JP6920809B2 - Orbit setting device and method for moving objects - Google Patents

Description

The present invention relates to a moving body track setting device and method for setting a moving track when automatically driving a vehicle or the like.

In recent years, various technologies for realizing automatic driving of a vehicle are under development, and one of them is a lane keeping function for setting a traveling track of a vehicle so as not to deviate from the traveling lane. As a device corresponding to this lane keeping function, a technique that enables cutting of a curved section while maintaining running in a lane has been conventionally known (see, for example, Patent Document 1). In this technique, after receiving the information of the curved portion of the traveling lane, the locus corresponding to this curved portion is applied to the clothoid segment, the arc segment, and the straight line segment, and the entire locus cut from these loci is obtained.

Special Table 2013-513149

By the way, since the technique disclosed in Patent Document 1 described above is for obtaining a traveling locus in which a curve is cut with respect to a traveling locus that matches the shape of the traveling lane, the degree of freedom of the position when passing through the curve There was a problem that there were few. For example, considering the case of approaching a left curve while driving on the left side of the road shoulder, it is desirable to cut the curve when going through the curve in a short time, but there are pedestrians and bicycles on the left end of the road. When driving on a road where there is a risk, it may be desirable to drive in the center or to the right of the driving lane without cutting the curve. Such a case cannot be dealt with by the technique disclosed in Patent Document 1.

The present invention has been created in view of these points, and an object of the present invention is to provide a trajectory setting device and method for a moving body having a large degree of freedom in position when passing a curve in moving trajectory setting. ..

In order to solve the above-mentioned problems, the trajectory setting device of the moving body of the present invention is based on the lane information acquisition means for acquiring the lane information including the white line shape that divides the lane in which the moving body moves, and the lane information. A partial shape extracting means for extracting an arc shape included in a white line shape and a linear shape existing before or after the arc shape, and a first partial trajectory setting that has the same circular center as the arc shape and sets a first partial trajectory. The means and the end are connected to the end of the first partial orbit so that one end has the same inclination at the end of the first partial orbit and the other end is parallel to the linear shape in the lane. Regarding the second partial trajectory setting means for setting the second partial trajectory having a clothoid curve shape and the movement trajectory in the lane when the moving body moves along the lane, the user responds to the user's instruction. and an operating means for inputting a preference, the first portion trajectory setting means, in accordance with the input content by the operation means, setting the end position of the radius and / or the second part track side of the first part track and, the end position of the second part track side is set in the opposite side of the circle center side and the center of circle across the center of the lane, the second portion trajectory setting means, an input by the operation unit content The position of the other end of the second partial orbit is set on the concentric side and on the opposite side of the concentric with the central position of the lane in between.

Further, the trajectory setting method of the moving body of the present invention has a step of acquiring lane information including a white line shape that divides the left and right sides of the lane in which the moving body moves by a lane information acquisition means, and a white line shape based on the lane information. It has the same circular center as the two arc shapes that partition the left and right sides of the lane, and one of these two arc shapes, as well as the step of extracting the included arc shape and the linear shape existing before or after it by the partial shape extraction means. A step of setting a first partial orbit consisting of an arc shape existing in a region sandwiched between these two arc shapes, which has a radius larger than the radius of and smaller than the other radius, by the first partial orbit setting means. , Has a crossoid curve shape connected to the end of the first partial orbit so that one end has the same inclination at the end of the first partial orbit and the other end is parallel to the linear shape. The user's preference is manipulated according to the user's instruction regarding the step of setting the second partial orbit by the second partial orbit setting means and the movement orbit in the lane when the moving body moves along the lane. and a step of inputting by means first portion trajectory setting means, in accordance with the input content by the operation means, setting the end position of the radius and / or the second part track side of the first part track and, the end position of the second part track side is set in the opposite side of the circle center side and the center of circle across the center of the lane, the second portion trajectory setting means, an input by the operation unit content The position of the other end of the second partial orbit is set on the center of the circle and on the opposite side of the center of the lane with the center position of the lane in between.

When setting the movement trajectory when moving in a lane having a curve, the radial position of the first partial orbit corresponding to the curve can be freely set in the lane, so that the moving body passes through the curve. It is possible to increase the degree of freedom of the position when doing so.

In addition, the position of the moving trajectory on the innermost inner diameter side when the moving body moves on the curve and the position where the moving body departs from the linear moving trajectory and starts entering the curve should be set according to the user's instruction. It is possible to set the movement trajectory that reflects the user's preference.

Further, the lane information acquisition means described above includes a camera that captures an image of the front of the moving body in the moving direction, and the partial shape extracting means extracts an arc shape and a linear shape from the image captured by the camera. Is desirable. This makes it possible to set a moving trajectory corresponding to the actual curve shape existing on the lane.

Further, it is desirable that the above-mentioned first and second partial tracks are used as traveling tracks when the own vehicle is automatically driven. As a result, when the own vehicle is automatically driven, it is possible to set a trajectory with a large degree of freedom corresponding to the actual curve shape on the lane.

It is a figure which shows the structure of the in-vehicle system of one Embodiment. It is a figure which shows the structure of the trajectory setting apparatus. It is explanatory drawing of the orbit including the 1st and 2nd partial orbits. It is a flow chart which shows the operation procedure which performs track setting by a track setting device. It is a figure which shows the setting example of a clothoid curve.

Hereinafter, an in-vehicle system according to an embodiment to which the present invention is applied will be described with reference to the drawings.

FIG. 1 is a diagram showing a configuration of an in-vehicle system of one embodiment. As shown in FIG. 1, the in-vehicle system of the present embodiment includes a navigation device 100, a track setting device 200, a camera 210, and an automatic driving device 300.

The navigation device 100 uses the stored map information (or acquired from the outside by communication) to perform a navigation operation for guiding the traveling of the vehicle (own vehicle) on which the navigation device 100 is mounted. This navigation operation includes a route search operation that sets an optimum travel route to a destination specified by the user. The set travel route data is input to the automatic driving device 300.

The track setting device 200 sets the track in the lane in which the own vehicle travels based on the image in front of the own vehicle in the traveling direction obtained by the image taken by the camera 210. The automatic driving device 300 automatically drives the own vehicle traveling on the track set by the track setting device 200 along the traveling path input from the navigation device 100. In this embodiment, level 3 or level 4 automatic operation is assumed. Further, since the technical method for realizing automatic driving is not directly related to the content of the present invention, a specific description thereof will be omitted, but the present invention is used for automatic driving using various technologies realized at present or in the future. Can be applied.

FIG. 2 is a diagram showing the configuration of the trajectory setting device 200. As shown in FIG. 2, the orbit setting device 200 includes a lane information acquisition unit 220, a partial shape extraction unit 230, a first partial orbit setting unit 240, a second partial orbit setting unit 250, an operation unit 260, and an orbit output unit. It is equipped with 270.

The lane information acquisition unit 220 acquires lane information including a white line shape that divides a traveling lane in which the own vehicle travels. Specifically, the lane information acquisition unit 220 acquires the front image output from the camera 210 that captures the front of the own vehicle in the traveling direction as lane information. Assuming that the camera 210 is installed at a height h (for example, 50 cm) from the road surface in the center of the front part of the own vehicle, a front image looking down on the road surface from this camera position is output from the camera 210. .. The lane information acquisition unit 220 acquires the front image as lane information, and then performs viewpoint conversion processing on the front image to convert the road surface in front of the own vehicle into a plane image looking down from the sky.

The partial shape extraction unit 230 is based on the lane information acquired by the lane information acquisition unit 220, specifically, the traveling lane based on the plane image after the viewpoint conversion process is performed on the acquired front image. The arc shape included in the white line shape that divides the image and the linear shape that exists before or after it are extracted. For example, focusing on the curve and the road shape before and after the curve of the recently designed road, the curved part has an arc shape, and it becomes a straight line shape at a position slightly distant from the front and back, and the clothoid between these arc shape and the straight line shape. In many cases, it has a curved shape. Here, the "clothoid curve" corresponds to the traveling locus of the vehicle drawn when the steering wheel is turned at a constant angular velocity while the speed of the vehicle is constant.

It should be noted that roads that utilize natural terrain do not necessarily include the clothoid curve portion. Further, in the present embodiment, it is not always necessary that the clothoid curved portion is included as the shape of the road (traveling lane) set as the traveling route.

The first partial orbit setting unit 240 has the same circular center as the arc shape extracted by the partial shape extraction unit 230, and sets the first partial orbit of the arc shape. Further, in the second partial orbit setting unit 250, one end has the same inclination at the end of the first partial orbit (arc shape), and the other end is in the traveling lane by the partial shape extraction unit 230. A second partial orbital having a clothoid curve shape connected to the end of the first partial orbital is set so as to be parallel to the extracted linear shape.

FIG. 3 is an explanatory diagram of an orbit including the first and second partial orbits. In FIG. 3, S is a traveling lane, W1 is a white line dividing the left end of the traveling lane S, W2 is a white line dividing the right end of the traveling lane S, and R is a track on which the own vehicle is about to travel. Shown.

On the other hand, the white line W1 includes an arc-shaped portion W13, a linear-shaped portion W11, and a portion W12 connecting them. The other white line W2 includes an arc-shaped portion W23, a linear-shaped portion W21, and a portion W22 connecting them.

The first partial orbit setting unit 240 has the same circular center O as the two arc-shaped portions W13 and W23, and from the arc-shaped portion R3 existing in the region sandwiched between the two arc-shaped portions W13 and W23. The first partial orbit is set.

Further, in the second partial orbit setting unit 250, one end portion has the same inclination as the arc-shaped portion R3 at the end portion of the arc-shaped portion R3 as the first partial orbit, and the other end portion is in the traveling lane. A second partial trajectory composed of the clothoid curved shape portion R2 connected to the end portion of the arc shape portion R3 is set so as to be parallel to the linear shape portions W11 and W21 described above. A partial orbital composed of a linear portion R1 is arranged at the other end of the second partial orbital.

By the way, the end position P1 (FIG. 3) of the arc-shaped portion R3 described above can be set to an infinite number of positions by changing the distance from the center O to the end position P1 and the position in the circumferential direction. exist. Similarly, the end position P2 (FIG. 3) of the clothoid curve-shaped portion R2 described above also has innumerable positions that can be set by changing the position of the linear shape portion R1 in the road width direction. Therefore, in the present embodiment, these positions are set according to the instruction of the user using the operation unit 260.

For example, when the linear portion R1 is on the outside (opposite to the center O) and the arcuate portion R3 is on the inside (opposite the center O) when the center position of the traveling lane is used as a reference, "out-in" is performed. On the contrary, the case where the linear portion R1 is on the inside (on the side of the circle center O) and the arc-shaped portion R3 is on the outside (on the side opposite to the circle center O) is expressed as "in-out". The user can select either "out-in" or "in-out" by operating the operation unit 260. In such a case, the above-mentioned end positions P1 and P2 (FIG. 3) may be uniquely determined corresponding to each of the “out-in” and the “in-out”. For example, the end positions P1 and P2 corresponding to "out" are located 3/5 from the inside along the road width direction, and the end positions P1 and P2 corresponding to "in" are located inside along the road width direction. The end position P1 is set to a position shifted by α (for example, 10 °) from the start positions of the arc-shaped portions W13 and W23. By making settings according to the user's instructions in this way, it is possible to reflect the user's preference during traveling.

The above-mentioned "out-in" and "in-out" are easy-to-understand examples, and other than that, "out-out" and "in-in" can be added to the options, and "out-out" can be added. In "in", it may be reclassified into a plurality of types. Alternatively, the case of "out-in" may be replaced with the name "attack a corner" to make it easier for the user to understand the contents of the options, and then the user may be allowed to make a selection.

The track output unit 270 automatically sets the linear portion R1, the clothoid curve-shaped portion R2 (second partial track), and the arc-shaped portion R3 (first partial track) shown in FIG. 3 as the track on which the own vehicle travels. Output toward the driving device 300.

The lane information acquisition unit 220 described above is used as the lane information acquisition means, the partial shape extraction unit 230 is used as the partial shape extraction means, the first partial orbit setting unit 240 is used as the first partial orbit setting means, and the second partial orbit setting is performed. The unit 250 corresponds to the second partial trajectory setting means, and the operation unit 260 corresponds to the operation means.

The vehicle-mounted system and the track setting device 200 of the present embodiment have such a configuration, and next, the detailed operation of the track setting will be described.

FIG. 4 is a flow chart showing an operation procedure for setting the track by the track setting device 200. When the camera 210 captures the front of the vehicle in the traveling direction and outputs the front image, the lane information acquisition unit 220 acquires the front image as lane information (step 100) and converts it into a plane image (step 102). ).

Next, the partial shape extraction unit 230 extracts the white lines W1 and W2 (FIG. 3) included in the converted plane image (step 104), and then uses, for example, the least squares method for each of the white lines W1 and W2. By specifying the range that can be regarded as a straight line, the straight line-shaped portions W11 and W21 are extracted (step 106). Further, the partial shape extraction unit 230 uses, for example, the least squares method to specify a range that can be regarded as an arc for each of the white lines W1 and W2 excluding the extracted linear shape portions W11 and W21. W13 and W23 are extracted (step 108).

Next, the first partial orbit setting unit 240 sets the first partial orbit including the arc-shaped portion R3 (FIG. 3) in response to a user's instruction using the operation unit 260 (step 110). Further, the second partial orbit setting unit 250 sets a second partial orbit composed of a clothoid-shaped portion R2 (FIG. 3) connected to one end of the first partial orbit (step 112). After that, the track output unit 270 outputs a track including the linear shape portion R1, the clothoid curve shape portion R2, and the arc shape portion R3 toward the automatic driving device 300 (step 114).

In this way, a series of trajectory setting operations using the front image captured by the camera 210 is completed. This trajectory setting operation is repeated every time a forward image is captured or at predetermined time intervals.

Next, the calculation operation of the clothoid-shaped portion R2 performed by the second partial trajectory setting unit 250 in step 112 will be described.

When the start point of the clothoid curve (P2 in FIG. 3) is set as the coordinate origin and the x-axis is taken in the tangential direction of the clothoid curve at this coordinate origin, the dimensionless coordinates (x, y) are as follows (K-1). ) Is expressed by the formula.

以下に示す（Ｋ−２）式は、クロソイド曲線の長さＬ₁が（Ｋ−１）式に含まれるパラメータｌ（エル）と同値であることを示している。

Equation (K-2) shown below indicates that the length L ₁ of the clothoid curve is equivalent to the parameter l (L) included in equation (K-1).

スケールファクタ（クロソイドパラメータ）をＡとすると、以下の（Ｋ−３）式に示すように、このＡによってクロソイド曲線の実際の長さＬ_A（ルベグ速度）が与えられる。

When the scale factor (clothoid parameter) and A, as shown in the following (K-3) type, the actual length L _A of the clothoid curve by the A (Rubegu speed) is given.

また、パラメータｌ（エル）で表されたクロソイド曲線上の位置（クロソイド曲線の終点、図３ではＰ１）における曲率半径中心（円心Ｏ）の座標（ｘ₀、ｙ₀）は、以下の（Ｋ−４）式のようになる。

_{Further, the coordinates (x 0} , y ₀ ) of the center of curvature radius (circle center O) at the position on the clothoid curve represented by the parameter l (el) (end point of the clothoid curve, P1 in FIG. 3) are as follows (x 0, y 0). It becomes like the K-4) equation.

ところで、クロソイド曲線の終点において、ステップ１１０で設定した円弧形状部分Ｒ３（図３）の端部Ｐ１と同じ座標、傾き、曲率半径となるように、クロソイド曲線部分Ｒ２と円弧形状部分Ｒ３が接続されるので、円弧形状部分Ｒ３（図３）の端部Ｐ１の座標はクロソイド曲線の終点の座標（ｘ_l、ｙ_l）と一致し、円心Ｏの座標はクロソイド曲線の終点の曲率半径中心の座標（ｘ₀、ｙ₀）と一致する。したがって、（Ｋ−４）式を用いることにより、ｘ_lとｙ_lの比（ｙ_l／ｘ_l）を計算で求めることが可能となる。

By the way, at the end point of the clothoid curve, the clothoid curve portion R2 and the arc-shaped portion R3 are connected so as to have the same coordinates, inclination, and radius of curvature as the end portion P1 of the arc-shaped portion R3 (FIG. 3) set in step 110. Therefore, the coordinates of the end P1 of the arc-shaped portion R3 (FIG. 3) _{coincide with the coordinates (x l} , y _l ) of the end point of the clothoid curve, and the coordinates of the circle center O are the centers of curvature of the end points of the clothoid curve. Matches the coordinates (x ₀ , y _0). Therefore, by using the equation (K-4), it is possible to calculate the ratio of _{x l} to y _{l (y l} / x _l).

However, even if the ratio (y _l / x _l ) is determined, the actual orbits will exist innumerably due to the scale fact A. For example, in FIG. 5, the two clothoid curves C1 and C2 have the same ratio (y _l / x _l ), but their starting points K1 and K2 are different. However, in the present embodiment, the second partial trajectory setting unit 250 sets the position of the linear portion R1 in the road width direction according to the instruction of the user using the operation unit 260, thereby setting the start point of the clothoid curve. The position can be determined.

_{In the above description, the case where the ratio (y l} / x _l ) is calculated using the equation (K-4) has been described. For example, when the scale factor A = 1, a plurality of θ (= l) are described. (L)) values x ₀ , y ₀ , _RA , _ml, etc. and _{the results of pre-calculating the values of (y l} / x _l ) are stored in the form of a table, and this table is used. _{Therefore, the ratio (y l} / x _l ) corresponding to the arc-shaped portion R3 set in step 110 may be specified.

As described above, in the track setting device 200 of the present embodiment, when setting the moving track when traveling in the traveling lane having a curve, the position in the radial direction of the first partial trajectory corresponding to the curve is set in the traveling lane. Since it can be set freely with, it is possible to increase the degree of freedom of the position when the own vehicle passes the curve.

In addition, by setting the radius of the first partial track and the end position on the second partial track side according to the user's instruction, the position of the track on the innermost inner diameter side when the own vehicle travels on a curve. Alternatively, the position at which the vehicle departs from the straight track and starts entering the curve can be set according to the user's instruction, and the track can be set to reflect the user's preference.

In addition, by extracting the arc shape and the straight line shape included in the white line that divides the traveling lane based on the front image obtained by the image taken by the camera, the trajectory corresponding to the actual curve shape existing on the traveling lane is obtained. It can be set.

The present invention is not limited to the above embodiment, and various modifications can be made within the scope of the gist of the present invention. In the above-described embodiment, the end position P1 of the arc-shaped portion R3 and the end position P2 of the clothoid curved portion R2 are set according to the instruction of the user, but the trajectory setting device 200 sets a certain value. It may be set automatically according to the standard. For example, if the speed of the own vehicle is slower than the reference speed, the track is set closer to the center of the driving lane, and if it is faster, the track is set "out-in". Depending on the situation (these judgments can be made based on the front image obtained by the image taken by the camera 210, the information acquired from the navigation device 100, etc.), the arc-shaped portion or the straight-shaped portion so as to move away from the road shoulder. It is conceivable to set an orbit including.

Further, in the above-described embodiment, the case of entering the curve along the track on which the own vehicle travels is assumed, but the case of escaping from the curve can also be considered in the same manner. In this case, the order of the linear shape portion and the arc shape portion is only reversed, and the clothoid shape portion may be arranged on the end point side of the arc shape.

Further, in the above-described embodiment, the case where the vehicle is mounted on a vehicle has been described. The invention may be applied.

As described above, according to the present invention, when setting a moving trajectory when moving a lane having a curve, the radial position of the first partial orbit corresponding to the curve is freely set in the lane. Therefore, it is possible to increase the degree of freedom of the position when the moving body passes through the curve.

100 Navigation device 200 Track setting device 210 Camera 220 Lane information acquisition section 230 Partial shape extraction section 240 First partial track setting section 250 Second partial track setting section 260 Operation section 270 Track output section 300 Automatic driving device

Claims (4)

A lane information acquisition means for acquiring lane information including a white line shape that divides a lane in which a moving body moves, and a lane information acquisition means.
A partial shape extracting means for extracting an arc shape included in the white line shape and a linear shape existing before or after the arc shape based on the lane information.
A first partial orbit setting means for setting a first partial orbit having the same circular center as the arc shape and having an arc shape existing in the lane corresponding to the arc shape.
One end is connected to the end of the first partial orbit so that it has the same slope at the end of the first partial orbit and the other end is parallel to the linear shape in the lane. A second partial orbit setting means for setting a second partial orbit having a clothoid curve shape,
An operating means for inputting a user's preference in response to a user's instruction regarding a moving trajectory in the lane when the moving body moves along the lane.
Wherein the first portion trajectory setting means, in accordance with the input content by the operation means, setting the end position of the radius and / or the second part track side of said first portion trajectory, wherein end position of the second part track side is set in the opposite side of the circle center side and the center of circle across the center of the lane, the second portion trajectory setting means, said operation means The position of the other end of the second partial orbit is set on the concentric side and the opposite side of the concentric with the central position of the lane in between, according to the input content by. Orbit setting device for moving objects. The lane information acquisition means includes a camera that captures an image of the front of the moving body in the moving direction.
The orbit setting device for a moving body according to claim 1, wherein the partial shape extracting means extracts the arc shape and the linear shape from an image captured by the camera. The track setting device for a moving body according to claim 1 or 2, wherein the first and second partial tracks are used as a traveling track when the own vehicle is automatically driven. A step of acquiring lane information including a white line shape that divides the left and right of the lane in which the moving body moves by the lane information acquisition means, and
Based on the lane information, a step of extracting the arc shape included in the white line shape and the linear shape existing before or after the arc shape by the partial shape extraction means, and
It has the same circular center as the two arc shapes that partition the left and right sides of the lane, and has a radius that is larger than the radius of one of the two arc shapes and smaller than the radius of the other, and these two arcs. A step of setting a first partial orbit consisting of an arc shape existing in a region sandwiched between shapes by a first partial orbit setting means, and
A clothoid curve shape connected to the end of the first partial orbit so that one end has the same inclination at the end of the first partial orbit and the other end is parallel to the linear shape. The step of setting the second partial orbit with the second partial orbit setting means, and
A step of inputting a user's preference by an operating means according to a user's instruction regarding a moving trajectory in the lane when the moving body moves along the lane.
Has the first portion trajectory setting means, in accordance with the input content by the operation means, setting the end position of the radius and / or the second part track side of said first portion trajectory, the end position of the second part track side is set in the opposite side of the circle center side and the center of circle across the center of the lane, the second portion trajectory setting means, the operation The position of the other end of the second partial orbit is set on the concentric side and the opposite side of the concentric with the central position of the lane in between, depending on the input content by the means. A method of setting the trajectory of a moving body, which is characterized in that.

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