JP-2026075263-A - Control device for mobile vehicles

Abstract

[Challenge] To suppress the decrease in the vehicle's driving efficiency caused by excessive execution of hazard avoidance control, while simultaneously providing appropriate notification to the vehicle's occupants regarding the initiation of this hazard avoidance control. [Solution] When an object that poses a collision risk with a moving body is recognized, risk avoidance control is performed to avoid a collision with the object, and notification control regarding the risk avoidance control is provided to the occupants of the moving body. The risk avoidance control includes a first avoidance control performed before the collision risk reaches a predetermined level, and a second avoidance control performed after the collision risk reaches a predetermined level. The moving body control in the first avoidance control includes a moving body control that avoids a collision with an object that poses a collision risk with the moving body to a lesser degree than the moving body control in the second avoidance control. The notification control includes a warning about the possibility of the second avoidance control being performed. [Selection Diagram] Figure 2

Inventors

• 青柳 晃太朗
• 林 勇介
• 河内 太一

Assignees

• トヨタ自動車株式会社

Dates

Publication Date

20260508

Application Date

20241022

Claims (5)

1. A control device for a mobile body, One or more storage devices that store information about the operating environment of a mobile device, One or more processors that perform various controls based on the aforementioned operating environment information, Equipped with, The various controls described above include risk avoidance control performed to avoid collision with an object when an object that poses a risk of collision with the moving body is recognized, and notification control regarding the risk avoidance control to the occupants of the moving body. The risk avoidance control includes a first avoidance control performed before the collision risk reaches a predetermined level, and a second avoidance control performed after the collision risk reaches the predetermined level. The moving body control in the first avoidance control includes a moving body control that avoids collisions with the object to a smaller degree than the moving body control in the second avoidance control. The control device of the mobile body includes a notification control that includes a warning about the possibility of the second avoidance control being performed.
2. A control device according to claim 1, A control device for a moving body, characterized in that the notification control is performed while the first avoidance control is being executed.
3. A control device according to claim 1 or 2, A control device for a moving body, characterized in that the notification control does not include providing information regarding the execution of the first avoidance control.
4. A control device according to claim 1 or 2, A control device for a moving body, characterized in that the second avoidance control includes deceleration control at the maximum deceleration of the moving body.
5. A control device according to claim 1 or 2, The aforementioned various controls include a warning control that emits a warning sound towards an object if an object that poses a risk of collision with the moving body is detected. A control device for a mobile body, characterized in that the warning control is performed simultaneously with the start of the execution of the notification control, or before the start of the execution of the notification control.

Description

This disclosure relates to a device for controlling a moving object such as a vehicle. Patent Document 1 discloses a vehicle-mounted warning device. This conventional device identifies the traffic conditions surrounding the vehicle based on information representing the vehicle's surroundings and information representing the vehicle's driving state. The conventional device also predicts vehicle-related hazards based on the identified traffic conditions and performs warning control that is perceived by the vehicle occupants through one of their hearing, sight, or touch. The mode of warning is switched according to the degree of the predicted hazard. Furthermore, the conventional device performs hazard avoidance control according to the degree of the predicted hazard. Hazard avoidance control is vehicle control including at least one of deceleration and steering. Japanese Patent Publication No. 2022-177522 This is a diagram illustrating risk avoidance control.This is a diagram illustrating the features of the embodiment.This is a block diagram showing an example of the overall configuration of a mobile system including a control device according to the embodiment.This is a timing chart showing examples of risk avoidance control and notification control implementation.This is a timing chart showing examples of risk avoidance control and notification control implementation.This is a timing chart showing examples of risk avoidance control and notification control implementation. The control device for a mobile body according to the embodiments of this disclosure will be described below with reference to the drawings. 1. Risk Avoidance Control The control device according to the embodiment performs driver assistance control to assist in the driving of a mobile vehicle such as a taxi or bus. This driver assistance control may be included in the automated driving control. Typically, the control device according to the embodiment is mounted on the mobile vehicle MB. Some functions of the control device according to the embodiment may be located on an external device (e.g., an external server) outside the mobile vehicle MB, and in this case, the driver assistance control may be performed remotely. In other words, the functions of the control device according to the embodiment may be distributed between the mobile vehicle MB and an external device. The driver assistance control system includes "risk avoidance control" to avoid risk factors (RF) in front of the moving vehicle (MB). Figure 1 illustrates the risk avoidance control. Here, the X direction in Figure 1 represents the direction of travel of the moving vehicle (MB), and the Y direction represents the plane perpendicular to the X direction. However, the coordinate system (X, Y) is not limited to this example. In risk avoidance control, at least one of the steering and deceleration of the mobile vehicle (MB) is controlled to avoid risk factors RF recognized in front of the mobile vehicle. For example, in Figure 1, the mobile vehicle (MB) is traveling on the roadway (RW). The shoulder (RS) is adjacent to the roadway (RW). A pedestrian (PD) on the shoulder (RS) in front of the mobile vehicle (MB) may enter the roadway (RW). Therefore, the pedestrian (PD) can be considered a risk factor RF. In the example shown in Figure 1, risk avoidance control includes both steering control and deceleration control. In steering control, the steering system of the moving body MB is controlled to move away from the pedestrian PD. In deceleration control, the braking system of the moving body MB is controlled so that the speed v decreases as it approaches the pedestrian PD. In the example shown in Figure 1, both steering control and deceleration control begin at time T1. However, steering control and deceleration control do not necessarily have to begin at the same time. Furthermore, the pedestrian PD may be another moving body (e.g., a motorcycle or vehicle). In addition, risk factors RF include not only pedestrians on the shoulder RS but also pedestrians on the roadway RW. 2. Characteristics of Risk Avoidance Control in the Embodiment As already explained, risk avoidance control is performed to avoid risk factors RF. Therefore, when executing risk avoidance control, the risk of the moving body MB colliding with risk factors RF (collision risk) is calculated. The collision risk is calculated, for example, based on the collision margin time (TTC: Time-To Collision) of the moving body MB with respect to risk factors RF. The TTC is calculated, for example, based on the position and velocity information of the risk factors RF and the position and velocity information of the moving body MB. Once the collision risk is calculated, it is converted into a risk level RLv (for example, RLv = constant k × 1 / TTC), and if the risk level RLv rises to a specified level Lvth or higher, the execution of risk avoidance control is started. In risk avoidance control, at least one of the steering and