CN-115769287-B - Automatic driving device and vehicle control method

Abstract

The present invention relates to an automatic driving device and a vehicle control method. The automatic driving device (20) is configured to download partial map data corresponding to the current position from a map server (3) and create a control plan. When the next area map data, which is partial map data relating to entering a predetermined area within a predetermined time, cannot be acquired due to a communication failure or the like, the automatic driving device (20) calculates a map acquisition remaining time. The map acquisition remaining time corresponds to a remaining time until the timing at which the next regional map data is actually required when the automatic driving is continued. The automatic driving device (20) plans and executes notification to the occupant, speed suppressing processing, and the like as the very actions based on the map acquisition remaining time being less than a prescribed threshold.

Inventors

• XIANG JINGYU
• OOSAWA HIROYUKI

Assignees

• 株式会社综研
• 株式会社电装

Dates

Publication Date

20260508

Application Date

20210706

Priority Date

20200708

Claims (20)

1. 1. An automatic driving apparatus for creating a control plan for autonomously driving a vehicle using map data, the automatic driving apparatus comprising: a map management unit for determining the acquisition status of the map data, and A control plan unit for creating the control plan using the map data, The control plan unit is configured to change the content of the control plan based on the acquired status of the map data determined by the map management unit, The automatic driving apparatus creates the control plan using partial map data, which is map data concerning a part of the entire map recording area, The automatic driving apparatus further includes a map acquisition unit that acquires the partial map data corresponding to the position of the vehicle from a map server, The map management unit determines whether or not the next area map data, which is the partial map data of the area in which the vehicle enters within a predetermined time period, The control planning unit is configured to plan execution of a predetermined extraordinary action based on the determination by the map management unit that the next area map data cannot be acquired, In the case where the next regional map data cannot be acquired, the map management section calculates a map acquisition remaining time, which is determined based on a remaining time until the next regional map data is required, The control planning unit plans execution of the extraordinary action based on the map acquisition remaining time calculated by the map management unit being smaller than a predetermined threshold.
2. 2. The autopilot of claim 1 wherein, The control planning unit is configured to: Based on the map acquisition remaining time being smaller than a predetermined first time, performing a process of notifying an occupant or an operator of predetermined information related to the acquisition condition of the partial map data as the extraordinary action, and And reducing the traveling speed of the vehicle as the extraordinary action based on the map acquisition remaining time being smaller than a predetermined second time, which is shorter than the first time.
3. 3. The automatic driving apparatus according to claim 1 or 2, wherein, The control planning unit is configured to: the degree of urgency is calculated from the map acquisition remaining time described above, The content of the very action is changed according to the degree of urgency.
4. 4. The automatic driving apparatus according to claim 1 or 2, The map management unit determines whether or not there is an imperfection in the partial map data acquired by the map acquisition unit, The control planning unit is configured to plan execution of a predetermined unusual action based on the determination by the map management unit that the partial map data is incomplete.
5. 5. The autopilot of claim 4 wherein, The map management unit is configured to determine whether the map data matches the real world based on the sensor information provided from the vehicle periphery monitoring sensor, When the map data does not match the real world, it is determined that the partial map data acquired by the map acquisition unit in the map data is not complete.
6. 6. The autopilot of claim 5 wherein, The control plan unit creates the control plan so that the inter-vehicle distance of the preceding vehicle becomes equal to or greater than a safe distance, The control planning unit temporarily sets the set value of the safe distance to a value larger than a predetermined standard value as the extraordinary action based on the determination by the map management unit that the partial map data is not complete.
7. 7. The autopilot of claim 5 wherein, The map management unit determines that the map data does not match the real world when at least one of the following is present: Based on the sensing information, it is determined that a preceding vehicle traveling in front of the vehicle is performing a lane crossing operation and that a stationary object is present on a lane on which the preceding vehicle is traveling, or Based on the sensor information, it is determined whether a plurality of preceding vehicles traveling on the same lane are continuously performing an operation crossing the lane boundary or whether the preceding vehicles are continuously performing an operation crossing the lane boundary And a case where a driving position of a surrounding vehicle driving around the vehicle is out of a range of a road indicated by the map data.
8. 8. The automatic driving apparatus according to claim 1 or 2, wherein, The extraordinary actions include at least one of notifying a passenger or an operator existing outside the vehicle of failure of acquisition of the partial map data, extending an inter-vehicle distance from a preceding vehicle, suppressing a traveling speed, performing a takeover request of a driving operation for the passenger or the operator, starting deceleration toward emergency stop, requesting the partial map data for surrounding vehicles using inter-vehicle communication, and continuing automatic driving without using the map data.
9. 9. The autopilot of claim 8 wherein, When the above-described extraordinary action is performed, the data indicating the acquired condition of the map data is output to an operation recording device for recording conditions in and out of the vehicle interior when the vehicle is traveling.
10. 10. The automatic driving apparatus according to claim 1 or 2, wherein, Is provided with at least one processor and is provided with a plurality of processors, The processor is configured to execute processing as the map management unit and the control planning unit.
11. 11. The autopilot of claim 10 wherein, The processor is configured to perform the following: Acquiring the partial map data corresponding to the position of the vehicle from a map server via a wireless communication device mounted on the vehicle; Storing the partial map data acquired from the map server in a map holding unit, wherein the map holding unit is a predetermined storage area for holding data even if the power supply for traveling is set to be off; determining whether the map data of the next area, which is the area where the vehicle enters, is stored in the map holding unit, and When the partial map data on the next area is stored in the map storage unit, the control plan is created using the partial map data stored in the map storage unit without performing processing for newly receiving the partial map data on the next area from the map server.
12. 12. The autopilot of claim 11 wherein, The processor is configured to perform the following: When creating a control plan using the partial map data acquired at the previous travel stored in the map holding unit, determining whether the partial map data matches the real world based on the sensor information provided from the surroundings monitoring sensor mounted on the vehicle, and And downloading the partial map data corresponding to the current position from the map server based on the determination that the partial map data does not match the real world.
13. 13. The autopilot of claim 10 wherein, The processor is configured to perform the following: Based on the power supply for traveling, executing a process for downloading the partial map data corresponding to the current position and the partial map data of a next area, which is an area into which the vehicle enters within a predetermined time, from a map server via a wireless communication device mounted on the vehicle; storing the partial map data acquired from the map server in a map holding unit, wherein the map holding unit is a predetermined storage area for holding data even when the power supply for driving is set to be off, and In a case where the partial map data of the next area is required at the time of creating the control plan, the partial map data of the next area cannot be downloaded yet after the power supply for traveling is turned on, and in a case where the partial map data of the next area is stored in the map holding unit, the control plan is created using the stored partial map data.
14. 14. The autopilot of claim 11 wherein, The processor is configured to: The control conditions are changed when the control plan is created using the partial map data acquired during the previous travel stored in the map storage unit and when the control plan is performed using the partial map data newly downloaded from the map server.
15. 15. The autopilot of claim 10 wherein, The processor is configured to perform the following: determining whether the partial map data for the control plan matches the real world based on sensing information provided from a surroundings monitoring sensor mounted on the vehicle, and And displaying an image representing a result of the determination of whether the partial map data matches the real world on a display.
16. 16. The autopilot of claim 10 wherein, The processor is configured to perform the following: Based on the power supply for driving, attempting to download the partial map data corresponding to the current position from a map server via a wireless communication device mounted on the vehicle; when the partial map data corresponding to the current position cannot be downloaded, creating an immediate map, which is a map representing a running environment in front of the vehicle, in real time based on sensing information provided from a surroundings monitoring sensor mounted on the vehicle, and The content of the control plan is changed according to a map creation distance, which is a distance at which the immediate map can be created.
17. 17. The autopilot of claim 10 wherein, The processor is configured to perform the following: Acquiring, from a map server via a wireless communication device mounted on the vehicle, position information of a photographing prohibited area that is an area where photographing by a camera is prohibited, or a distribution prohibited area that is an area where creation and distribution of a map is prohibited based on laws or regulations; determining whether the vehicle is approaching the image-taking prohibition area or the distribution prohibition area based on the position information of the image-taking prohibition area or the distribution prohibition area acquired from the map server, and And a takeover request for performing a driving operation on a driver seat occupant or an operator existing outside the vehicle based on the vehicle approaching the imaging prohibition area or the distribution prohibition area.
18. 18. An automatic driving apparatus for creating a control plan for autonomously driving a vehicle using map data, the automatic driving apparatus comprising: a map management unit for determining the acquisition status of the map data, and A control plan unit for creating the control plan using the map data, The control plan unit is configured to change the content of the control plan based on the acquired status of the map data determined by the map management unit, The automatic driving apparatus creates the control plan using partial map data, which is map data concerning a part of the entire map recording area, The automatic driving apparatus further includes a map acquisition unit that acquires the partial map data corresponding to the position of the vehicle from a map server, The map management unit determines whether or not there is an imperfection in the partial map data acquired by the map acquisition unit, The control planning unit is configured to plan execution of a predetermined extraordinary action based on the partial map data determined to be incomplete by the map management unit, The control plan unit creates the control plan so that the inter-vehicle distance of the preceding vehicle becomes equal to or greater than a safe distance, The control planning unit temporarily sets, as the extraordinary action, a value larger than a predetermined standard value calculated by the control planning unit using a mathematical formula model, based on the determination by the map management unit that the partial map data is not complete, The map management unit determines whether or not the next area map data, which is the partial map data of the area in which the vehicle enters within a predetermined time period, The control planning unit is configured to plan execution of a predetermined extraordinary action based on the determination by the map management unit that the next area map data cannot be acquired, In the case where the next regional map data cannot be acquired, the map management section calculates a map acquisition remaining time, which is determined based on a remaining time until the next regional map data is required, The control planning unit plans execution of the extraordinary action based on the map acquisition remaining time calculated by the map management unit being smaller than a predetermined threshold.
19. 19. A vehicle control method executed by at least one processor for autonomously driving a vehicle using map data, comprising: a map management step of judging the acquisition status of the map data, and A control plan step of creating a control plan of the vehicle using the map data, The control plan step changes the content of the control plan according to the acquisition status of the map data determined in the map management step, The vehicle control method creates the control plan using partial map data, which is map data concerning a part of the entire map recording area, The vehicle control method further includes a map acquisition step of acquiring the partial map data corresponding to the position of the vehicle from a map server, The map management step determines whether or not next area map data, which is the partial map data concerning an area in which the vehicle enters within a prescribed time period, The control planning step plans execution of a predetermined extraordinary action based on the determination that the next area map data cannot be acquired in the map management step, In the case where the next area map data cannot be acquired, calculating a map acquisition remaining time in the map management step, wherein the map acquisition remaining time is determined according to a remaining time until the next area map data is required, The control planning step plans execution of the extraordinary action based on the map acquisition remaining time calculated in the map management step being smaller than a predetermined threshold.
20. 20. A vehicle control method executed by at least one processor for autonomously driving a vehicle using map data, comprising: a map management step of judging the acquisition status of the map data, and A control plan step of creating a control plan of the vehicle using the map data, The control plan step changes the content of the control plan according to the acquisition status of the map data determined in the map management step, The vehicle control method creates the control plan using partial map data, which is map data concerning a part of the entire map recording area, The vehicle control method further includes a map acquisition step of acquiring the partial map data corresponding to the position of the vehicle from a map server, The map management step determines whether or not there is an imperfection in the partial map data acquired by the map acquisition step, The control planning step plans execution of a predetermined extraordinary action based on the partial map data determined to be incomplete in the map management step, The control plan step creates the control plan such that the inter-vehicle distance of the preceding vehicle becomes a safe distance or more, The control planning step temporarily sets, as the extraordinary action, a value larger than a predetermined standard value calculated using a mathematical formula model based on the determination in the map management step that the partial map data is not complete, The map management step determines whether or not next area map data, which is the partial map data concerning an area in which the vehicle enters within a prescribed time period, The control planning step plans execution of a predetermined extraordinary action based on the map management unit determining that the next area map data cannot be acquired, In the case where the next area map data cannot be acquired, the map management step calculates a map acquisition remaining time, which is determined based on a remaining time until the next area map data is required, The control planning step plans execution of the extraordinary action based on the map acquisition remaining time calculated by the map management unit being smaller than a predetermined threshold.

Description

Automatic driving device and vehicle control method Cross Reference to Related Applications The present application is based on japanese patent application No. 2020-117903 of the japanese application on 7/8/2020, the content of which is incorporated by reference in its entirety. Technical Field The present disclosure relates to a technique of generating a control plan of an automated driving vehicle using map data. Background In patent document 1, there is disclosed a structure in which, in automatic driving, a travel plan of a vehicle, in other words, a control plan is generated using a mathematical formula model called an RSS (Responsibility SENSITIVE SAFETY: responsibility sensitive safety) model and map data. In the RSS model, a planner, which is a functional module that makes a control plan, calculates a potential accident responsibility value in each of a plurality of control plans using map data, and adopts a control plan in which the potential accident responsibility value is within an allowable range. The potential accident responsibility value is a parameter indicating the degree of responsibility of the own vehicle in the case where an accident occurs between the own vehicle and a surrounding vehicle existing around the own vehicle. The potential accident responsibility value is a value considering whether or not the inter-vehicle distance between the own vehicle and the surrounding vehicles is shorter than the safety distance determined based on the road structure or the like. Patent document 1 International publication No. 2018/115963 The RSS model is premised on the vehicle holding map data. If the vehicle holds map data of all the areas in the latest state, it is difficult to generate a defect that the map is incomplete due to a lack of map data or degradation, and the potential accident responsibility value cannot be calculated. However, from the viewpoints of data capacity and the like, communication frequency, it is difficult for the vehicle to continuously hold map data of all areas in the latest state all the time. In view of such a fear, it is assumed that the vehicle downloads a map concerning a local range corresponding to the current position or the like, that is, a structure of a partial map, from the map server each time and uses it. However, in a structure in which a partial map is downloaded and used, there may occur a case in which partial map data of an area necessary for calculation of a potential accident responsibility value cannot be acquired due to a communication error, a download error, a processing error of a system, or the like. In addition, there may be a case where the map data distributed by the map server does not match the real world with a change in the environment in the real world. In the case where the map data cannot be acquired and the map data does not match the real world, the planner cannot calculate the legitimate potential accident responsibility value. Further, since the planner using the RSS model cannot quantitatively evaluate the safety of each control plan in the case where the potential accident responsibility value cannot be calculated, there is a concern that the automatic driving cannot be continued. On the other hand, it is assumed that a general user does not grasp the acquisition condition of the map for automatic driving in the vehicle. Thus, interruption of incomplete automatic driving based on map data may be undesirable to the user, in other words, may be an unexpected behavior. As a result, the user may be confused. Disclosure of Invention The present disclosure has been made in view of the above circumstances, and an object thereof is to provide an automatic driving apparatus and a vehicle control method that can reduce the concern that a user is confused. An automatic driving apparatus for achieving the object is an automatic driving apparatus for creating a control plan for autonomously driving a vehicle using map data, and includes a map management unit for determining an acquisition status of the map data, and a control planning unit for creating the control plan using the map data, wherein the control planning unit is configured to change the content of the control plan in accordance with the acquisition status of the map data determined by the map management unit. According to the above configuration, the control plan, in other words, the behavior of the vehicle is changed according to the acquisition condition of the map. Thus, the user can perceive a sign that the automatic driving is interrupted based on whether the behavior of the vehicle is the same as that at normal times. As a result, the user can be less confused. Further, a vehicle control method for autonomously driving a vehicle using map data, which is executed by at least one processor, includes: and a control plan step of creating a control plan of the vehicle using the map data, the control plan step being configured to change the content of the control plan in acc