedestrian P2 stopping on the sidewalk SW near the crosswalk PC, and the crosswalk PC are crossed. The detection range DR shown in FIG. 3 is useful because it is necessary to appropriately respond to the pedestrian P3 with the CMBS. When the own vehicle 1 stops, it is particularly necessary for the CMBS to appropriately respond to the pedestrian P1 walking on the sidewalk SW from the side of the own vehicle 1 toward the crosswalk PC. The detection range DR shown in is useful. When the host vehicle 1 starts moving, it is particularly necessary to appropriately respond to the pedestrian P1 walking on the sidewalk SW from the side facing the host vehicle 1 toward the crosswalk PC. The detection range DR shown in b) is useful. In this way, by changing the shape of the detection range DR set for both surrounding situations VSS according to the state of the vehicle 1 with respect to the pedestrian crossing PC, the CMBS can be appropriately adjusted for each state of the vehicle 1. can correspond.

Further, the ECU 20 determines the detection range DR after the vehicle 1 stops in front of the pedestrian crossing PC and then starts to cross the pedestrian crossing PC. It is preferable to reduce the detection range DR before starting to cross the sidewalk PC. This is because it is estimated that no pedestrian will start crossing the pedestrian crossing PC after the vehicle 1 has started. Specifically, the ECU 20 sets a range including only the pedestrian crossing area PCA as the detection range DR after the vehicle 1 starts moving, or sets the detection range DR shown in FIG. A range excluding the area PCA and the sidewalk area WSA is set. As a result, it is possible to prevent the detection range DR from being set to an unnecessary region of the vehicle surrounding situation VSS, and to prevent the CMBS from excessively responding (unnecessary CMBS operation).

Moreover, in an actual road environment, as shown in FIGS. 7A and 7B, there is also an intersection (a T-junction in this embodiment) including a plurality of crosswalks PC1, PC2, and PC3. 7A and 7B are diagrams showing an example of the detection range DR set for the vehicle surrounding situation VSS detected by the detection units 41 to 43 in this embodiment. It shows how the surrounding situation VSS is viewed from above. At the intersection, the own vehicle 1 that is about to enter the intersection stops in front of one crosswalk PC1 out of a plurality of crosswalks PC1 to PC3, and stops in front of the crosswalk PC1. After that, the detection range DR set for the vehicle surrounding situation VSS may be changed between when the vehicle starts to cross the pedestrian crossing PC1.
Specifically, when the vehicle 1 is stopped in front of the pedestrian crossing PC1, as shown in FIG. A detection range DR shown in is set. Then, when the own vehicle 1 starts to cross the pedestrian crossing PC1, as shown in FIG. The detection range DR is set so as to cover As a result, when the own vehicle 1 is stopped, the detection range DR is prevented from being unnecessarily expanded, and when the own vehicle 1 enters the intersection, the pedestrian P5 who crosses the intersection diagonally is detected. CMBS can be appropriately adapted to

Further, from the viewpoint of suppressing unnecessary expansion of the detection range DR at the intersection, when the vehicle 1 stops in front of the pedestrian crossing PC1 and then turns left at the intersection, as shown in FIG. , crosswalks PC1 and PC3. Similarly, when the vehicle 1 stops in front of the pedestrian crossing PC1 and then turns right at the intersection, the detection range is set so as to cover the pedestrian crossings PC1 and PC2 as shown in FIG. 8(b). may In this way, two or more crosswalks out of the plurality of crosswalks PC1 to PC3 and the area inside the intersection surrounded by the plurality of crosswalks may be set as the detection range.

Moreover, the pedestrian crossing area PCA and the sidewalk area SWA that constitute the detection range DR do not necessarily have different shapes (that is, they may have the same shape). For example, as shown in FIGS. 9A and 9B, the crosswalk area PCA and the sidewalk area SWA may have rectangular shapes. Here, the shape obtained by combining the pedestrian crossing area PCA and the sidewalk area SWA has a T shape in FIG. 9A and an I shape in FIG. 9B in plan view. 9(a) and 9(b), the sidewalk area SWA includes a portion PP that protrudes from the pedestrian crossing area PCA along an axis parallel to the traveling direction of the own vehicle 1. As shown in FIG. Therefore, as described above, the pedestrian P1 walking on the sidewalk SW toward the crosswalk PC can be quickly detected by the portion PP of the sidewalk area PCA. By setting the detection range DR as shown in FIGS. 9A and 9B in this way, for example, similarly to the detection range DR shown in FIG. , a pedestrian P2 stopping on the sidewalk SW near the crosswalk PC, and a pedestrian P3 crossing the crosswalk PC. can.

<Summary of embodiment>
1. The control device of the above-described embodiment includes:
A control device (e.g., 2) for controlling a vehicle (e.g., 1),
a detection unit (e.g., 41, 42, 43) for detecting a surrounding situation (e.g., VSS) of the vehicle;
A control unit (for example, 20) that detects detection objects (for example, P1, P2, and P3) present in the surrounding situation detected by the detection unit, and controls travel of the vehicle according to the detection objects. When,
has
The surrounding situation includes a crosswalk (eg, PC) crossed by the vehicle and a sidewalk (eg, SW) adjacent to the crosswalk;
The control unit sets a detection range (for example, DR) in which the detection object should be detected with respect to the surrounding situation,
The detection range includes a pedestrian crossing area (eg, PCA) including the pedestrian crossing and a sidewalk area (eg, SWA) including the sidewalk,
When the crosswalk area and the sidewalk area are viewed from above, the crosswalk area and the sidewalk area have shapes different from each other,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. It is characterized by

According to this embodiment, the detection range can be set more finely and appropriately for the surrounding conditions of the vehicle.

2. In the control device (for example, 2) of the above-described embodiment,
At the boundary (eg, BD) where the crosswalk area (eg, PCA) and the sidewalk area (eg, SWA) meet, the width (eg, WD1 ) and the width of the sidewalk area in the direction of travel of the vehicle (for example, WD2) are the same, and
The width of the sidewalk area in the traveling direction of the vehicle increases with distance from the boundary.

According to this embodiment, the detection range can be appropriately set for the detection target.

3. In the control device (for example, 2) of the above-described embodiment,
At the boundary (eg, BD) where the crosswalk area (eg, PCA) and the sidewalk area (eg, SWA) meet, the width (eg, WD1 ) and the width of the sidewalk area in the direction of travel of the vehicle (for example, WD2) are the same, and
The sidewalk area is characterized in that the width of the sidewalk area in the traveling direction of the vehicle decreases as the distance from the boundary increases.

According to this embodiment, the detection range can be appropriately set for the detection target.

4 . In the control device (for example, 2) of the above-described embodiment,
The pedestrian crossing area (e.g., PCA) is an area between the stop line (e.g., SL1) existing between the vehicle (e.g., 1) and the pedestrian crossing (e.g., PC) and the pedestrian crossing. (for example, A2).

According to this embodiment, it is possible to appropriately set the detection range for the detection target moving from the outside of the pedestrian crossing toward the lane in front of the vehicle.

5 . In the control device (for example, 2) of the above-described embodiment,
When the vehicle (eg, 1) is traveling toward the crosswalk (eg, PC), the control unit (eg, 20) controls the vehicle to stop in front of the crosswalk (eg, PC). The shape of the detection range (for example, DR) is changed according to the time and the time when the vehicle stops in front of the pedestrian crossing and then starts to cross the pedestrian crossing. and

According to this embodiment, the detection range can be appropriately set according to the state of the vehicle.

6 . In the control device (for example, 2) of the above-described embodiment,
The control unit (for example, 20) controls the detection range (for example, DR) is reduced from the detection range after the vehicle stops in front of the pedestrian crossing and before starting to cross the pedestrian crossing.

According to this embodiment, it is possible to prevent the detection range from being set for an unnecessary area of the vehicle's surroundings.

7 . In the control device (for example, 2) of the above-described embodiment,
The control unit (for example, 20) controls, when the number of the detection objects existing in the surrounding situation (for example, VSS) is large, compared with the case where the number of the detection objects existing in the surrounding situation is small, the detection It is characterized by expanding the range (for example, DR).

According to this embodiment, the detection range can be appropriately set for an environment in which the number of objects to be detected moving toward the lane from the outside of the pedestrian crossing increases.

8 . In the control device (for example, 2) of the above-described embodiment,
the surrounding conditions (e.g., VSS) include guardrails (e.g., GR) along the lane (e.g., L1) in which the vehicle (e.g., 1) travels;
The control unit (eg, 20) is characterized by setting the detection range (eg, DR) so as not to include an area (eg, GRA) where the guardrail exists.

According to this embodiment, unnecessary expansion of the detection range can be suppressed.

9 . In the control device (for example, 2) of the above-described embodiment,
the surrounding situation (e.g., VSS) includes an intersection including multiple crosswalks (e.g., PC1, PC2, PC3);
The control unit (for example, 20)
When the vehicle (for example, 1) is stopped in front of one crosswalk (for example, CP1) of the plurality of crosswalks, only the one crosswalk is included in the detection range (for example, DR). is subject to the setting of
two or more crosswalks among the plurality of crosswalks and the plurality of crosswalks when the vehicle stops in front of the one crosswalk and then starts to cross the one crosswalk The area inside the intersection surrounded by is set as the detection range.

According to this embodiment, when the vehicle is stopped, the detection range is prevented from being unnecessarily expanded. Therefore, the detection range can be appropriately set.

10 . The control device of the above-described embodiment includes:
A control device (e.g., 2) for controlling a vehicle (e.g., 1),
a detection unit (e.g., 41, 42, 43) for detecting a surrounding situation (e.g., VSS) of the vehicle;
A control unit (for example, 20) that detects detection objects (for example, P1, P2, and P3) present in the surrounding situation detected by the detection unit, and controls travel of the vehicle according to the detection objects. When,
has
The surrounding situation includes a crosswalk (eg, PC) crossed by the vehicle and a sidewalk (eg, SW) adjacent to the crosswalk;
The control unit sets a detection range (for example, DR) in which the detection object should be detected with respect to the surrounding situation,
the detection range includes a pedestrian crossing area (e.g., PCA) containing the pedestrian crossing and a sidewalk area (SWA) containing the pedestrian crossing;
When the crosswalk area and the sidewalk area are viewed in plan, the sidewalk area includes a portion (for example, PP) that protrudes from the crosswalk area along an axis parallel to the traveling direction of the vehicle. ,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. It is characterized by

According to this embodiment, the detection range can be set more finely and appropriately for the surrounding conditions of the vehicle.

11 . In the control device (for example, 2) of the above-described embodiment,
A shape obtained by combining the crosswalk area (eg, PCA) and the sidewalk area (eg, SWA) is a T shape or an I shape.

According to this embodiment, the detection range can be appropriately set for the detection target.

12 . The vehicle (for example, 1) of the above-described embodiments includes:
a detection unit (e.g., 41, 42, 43) for detecting a surrounding situation (e.g., VSS) of the vehicle;
A control unit (for example, 20) that detects detection objects (for example, P1, P2, and P3) present in the surrounding situation detected by the detection unit, and controls travel of the vehicle according to the detection objects. When,
has
The surrounding situation includes a crosswalk (eg, PC) crossed by the vehicle and a sidewalk (eg, SW) adjacent to the crosswalk;
The control unit sets a detection range (for example, DR) in which the detection object should be detected with respect to the surrounding situation,
The detection range includes a pedestrian crossing area (eg, PCA) including the pedestrian crossing and a sidewalk area (eg, SWA) including the sidewalk,
When the crosswalk area and the sidewalk area are viewed from above, the crosswalk area and the sidewalk area have shapes different from each other,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. It is characterized by

According to this embodiment, the detection range can be set more finely and appropriately for the surrounding conditions of the vehicle.

13 . The vehicle (for example, 1) of the above-described embodiments includes:
a detection unit (e.g., 41, 42, 43) for detecting a surrounding situation (e.g., VSS) of the vehicle;
A control unit (for example, 20) that detects detection objects (for example, P1, P2, and P3) present in the surrounding situation detected by the detection unit, and controls travel of the vehicle according to the detection objects. When,
has
The surrounding situation includes a crosswalk (eg, PC) crossed by the vehicle and a sidewalk (eg, SW) adjacent to the crosswalk;
The control unit sets a detection range (for example, DR) in which the detection object should be detected with respect to the surrounding situation,
the detection range includes a pedestrian crossing area (e.g., PCA) containing the pedestrian crossing and a sidewalk area (SWA) containing the pedestrian crossing;
When the crosswalk area and the sidewalk area are viewed in plan, the sidewalk area includes a portion (for example, PP) that protrudes from the crosswalk area along an axis parallel to the traveling direction of the vehicle. ,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. It is characterized by

According to this embodiment, the detection range can be set more finely and appropriately for the surrounding conditions of the vehicle.

The invention is not limited to the above embodiments, and various modifications and changes are possible within the scope of the invention.

1: Vehicle (own vehicle) 2: Control unit 20: ECU 41: Detection unit (camera) 42: Detection unit (lidar) 43: Detection unit (radar)

Claims (13)

A control device for controlling a vehicle,
a detection unit that detects a surrounding situation of the vehicle;
a control unit that detects a detection target existing in the surrounding situation detected by the detection unit and controls traveling of the vehicle according to the detection target;
has
the surrounding situation includes a crosswalk crossed by the vehicle and a sidewalk adjacent to the crosswalk;
The control unit sets a detection range in which the detection object should be detected with respect to the surrounding situation,
The detection range includes a crosswalk area including the crosswalk and a sidewalk area including the sidewalk,
When the crosswalk area and the sidewalk area are viewed from above, the crosswalk area and the sidewalk area have shapes different from each other,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. A control device characterized by: at a boundary where the pedestrian crossing area and the sidewalk area contact each other, the width of the pedestrian crossing area in the traveling direction of the vehicle and the width of the pedestrian area in the traveling direction of the vehicle are the same;
2. The control device according to claim 1, wherein the width of the sidewalk area in the traveling direction of the vehicle increases as the distance from the boundary increases. at a boundary where the pedestrian crossing area and the sidewalk area contact each other, the width of the pedestrian crossing area in the traveling direction of the vehicle and the width of the pedestrian area in the traveling direction of the vehicle are the same;
2. The control device according to claim 1, wherein the width of the sidewalk area in the traveling direction of the vehicle decreases as the distance from the boundary increases. 4. The pedestrian crossing area according to any one of claims 1 to 3 , wherein the pedestrian crossing area further includes a stop line existing between the vehicle and the pedestrian crossing and an area between the pedestrian crossing. Control device as described. The control unit controls the following: when the vehicle is running toward the crosswalk, when the vehicle is stopped in front of the crosswalk, and when the vehicle is stopped in front of the crosswalk. 5. The control device according to any one of claims 1 to 4 , wherein the shape of the detection range is changed according to each time of starting to cross the pedestrian crossing. The control unit adjusts the detection range after the vehicle stops in front of the pedestrian crossing and then starts to cross the pedestrian crossing. 6. The control device according to any one of claims 1 to 5 , wherein the detection range is reduced from that before starting to cross the . The control unit expands the detection range when the number of detection objects existing in the surrounding situation is large compared to when the number of the detection objects existing in the surrounding situation is small. Item 7. The control device according to any one of Items 1 to 6 . the surrounding conditions include guardrails along the lane in which the vehicle travels;
The control device according to any one of claims 1 to 7 , wherein the control unit sets the detection range so as not to include an area where the guardrail exists. The surrounding situation includes an intersection including a plurality of pedestrian crossings,
The control unit
When the vehicle is stopped in front of one of the plurality of pedestrian crossings, only the one pedestrian crossing is set as the detection range, and
two or more crosswalks among the plurality of crosswalks and the plurality of crosswalks when the vehicle stops in front of the one crosswalk and then starts to cross the one crosswalk 9. The control device according to any one of claims 1 to 8 , wherein the area inside the intersection surrounded by is set as the detection range. A control device for controlling a vehicle,
a detection unit that detects a surrounding situation of the vehicle;
a control unit that detects a detection target existing in the surrounding situation detected by the detection unit and controls traveling of the vehicle according to the detection target;
has
the surrounding situation includes a crosswalk crossed by the vehicle and a sidewalk adjacent to the crosswalk;
The control unit sets a detection range in which the detection object should be detected with respect to the surrounding situation,
The detection range includes a crosswalk area including the crosswalk and a sidewalk area including the sidewalk,
When the crosswalk area and the sidewalk area are viewed in plan, the sidewalk area includes a portion that protrudes from the crosswalk area along an axis parallel to the traveling direction of the vehicle,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. A control device characterized by: 11. The control device according to claim 10 , wherein the combined shape of the pedestrian crossing area and the sidewalk area is a T shape or an I shape. a vehicle,
a detection unit that detects a surrounding situation of the vehicle;
a control unit that detects a detection target existing in the surrounding situation detected by the detection unit and controls traveling of the vehicle according to the detection target;
has
the surrounding situation includes a crosswalk crossed by the vehicle and a sidewalk adjacent to the crosswalk;
The control unit sets a detection range in which the detection object should be detected with respect to the surrounding situation,
The detection range includes a crosswalk area including the crosswalk and a sidewalk area including the sidewalk,
When the crosswalk area and the sidewalk area are viewed from above, the crosswalk area and the sidewalk area have shapes different from each other,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. A vehicle characterized by: a vehicle,
a detection unit that detects a surrounding situation of the vehicle;
a control unit that detects a detection target existing in the surrounding situation detected by the detection unit and controls traveling of the vehicle according to the detection target;
has
the surrounding situation includes a crosswalk crossed by the vehicle and a sidewalk adjacent to the crosswalk;
The control unit sets a detection range in which the detection object should be detected with respect to the surrounding situation,
The detection range includes a crosswalk area including the crosswalk and a sidewalk area including the sidewalk,
When the crosswalk area and the sidewalk area are viewed in plan, the sidewalk area includes a portion that protrudes from the crosswalk area along an axis parallel to the traveling direction of the vehicle,
When a detection target moving toward the detection range from outside the detection range exists in the surrounding situation, the control unit expands the detection range to include the detection target. A vehicle characterized by:

Images