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JP-7855044-B2 - Mobile device control device, mobile device control method, and program

JP7855044B2JP 7855044 B2JP7855044 B2JP 7855044B2JP-7855044-B2

Inventors

  • 寺町 知峰
  • 小久保 彰人

Assignees

  • 本田技研工業株式会社

Dates

Publication Date
20260507
Application Date
20240927

Claims (8)

  1. A recognition unit recognizes the surrounding conditions of a moving object based on the output of a detection device that detects the surrounding conditions of the moving object, A control unit that enables one of a plurality of modes, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile body, and a control mode in which lane change control of the mobile body is performed when the lane change start conditions are met after the activation mode has been activated, The system includes a determination unit that determines whether the moving body has reached a predetermined range from the lane change area based on the recognized surrounding conditions and at least one of the map information, determines whether the lane change start condition has been met after the activation mode has been activated, and determines whether the moving body has passed through the lane change area. The control unit, If, after the activation mode is activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. If, after the activation mode has been activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has not been met, the activation mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the activation mode is restored. Mobile device control system.
  2. The aforementioned plurality of modes include a standby mode in which the determination unit determines whether the lane change start condition has been met when it determines that the moving body has reached a predetermined range from the lane change area after the start mode has been activated, and an interruption mode in which the lane change system is activated but the lane change control is prohibited. If the control unit determines that the lane change start condition is not met in the standby mode, it activates the interruption mode, and then, if it determines that the moving object has passed through the lane change area, it restores the start mode. The mobile device control device according to claim 1.
  3. The determination unit determines, based on the recognized surrounding conditions and at least one of the map information, that a lane change by the lane change control is impossible in the lane change area, and determines that the lane change start condition is not met. The mobile device control device according to claim 1.
  4. The aforementioned lane change area is a branch road or junction. The mobile device control device according to claim 1.
  5. The determination unit further determines whether the moving body is traveling on an expressway or motorway after passing through the lane change area. If the control unit determines that the moving body is traveling on a highway or expressway after passing through the lane change area, it restores the startup mode. The mobile device control device according to claim 1.
  6. The determination unit further determines whether the behavior of the moving object has stabilized based on the output of the sensor that detects the state of the moving object. If the control unit further determines that the behavior of the moving body has stabilized, it will restore the startup mode. The mobile device control device according to claim 5.
  7. Computers Based on the output of a detection device that detects the surrounding conditions of a moving object, the surrounding conditions of the moving object are recognized. One of a plurality of modes is enabled, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile vehicle, and a control mode in which lane change control of the mobile vehicle is performed when the lane change start conditions are met after the activation mode has been activated. Based on the recognized surrounding conditions and at least one of the map information, it is determined whether the moving body has reached a predetermined range from the lane change area, whether the lane change start condition has been met after the activation mode has been activated, and whether the moving body has passed through the lane change area. If, after the activation mode is activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. If, after the activation mode has been activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has not been met, the activation mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the activation mode is restored. A method for controlling a mobile object.
  8. On the computer, Based on the output of a detection device that detects the surrounding conditions of a moving object, the surrounding conditions of the moving object are recognized. One of a plurality of modes is enabled, including an activation mode in which the lane change system is activated by the operation of the occupant of the mobile vehicle, and a control mode in which lane change control of the mobile vehicle is performed when the lane change start conditions are met in the activation mode. Based on the recognized surrounding conditions and at least one of the map information, it is determined whether the moving body has reached a predetermined range from the lane change area, whether the lane change start condition has been met after the activation mode has been activated, and whether the moving body has passed through the lane change area. If, after the activation mode is activated, the moving object reaches a predetermined range from the lane change area and it is determined that the lane change start condition has been met, the lane change control is performed. If, after the activation mode has been activated, the moving body reaches a predetermined range from the lane change area and it is determined that the lane change start condition has not been met, the activation mode is stopped. Subsequently, if it is determined that the moving body has passed the lane change area, the activation mode is restored. program.

Description

This invention relates to a mobile device control device, a mobile device control method, and a program. In recent years, efforts to provide access to sustainable transportation systems that take into account vulnerable groups among transportation participants have become increasingly active. To achieve this, research and development is focused on further improving traffic safety and convenience through autonomous driving technology. In this regard, conventional technology exists that temporarily suspends an auto-lane change if the required conditions are not met (see, for example, Patent Document 1). Patent No. 6976280 This is a diagram showing the configuration of a vehicle system 1 that utilizes a vehicle control system according to an embodiment.This figure shows an example of a scenario in which the processing of this embodiment is applied.This figure shows an example of a screen displayed on the HMI30 when an automatic lane change is performed.This figure shows another example of a scenario in which the processing of this embodiment is applied.This flowchart shows an example of the processing flow performed by the driver assistance device 100. [Overall structure] Figure 1 is a diagram showing the configuration of a vehicle system 1 utilizing a vehicle control system according to an embodiment. The vehicle on which the vehicle system 1 is mounted is, for example, a two-wheeled, three-wheeled, or four-wheeled vehicle, and its drive source is an internal combustion engine such as a diesel engine or a gasoline engine, an electric motor, or a combination thereof. The electric motor operates using power generated by a generator connected to the internal combustion engine, or discharge power from a secondary battery or fuel cell. This embodiment is described as being applicable to a vehicle, but it may be applied to other mobile bodies instead of a vehicle. The vehicle system 1 includes, for example, a camera 10, a radar device 12, a LiDAR (Light Detection and Ranging) 14, an object recognition device 16, a communication device 20, an HMI (Human Machine Interface) 30, a vehicle sensor 40, a navigation device 50, an MPU 60, an operator 80, a turn signal 90, a driver assistance device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices and equipment are connected to each other by multiplex communication lines such as CAN (Controller Area Network) communication lines, serial communication lines, wireless communication networks, etc. The configuration shown in Figure 1 is merely an example; some parts of the configuration may be omitted, and other configurations may be added. The driver assistance device 100 is an example of a "control device." Camera 10 is a digital camera utilizing a solid-state image sensor such as a CCD (Charge Coupled Device) or CMOS (Complementary Metal Oxide Semiconductor). Camera 10 is mounted at any location on the vehicle (hereinafter referred to as Vehicle M) on which the vehicle system 1 is installed. When imaging the area in front, Camera 10 is mounted on the upper part of the front windshield, behind the rearview mirror, etc. Camera 10 periodically and repeatedly images the area around Vehicle M. Camera 10 may also be a stereo camera. The radar device 12 emits radio waves such as millimeter waves around the vehicle M and detects radio waves reflected by objects (reflected waves) to determine at least the object's position (distance and direction). The radar device 12 can be mounted at any location on the vehicle M. The radar device 12 may also detect the object's position and velocity using the FM-CW (Frequency Modulated Continuous Wave) method. The LIDAR 14 irradiates light (or electromagnetic waves with a wavelength close to light) around the vehicle M and measures the scattered light. The LIDAR 14 detects the distance to the target based on the time from emission to reception. The irradiated light is, for example, pulsed laser light. The LIDAR 14 can be attached to any location on the vehicle M. The object recognition device 16 performs sensor fusion processing on the detection results from some or all of the camera 10, radar device 12, and LIDAR 14 to recognize the object's position, type, speed, etc. The object recognition device 16 outputs the recognition results to the driver assistance device 100. The object recognition device 16 may also output the detection results from the camera 10, radar device 12, and LIDAR 14 directly to the driver assistance device 100. The object recognition device 16 may be omitted from the vehicle system 1. The communication device 20 communicates with other vehicles in the vicinity of vehicle M, or with various server devices via a wireless base station, using, for example, a cellular network, Wi-Fi network, Bluetooth®, or DSRC (Dedicated Short Range Communication). The HMI 30 presents various information to the occupants of the vehicle M and accepts input operations from the occupants. The HMI 30