US-12623654-B2 - Processing method, processing system and storage medium for storing processing program for planning driving control from a host lane to an oncoming lane

US12623654B2US 12623654 B2US12623654 B2US 12623654B2US-12623654-B2

Abstract

A processing method implemented by a host mobile object includes steps of: monitoring a target mobile object traveling in an oncoming lane; and upon determining that the target mobile object traveling in the oncoming lane is detected, selecting, as driving control given to the host mobile object according to an overlapping travel situation where a future travel of the host mobile object and a future travel of the target mobile object would overlap with each other in the oncoming lane, either (i) deviation control for the host mobile object to deviate from the host lane to the oncoming lane or (ii) standby control for the host mobile object to stay in the host lane.

Inventors

Keisuke HARUTA
SADAHIRO TERAZAWA

Assignees

DENSO CORPORATION

Dates

Publication Date: 20260512
Application Date: 20231117
Priority Date: 20210521

Claims (10)

1 . A processing method performed by a processor for executing a process related to driving of a host mobile object in an obstacle avoidance scene where the host mobile object avoids an obstacle zone that interferes with travelling of the host mobile object by deviating from a host lane to an oncoming lane, the processing method comprising steps of: monitoring a target mobile object traveling in the oncoming lane; and upon determining that the target mobile object traveling in the oncoming lane is detected, giving, as a drive control, to the host mobile object according to an overlapping travel situation where a future travel of the host mobile object and a future travel of the target mobile object would overlap with each other in the oncoming lane, either (i) deviation control for the host mobile object to deviate from the host lane to the oncoming lane, or (ii) standby control for the host mobile object to stay in the host lane; and planning an obstacle avoidance path to give the host mobile object the deviation control from the host lane to the oncoming lane such that an assumed acceleration of the host mobile object in a lateral direction is restricted, wherein giving the host mobile object the drive control includes: (a) (i) setting a safety envelope for the target mobile object that travels in the oncoming lane with a restriction/constraint of an assumed maximum acceleration for the target mobile object, and (ii) setting another safety envelope for the target mobile object that has stopped traveling in the oncoming lane without the restriction/constraint when an overlapping section where the future travel of the host mobile object and the future travel of the target mobile object would overlap with each other is estimated; and (b) selecting the deviation control to deviate from the host lane to the oncoming lane along the obstacle avoidance path in response to detecting that the target mobile object stops traveling in the oncoming lane when the host mobile object on the obstacle avoidance path is predicted to pass through a point outside of the safety envelope without the restriction/constraint.
2 . The processing method according to claim 1 , further comprising estimating the overlapping travel situation between the host mobile object and the target mobile object for which the future travel is predicted based on an assumed maximum acceleration of the target mobile object.
3 . The processing method according to claim 2 , further comprising: estimating the overlapping travel situation between the host mobile object and the target mobile object for which the future travel is predicted based on the assumed maximum acceleration and an assumed upper limit speed of the target mobile object.
4 . The processing method according to claim 1 , wherein giving the host mobile object the drive control includes selecting the deviation control to deviate from the host lane to the oncoming lane along the obstacle avoidance path when the future travel of the host mobile object and the future travel of the target mobile object are determined not to overlap with each other.
5 . The processing method according to claim 1 , wherein giving the host mobile object the drive control includes selecting the standby control to stay in the host lane in response to detecting continuation of traveling by the target mobile object in the oncoming lane when an overlapping section where the future travel of the host mobile object and the future travel of the target mobile object would overlap with each other is estimated.
6 . The processing method according to claim 1 , wherein giving the host mobile object the drive control includes selecting the standby control to stay in the host lane in response to detecting that the target mobile object stops traveling in the oncoming lane when the host mobile object on the obstacle avoidance path is predicted to pass through the safety envelope.
7 . The processing method according to claim 5 , wherein giving the host mobile object the drive control includes selecting the deviation control to deviate from the host lane to the oncoming lane along the obstacle avoidance path in response to detecting that the target mobile object passes through the overlapping section after selecting the standby control to stay in the host lane.
8 . The processing method according to claim 1 , further comprising: giving the host mobile object the deviation control from the host lane to the oncoming lane along the obstacle avoidance path when the target mobile object traveling in the oncoming lane is determined not to be detected.
9 . A processing system having a processor and executing a process related to driving of a host mobile object in an obstacle avoidance scene where the host mobile object avoids an obstacle zone that interferes with travelling of the host mobile object by deviating from a host lane to an oncoming lane, the processing system comprising the processor that is configured to: monitor a target mobile object traveling in the oncoming lane; and upon determining that the target mobile object traveling in the oncoming lane is detected, give, as a drive control, to the host mobile object according to an overlapping travel situation where a future travel of the host mobile object and a future travel of the target mobile object would overlap with each other in the oncoming lane, either (i) deviation control for the host mobile object to deviate from the host lane to the oncoming lane, or (ii) standby control for the host mobile object to stay in the host lane; and plan an obstacle avoidance path to give the host mobile object the deviation control from the host lane to the oncoming lane such that an assumed acceleration of the host mobile object in a lateral direction is restricted, wherein giving the host mobile object the drive control includes: (a) (i) setting a safety envelope for the target mobile object that travels in the oncoming lane with a restriction/constraint of an assumed maximum acceleration for the target mobile object, and (ii) setting another safety envelope for the target mobile object that has stopped traveling in the oncoming lane without the restriction/constraint when an overlapping section where the future travel of the host mobile object and the future travel of the target mobile object would overlap with each other is estimated; and (b) selecting the deviation control to deviate from the host lane to the oncoming lane along the obstacle avoidance path in response to detecting that the target mobile object stops traveling in the oncoming lane when the host mobile object on the obstacle avoidance path is predicted to pass through a point outside of the safety envelope without the restriction/constraint.
10 . A non-transitory, computer readable, tangible storage medium storing instructions executable by a processor as a computer-readable processing program for executing a process related to driving of a host mobile object in an obstacle avoidance scene where the host mobile object avoids an obstacle zone that interferes with travelling of the host mobile object by deviating from a host lane to an oncoming lane, the instructions, when executed by the processor, casing the processor to perform: monitoring a target mobile object traveling in the oncoming lane; and upon determining that the target mobile object traveling in the oncoming lane is detected, giving, as a drive control, to the host mobile object according to an overlapping travel situation where a future travel of the host mobile object and a future travel of the target mobile object would overlap with each other in the oncoming lane, either (i) deviation control for the host mobile object to deviate from the host lane to the oncoming lane, or (ii) standby control for the host mobile object to stay in the host lane; and planning an obstacle avoidance path to give the host mobile object the deviation control from the host lane to the oncoming lane such that an assumed acceleration of the host mobile object in a lateral direction is restricted, wherein giving the host mobile object the drive control includes: (a) (i) setting a safety envelope for the target mobile object that travels in the oncoming lane with a restriction/constraint of an assumed maximum acceleration for the target mobile object, and (ii) setting another safety envelope for the target mobile object that has stopped traveling in the oncoming lane without the restriction/constraint when an overlapping section where the future travel of the host mobile object and the future travel of the target mobile object would overlap with each other is estimated; and (b) selecting the deviation control to deviate from the host lane to the oncoming lane along the obstacle avoidance path in response to detecting that the target mobile object stops traveling in the oncoming lane when the host mobile object on the obstacle avoidance path is predicted to pass through a point outside of the safety envelope without the restriction/constraint.

Description

CROSS REFERENCE TO RELATED APPLICATION This application is a continuation application of International Patent Application No. PCT/JP2022/018844 filed on Apr. 26, 2022, which designated the U.S. and claims the benefit of priority from Japanese Patent Application No. 2021-086370 filed on May 21, 2021. The entire disclosure of all the above application is incorporated herein by reference. TECHNICAL FIELD The present disclosure relates to processing technology for performing processing related to driving a mobile object. BACKGROUND There has been known processing technology where a drive control related to a navigation operation of a host vehicle is planned according to detection information related to internal and external environments of the host vehicle. During such planning, when it is determined that there is potential accident liability based on a safety model following a driving policy and the detection information, a constraint is provided to the drive control. SUMMARY According to one aspect of the present disclosure, a processing method performed by a processor for executing a process related to driving of a host mobile object in an obstacle avoidance scene where the host mobile object avoids an obstacle zone that interferes with travelling of the host mobile object by deviating from a host lane to an oncoming lane. The processing method includes steps of: monitoring a target mobile object traveling in the oncoming lane; and upon determining that the target mobile object traveling in the oncoming lane is detected, selecting, as driving control given to the host mobile object according to an overlapping travel situation where a future travel of the host mobile object and a future travel of the target mobile object would overlap with each other in the oncoming lane, either (i) deviation control for the host mobile object to deviate from the host lane to the oncoming lane, or (ii) standby control for the host mobile object to stay in the host lane. BRIEF DESCRIPTION OF THE DRAWINGS Objects, features, and advantages of the present disclosure will become more apparent from the following detailed description made with reference to the accompanying drawings, in which: FIG. 1 is a block diagram showing an overall configuration of a processing system according to an embodiment; FIG. 2 is a schematic diagram showing a travel environment of a host vehicle to which one embodiment is applied; FIG. 3 is a block diagram of a functional configuration of the processing system according to the embodiment; FIG. 4 is a schematic diagram showing an obstacle avoidance scene to which one embodiment is applied; FIG. 5 is another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 6 is yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 7 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 8 is a property table for explaining planning of obstacle avoidance paths according to one embodiment; FIG. 9 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 10 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 11 is a graph for explaining a drive control according to one embodiment; FIG. 12 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 13 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 14 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 15 is still yet another schematic diagram showing the obstacle avoidance scene to which one embodiment is applied; FIG. 16 is a flowchart showing a processing method according to one embodiment; FIG. 17 is another flowchart showing the processing method according to one embodiment; FIG. 18 is a flowchart showing a planning subroutine according to one embodiment; and FIG. 19 is a graph for explaining the drive control according to a modification. DETAILED DESCRIPTION To begin with, a relevant technology will be described first only for understanding the following embodiments. When coping with an obstacle avoidance scene in which deviation to an oncoming lane is made by the host vehicle for avoiding an obstacle zone where travel of the host vehicle is hindered in a host lane by an obstacle, a priority determination by the host vehicle and a priority determination by a target vehicle that is traveling in the oncoming lane may possibly be inconsistent. It is one objective of the present disclosure to provide a processing method that facilitates appropriate coping with an obstacle avoidance scene. Another object of the present disclosure is to provide a processing system that that facilitates appropriate coping w