US-12623665-B2 - Drive assist apparatus

US12623665B2US 12623665 B2US12623665 B2US 12623665B2US-12623665-B2

Abstract

A drive assist apparatus configured to set a drive condition of a vehicle based on a risk map generated by giving a risk potential to a risk object that is present around the vehicle, includes one or more processors and one or more memories connected to the one or more processors to be able to communicate with the one or more processors. The one or more processors is configured to execute a process including: obtaining information on a surrounding environment of the vehicle; obtaining information on an external environmental factor that may cause deviation of a drive track of the vehicle; and expanding a setting range of the risk potential of the risk object which is positioned in a direction of the expected deviation based on the information on the external environmental factor.

Inventors

Hiroki Marumo
Fumiya Sato
Mika Suzuki
Tomohiro Abe

Assignees

Subaru Corporation

Dates

Publication Date: 20260512
Application Date: 20220727
Priority Date: 20210817

Claims (14)

1 . A drive assist apparatus configured to set a drive condition of a vehicle, the drive assist apparatus comprising: one or more processors; and one or more memories connected to the one or more processors and configured to store instructions causing the one or more processors to: obtain information on a surrounding environment of the vehicle; obtain information on an external environmental factor, the information on the external environmental factor including information on a road surface friction state ahead of the vehicle; determine first risk values of a risk object, wherein the first risk values are is determined without using the information on the road surface friction state, despite the one or more processors having the information on the road surface friction state indicating that there is an area where wheel slippage is likely to occur, wherein the first risk values are distributed on a horizontal two-dimensional plane, wherein the first risk values range between a predetermined minimum value and a predetermined maximum value, and wherein when viewed from above the two-dimensional plane, a whole of the risk object is contained within a first range in which the first risk values are greater than the predetermined minimum value; generate a first risk map, which represents a distribution of the first risk values on the two-dimensional plane, based on the information on the surrounding environment and the first risk values, without using the information on the road surface friction state; generate a first target track for the vehicle to travel to avoid the risk object based on the first risk map, the first target track being set such that the vehicle passes through a first point on the two-dimensional plane corresponding to a position of minimum risk determined from the first risk map; based on the first target track, determine a first drive condition for causing the vehicle to travel along the first target track, the first drive condition including control parameters for a steering angle and a speed of the vehicle; evaluate, only after determining the first drive condition, whether the vehicle is predicted to deviate from the first target track toward the risk object based on the road surface friction state when controlled according to the first drive condition; in response to determining that the vehicle is not predicted to deviate from the first target track toward the risk object, control the vehicle based on the first drive condition; in response to determining that the vehicle is predicted to deviate from the first target track toward the risk object, (1) perform correction, using the information on the road surface friction state, to expand the first range of the first risk values to obtain second risk values of the risk object that have a second range in which the second risk values are greater than the predetermined minimum value, the second range being wider than the first range, (2) generate a second risk map based on the surrounding environment and the second risk values, and (3) generate a second target track more distant from the risk object than the first target track, the second target track being set such that the vehicle passes through a second point on the two-dimensional plane corresponding to a position of minimum risk determined from the second risk map, the second point being located farther from the risk object than the first point; based on the second target track, determine a second drive condition for causing the vehicle to travel along the second target track, the second drive condition including the control parameters for the steering angle and the speed; and control the vehicle based on the second drive condition.
2 . The drive assist apparatus according to claim 1 , wherein the information on the external environmental factor further includes wind information on a wind speed and a wind direction, and wherein the one or more processors are configured to: determine whether the vehicle is predicted to deviate from the first target track due to an influence of the wind speed and the wind direction indicated by the wind information; and determine the second risk values using the wind information in addition to the information on the road surface friction state.
3 . The drive assist apparatus according to claim 2 , wherein the information on the external environmental factor further includes information on a road slope, and wherein the one or more processors are configured to: determine whether the vehicle is predicted to deviate from the first target track due to an influence of the road slope; and determine the second risk values using the information on the road slope in addition to the information on the road surface friction state.
4 . The drive assist apparatus according to claim 3 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values of the risk object based on the driver information.
5 . The drive assist apparatus according to claim 2 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values of the risk object based on the driver information.
6 . The drive assist apparatus according to claim 1 , wherein the information on the external environmental factor further includes information on a road slope, and wherein the one or more processors are configured to: determine whether the vehicle is predicted to deviate from the first target track due to an influence of the road slope; and determine the second risk values using the information on the road slope in addition to the information on the road surface friction state.
7 . The drive assist apparatus according to claim 6 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values of the risk object based on the driver information.
8 . The drive assist apparatus according to claim 1 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values of the risk object based on the driver information.
9 . A drive assist apparatus configured to set a drive condition of a vehicle, the drive assist apparatus comprising: one or more processors; and one or more memories connected to the one or more processors and configured to store instructions causing the one or more processors to: obtain information on a surrounding environment of the vehicle; obtain information on an external environmental factor, the information on the external environmental factor including wind information on a wind speed and a wind direction; determine first risk values of a risk object, wherein the first risk values are determined without using the wind information, despite the one or more processors having the information on the wind speed and the wind direction, wherein the first risk values are distributed on a horizontal two-dimensional plane, wherein the first risk values range between a predetermined minimum value and a predetermined maximum value, and wherein when viewed from above the two-dimensional plane, a whole of the risk object is contained within a first range in which the first risk values are greater than the predetermined minimum value; generate a first risk map, which represents a distribution of the first risk values on the two-dimensional plane, based on the information on the surrounding environment and the first risk values, without using the wind information; generate a first target track for the vehicle to travel to avoid the risk object based on the first risk map, the first target track being set such that the vehicle passes through a first point on the two-dimensional plane corresponding to a position of minimum risk determined from the first risk map; based on the first target track, determine a first drive condition for causing the vehicle to travel along the first target track, the first drive condition including control parameters for a steering angle and a speed of the vehicle; evaluate, only after determining the first drive condition, whether the vehicle is predicted to deviate from the first target track toward the risk object due to the wind speed and the wind direction when controlled according to the first drive condition; in response to determining that the vehicle is not predicted to deviate from the first target track toward the risk object, control the vehicle based on the first drive condition; in response to determining that the vehicle is predicted to deviate from the first target track toward the risk object, (1) perform correction, using the wind information, to expand the first range of the first risk values to obtain second risk values of the risk object that have a second range in which the second risk values are greater than the predetermined minimum value, the second range being wider than the first range, (2) generate a second risk map based on the surrounding environment and the second risk values, and (3) generate a second target track more distant from the risk object than the first target track, the second target track being set such that the vehicle passes through a second point on the two-dimensional plane corresponding to a position of minimum risk determined from the second risk map, the second point being located farther from the risk object than the first point; based on the second target track, determine a second drive condition for causing the vehicle to travel along the second target track, the second drive condition including the control parameters for the steering angle and the speed; and control the vehicle based on the second drive condition.
10 . The drive assist apparatus according to claim 9 , wherein the information on the external environmental factor further includes information on a road slope, and wherein the one or more processors are configured to: determine whether the vehicle is predicted to deviate from the first target track due to an influence of the road slope; and determine the second risk values using the information on the road slope in addition to the wind information.
11 . The drive assist apparatus according to claim 10 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values of the risk object based on the driver information.
12 . The drive assist apparatus according to claim 9 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values potential of the risk object based on the driver information.
13 . A drive assist apparatus configured to set a drive condition of a vehicle, the drive assist apparatus comprising: one or more processors; and one or more memories connected to the one or more processors and configured to store instructions causing the one or more processors to: obtain information on a surrounding environment of the vehicle; obtain information on an external environmental factor, the information on the external environmental factor including information on a road slope; determine first risk values of a risk object, wherein the first risk values are is determined without using the information on the road slope, despite the one or more processors having the information on the road slope, wherein the first risk values are distributed on a horizontal two-dimensional plane, wherein the first risk values range between a predetermined minimum value and a predetermined maximum value, and wherein when viewed from above the two-dimensional plane, a whole of the risk object is contained within a first range in which the first risk values are greater than the predetermined minimum value; generate a first risk map, which represents a distribution of the first risk values on the two-dimensional plane, based on the information on the surrounding environment and the first risk values, without using the information on the road slope; generate a first target track for the vehicle to travel to avoid the risk object based on the first risk map, the first target track being set such that the vehicle passes through a first point on the two-dimensional plane corresponding to a position of minimum risk determined from the first risk map; based on the first target track, determine a first drive condition for causing the vehicle to travel along the first target track, the first drive condition including control parameters for a steering angle and a speed of the vehicle; evaluate, only after determining the first drive condition, whether the vehicle is predicted to deviate from the first target track toward the risk object due to the road slope when controlled according to the first drive condition; in response to determining that the vehicle is not predicted to deviate from the first target track toward the risk object, control the vehicle based on the first drive condition; in response to determining that the vehicle is predicted to deviate from the first target track toward the risk object, (1) perform correction, using the information on the road slope, to expand the first range of the first risk values to obtain second risk values of the risk object that have a second range in which the second risk values are greater than the predetermined minimum value, the second range being wider than the first range, (2) generate a second risk map based on the surrounding environment and the second risk values, and (3) generate a second target track more distant from the risk object than the first target track, the second target track being set such that the vehicle passes through a second point on the two-dimensional plane corresponding to a position of minimum risk determined from the second risk map, the second point being located farther from the risk object than the first point; based on the second target track, determine a second drive condition for causing the vehicle to travel along the second target track, the second drive condition including the control parameters for the steering angle and the speed; and control the vehicle based on the second drive condition.
14 . The drive assist apparatus according to claim 13 , wherein the one or more memories stores driver information on driver's sensitivity to potential risk objects, and wherein the one or more processors are configured to adjust the setting range of the second risk values of the risk object based on the driver information.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims priority from Japanese Patent Application No. 2021-132580 filed on Aug. 17, 2021, the entire contents of which are hereby incorporated by reference. BACKGROUND The disclosure relates to a drive assist apparatus configured to set a drive condition of a vehicle by taking into consideration the risks that are present around the vehicle. There has been known a drive assist apparatus configured to set the drive track or vehicle speed of a vehicle by taking into consideration the risks that are present around the vehicle. For example, Japanese Unexamined Patent Application Publication (JP-A) No. 2018-192954 proposes a drive assist apparatus configured to set a drive track by taking into consideration the risks that have not become apparent in addition to the risks that are apparent. In one example, JP-A 2018-192954 discloses a drive assist apparatus configured to calculate each of a basic potential indicating the degree of recommendation of a drive position in the case where a vehicle drives in accordance with a road shape, an apparent potential based on an apparent risk indicated by risk object information, and a latent potential based on a latent risk predicted from a result of predicting a drive scene of the vehicle, and to set a drive path for the vehicle to drive on the basis of a potential field obtained by adding the basic potential, the apparent potential, and the latent potential. SUMMARY An aspect of the disclosure provides a drive assist apparatus configured to set a drive condition of a vehicle based on a risk map generated by giving a risk potential to a risk object that is present around the vehicle. The drive assist apparatus includes one or more processors and one or more memories connected to the one or more processors to be able to communicate with the one or more processors. The one or more processors are configured to execute a process including: obtaining information on a surrounding environment of the vehicle; obtaining information on an external environmental factor that may cause expected deviation of a drive track of the vehicle; and expanding a setting range of the risk potential of the risk object which is positioned in a direction of the expected deviation based on the information on the external environmental factor. An aspect of the disclosure provides a drive assist apparatus configured to set a drive condition of a vehicle based on a risk map generated by giving a risk potential to a risk object that is present around the vehicle. The drive assist apparatus includes an obtaining unit, a risk map generator, and a drive condition setter. The obtaining unit is configured to obtain information on a surrounding environment of the vehicle, and information on an external environmental factor that may cause expected deviation of a drive track of the vehicle. The risk map generator is configured to generate a risk map by expanding a setting range of the risk potential of the risk object which is positioned in a direction of the expected deviation based on the information on the external environmental factor. The drive condition setter is configured to set a drive condition of the vehicle based on the risk map. BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this specification. The drawings illustrate example embodiments and, together with the specification, serve to describe the principles of the disclosure. FIG. 1 is a schematic diagram illustrating an exemplary configuration of a vehicle including a drive assist apparatus according to a first embodiment of the disclosure; FIG. 2 is a block diagram illustrating an exemplary configuration of the drive assist apparatus according to the first embodiment; FIG. 3 is an explanatory diagram illustrating an example of a risk potential set to a risk object; FIG. 4 is an explanatory diagram illustrating an example of a target track set on the basis of a basic risk potential; FIG. 5 is an explanatory diagram illustrating deviation of a drive track due to a low friction area; FIG. 6 is an explanatory diagram illustrating an example of a risk potential and a target track set by the drive assist apparatus of the first embodiment; FIG. 7 is an explanatory diagram illustrating a risk potential set in accordance with a road surface state; FIG. 8 is a flowchart illustrating a processing operation of the drive assist apparatus of the first embodiment; FIG. 9 is a flowchart illustrating a processing operation of the drive assist apparatus of the first embodiment; FIG. 10 is an explanatory diagram illustrating an example of a risk potential and a target track set by a drive assist apparatus of a second embodiment; FIG. 11 is an explanatory diagram illustrating an example of a risk potential and a target track set by the drive assist apparatus of the second embodimen