DE-112023006691-T5 - VEHICLE CONTROL SYSTEM

DE112023006691T5DE 112023006691 T5DE112023006691 T5DE 112023006691T5DE-112023006691-T5

Abstract

The following components are included: a first reliability setting unit, which sets a first reliability that is the reliability of a recognition result from an external recognition unit mounted on a host vehicle; a second reliability setting unit, which sets a second reliability that is the reliability of road data near the host vehicle, extracted from map data; a correlation degree setting unit, which sets the correlation degree between a lane shape obtained based on the recognition result and a lane shape obtained based on the road data; an adjustment unit, which adjusts the difference between a lane shape based on the recognition result and a lane shape based on the road data based on the first reliability, the second reliability, and the correlation degree; and a lane keeping control unit, which performs lane keeping control of the host vehicle using a result of the adjustment by the adjustment unit. Accordingly, lane keeping can continue even when driving in a section where there is no prior information regarding lane keeping.

Inventors

Jian Wang
Taku Takahama
Yasumasa Ishikawa

Assignees

ASTEMO, LTD.

Dates

Publication Date: 20260513
Application Date: 20230921

Claims (15)

A vehicle driving control system comprising: a first reliability setting unit that sets a first reliability, which is the reliability of a recognition result from an external recognition unit mounted on a host vehicle; a second reliability setting unit that sets a second reliability, which is the reliability of road data near the host vehicle, extracted from map data; a correlation degree setting unit that sets the correlation degree between a lane shape obtained based on the recognition result and a lane shape obtained based on the road data; a setting unit that sets the difference between a lane shape based on the recognition result and a lane shape based on the road data based on the first reliability, the second reliability, and the correlation degree; and a lane keeping control unit that performs lane keeping control of the host vehicle using a result of the setting by the setting unit.
Vehicle driving control system according to Claim 1 , where the adjustment unit sets the difference in the lane shape as an offset.
Vehicle driving control system according to Claim 2 , wherein the setting unit increases the amount of change of the offset from a current value when the first reliability is higher and the second reliability is higher, sets the offset to be less than the current value when the correlation degree is higher, sets the offset to be greater than the current value when the correlation degree is lower, and initializes the offset to the current value at a correlation degree equal to or less than a predetermined value.
Vehicle driving control system according to Claim 2 , wherein the setting unit sets a value as the offset that is defined for the difference between a coefficient of an approximation curve that specifies a lane shape based on the road data and a coefficient of an approximation curve that specifies a lane shape based on the detection result.
Vehicle driving control system according to Claim 2 , where the setting unit sets a value as the offset that is defined for the difference in the driving steering angle between the lane shape and the lane shape based on the road data.
Vehicle driving control system according to Claim 2 , where the setting unit maintains the offset at the current value if the first reliability is lower and the second reliability is lower.
Vehicle driving control system according to Claim 1 , where the first reliability setting unit sets the first reliability such that it is lower when a change in the behavior of the host vehicle is greater.
Vehicle driving control system according to Claim 1 , where the first reliability setting unit sets the first reliability such that it is lower when there is a greater amount of rainfall/direct sunlight intensity.
Vehicle driving control system according to Claim 1 , wherein the first reliability determination unit sets the first reliability low when the vehicle is traveling near an intersection or junction.
Vehicle driving control system according to Claim 1 , wherein the second reliability setting unit sets the second reliability to be lower if a positioning accuracy degradation rate of the host vehicle is greater.
Vehicle driving control system according to Claim 1 , where the second reliability determination unit sets the second reliability low based on 3D city model data when the vehicle is driving in a location close to a high-rise building.
Vehicle driving control system according to Claim 1 , where the second reliability setting unit sets the second reliability so that it is lower when the congestion level of nodes in the road data is higher.
Vehicle driving control system according to Claim 1 , where the second reliability determination unit, based on information about nodes, sets the second reliability low when the vehicle is traveling near a location where a highway runs overhead.
Vehicle driving control system according to Claim 1 , where the second reliability setting unit sets the second reliability so that it is lower when a node interval of the road data becomes narrower.
Vehicle driving control system according to Claim 1 , where the second reliability setting unit sets the second reliability to be lower if the time elapsed since an update cycle point is longer.

Description

Technical field The present invention relates to a vehicle driving control system. State of the art One technique known to assist a driver is lane keeping, which is achieved by generating a target route on which a host vehicle travels and following the generated target route (so-called lane keeping (LS)). One such technique relating to driver assistance is, for example, the technique described in PTL 1. To maintain adequate driving control even when lane marking information cannot be acquired due to snow accumulation, PTL 1 discloses a vehicle driving control device provided in a vehicle driving control system, which includes means for storing map information, positioning means that receive a signal from a satellite and acquire positioning information of a host vehicle position, and driving environment information acquisition means that acquire driving environment information, including lane marking information, in front of a host vehicle. The vehicle driving control device comprises: control information calculation means that calculate control information for the driving control of the host vehicle based on the map information, the positioning information, and the lane marking information; and driving control means that perform the driving control of the host vehicle based on the control information. Calculation means for an estimated position, which calculate each of a multitude of estimated positions with respect to the current host vehicle position by a multitude of calculation methods that use information relating to the host vehicle position on map information from the immediate past, calculated on the basis of lane marking information; Calculation means for the reliability of an estimated position, which calculate a cumulatively changing reliability of an estimated position based on a comparison result of position elevation information including the estimated positions; and control information computation means in anomalous conditions, which calculate the control information using the estimated positions when the lane marking information cannot be acquired due to snow accumulation, wherein even in a case where the lane marking information cannot be acquired, when the host vehicle position is recalculated on the map information based on features acquired as the driving environment information, the computation means for the estimated position calculate the estimated position using information relating to the recalculated host vehicle position, and even in a case where the lane marking information has become undetectable, the driving control means continue driving control until the reliability of the estimated position falls below a threshold. Citation list Patent literature PTL 1: JP 2018-173304 A Summary of the invention Technical problem In the conventional technique described above, a driver's steering input for offsetting the vehicle relative to the center of a host vehicle's route is pre-stored. If information such as lane markings cannot be detected, the vehicle continues to control the route by offsetting a destination based on the pre-stored steering input relative to the center of the road. However, it is not possible to continue controlling the vehicle at a location where an offset value, which is advance information related to lane keeping, has not been pre-stored. Furthermore, since a predetermined offset value is required for each location, When applied, an appropriate setting cannot be implemented for a given situation, and there is room for improvement in reliability. The present invention was made in view of the foregoing, and an object of the invention is to provide a vehicle driving control system that is able to continue lane keeping even in the case of driving in a section where no prior information regarding lane keeping is available. Solution to the problem The present application features a variety of means for solving the aforementioned problems, examples of which include: a first reliability setting unit that sets a first reliability, which is the reliability of a recognition result from an external recognition unit mounted on a host vehicle; a second reliability setting unit that sets a second reliability, which is the reliability of road data near the host vehicle, obtained from map data; a correlation degree setting unit that sets a correlation degree between a lane shape obtained on the basis of the recognition result and a lane shape obtained on the basis of the road data; an adjustment unit that adjusts the difference between a lane shape based on the recognition result and a lane shape based on the road data based on the first reliability, the second reliability, and the correlation degree; and a lane keeping control unit that performs the lane keeping control of the host vehicle using a result of the adjustment by the adjustment unit. Advantageous effects of the invention According to the present invention, it is possible to provide a vehicle driving control system that