JP6923869B2 - Self-driving car - Google Patents

Description

The present invention relates to an autonomous vehicle capable of autonomous driving, and more particularly to a technique in which an autonomous vehicle passes a pedestrian crossing at an intersection by automatic driving.

In recent years, the development of autonomous driving technology for automobiles has accelerated, and the technology has reached a level at which human operation is almost unnecessary by combining with car navigation technology, advanced wireless communication technology, AI technology, and the like. Patent Document 1 discloses a technique for reducing the labor of a driver when a vehicle turns right on a pedestrian crossing.

Japanese Unexamined Patent Publication No. 2012-14616

The invention described in Patent Document 1 suppresses alerting to a pedestrian who is presumed to be visually recognized by the driver even if there is a pedestrian crossing the pedestrian crossing at the right turn of the vehicle. A pedestrian exists in a pedestrian crossing area including a pedestrian crossing at a right turn and a pedestrian crossing area that does not overlap with the driver's field of view, and the pedestrian is in the pedestrian crossing area and the field of view. The driver is alerted by approaching the area where the area overlaps. Further, in order to detect that the pedestrian approaches the overlapping area, the position, the moving direction and the moving speed of the pedestrian are used. Further, it is also disclosed that the pedestrian crossing area includes the entire pedestrian crossing, and in addition, the pedestrian crossing is set to include a part of the continuous sidewalk (a waiting part having a width of 50 cm from the pedestrian crossing). Has been done.

That is, the above invention is to suppress the alerting to the pedestrian if the pedestrian on the pedestrian crossing is not facing the own vehicle. However, even after the pedestrian signal near the pedestrian crossing turns red, the accident of jumping out from the sidewalk to the pedestrian crossing continues, and the invention of the above document is such. It cannot respond to sudden accidents. On the other hand, when a pedestrian is standing on the sidewalk adjacent to the pedestrian crossing, the vehicle must be temporarily stopped, but this traffic regulation is often not observed.

An object of the present invention is a pedestrian crossing in accordance with the obligation to stop a vehicle at a pedestrian crossing stipulated in Article 38, Paragraph 1 of the Road Traffic Act, or by responding to a pedestrian jumping out from a pedestrian crossing to a pedestrian crossing. The purpose is to provide an autonomous vehicle capable of safe passage.

In the invention of claim 1, it has an imaging unit that images the surroundings of the vehicle and a distance detection unit that detects the distance between the vehicle and an object, and automatically travels along a set travel route. In a car, a speed control unit that controls the traveling speed and braking of the own vehicle, a moving body detecting unit that detects the presence of a moving body based on an image captured by the imaging unit, and the moving body detecting unit are present. A moving body direction detecting unit that detects the moving direction of the moving body that has detected the above, a moving body speed detecting unit that detects the moving speed of the moving body detected by the moving body detecting unit, and a self on the traveling route. Adjacent to the end of the pedestrian crossing that the car passes after turning left in the intersection, adjacent to the approximately rectangular first monitoring area provided on the sidewalk and the first monitoring area, and on the above sidewalk An area setting unit that is provided so as to extend in the same direction as the pedestrian crossing and sets a second monitoring area having a substantially rectangular shape separated from the end of the pedestrian crossing by a predetermined distance, and along the traveling route. While the own vehicle scheduled to turn left is traveling on the side of the second monitoring area, the moving body detection unit detects the presence of the moving body in the second monitoring area and detects the direction of the moving body. The unit detects that the moving body is heading for the pedestrian crossing, the moving body speed detecting unit detects that the moving speed of the moving body is equal to or higher than a predetermined speed, and the own vehicle starts turning left. After that, before reaching the pedestrian crossing, the moving body detecting unit has entered the first monitoring area, and the moving body speed detecting unit has determined that the approaching speed of the moving body is determined. When it is detected that the speed is equal to or higher than the above speed, the speed control unit has a control unit for suspending the own vehicle.

With this configuration, while the own vehicle scheduled to turn left at the intersection is traveling on the side of the second monitoring area, a moving body (for example,) that moves toward the pedestrian crossing at a speed equal to or higher than a predetermined speed in the second monitoring area. , Bicycle, etc.), and after the vehicle has started to turn left, the moving body has entered the first monitoring area, and the moving body speed detection unit has entered the speed equal to or higher than the predetermined speed. By detecting this, the vehicle pauses before reaching the pedestrian crossing. As a result, it is possible to comply with traffic regulations at the pedestrian crossing, prevent personal injury due to jumping out, and prevent personal injury near the pedestrian crossing.

Further, in the invention of claim 2, it has an imaging unit that images the surroundings of the own vehicle and a distance detection unit that detects the distance between the own vehicle and an object, and automatically travels along a set traveling route. In an automatically driven vehicle, a speed control unit that controls the traveling speed and braking of the own vehicle, a moving body detecting unit that detects the presence of a moving body based on the image captured by the imaging unit, and the moving body detecting unit On the traveling path, a moving body direction detecting unit that detects the moving direction of the moving body that has detected the existence, a moving body speed detecting unit that detects the moving speed of the moving body detected by the moving body detecting unit, and a moving body speed detecting unit that detects the moving speed of the moving body. Adjacent to both ends of the pedestrian crossing that the vehicle passes after turning left in the intersection, and adjacent to the approximately rectangular first monitoring area and the first monitoring area provided on the sidewalk, respectively, as described above. An area setting unit that is provided on the sidewalk so as to extend in the same direction as the pedestrian crossing and sets a substantially rectangular second monitoring area that is separated from the end of the pedestrian crossing by a predetermined distance, and the traveling While the own vehicle scheduled to turn left along the route is traveling on the side of the second monitoring area, the moving object detection unit detects the presence of the moving object in the second monitoring area, and the above The moving body direction detection unit detects that the moving body is heading toward the pedestrian crossing, the moving body speed detecting unit detects that the moving speed of the moving body is equal to or higher than a predetermined speed, and the own vehicle After starting the left turn and before reaching the pedestrian crossing, the moving body detection unit entered the first monitoring area and the moving body speed detecting unit entered the moving body. When it is detected that the speed is equal to or higher than the predetermined speed, the speed control unit has a control unit for temporarily stopping the own vehicle.

With this configuration, for example, when a vehicle turns left at a pedestrian crossing, a bicycle or a person who suddenly jumps out of the sidewalk area near the pedestrian crossing in the intersection is detected in advance and temporarily stopped at the intersection. It is possible to prevent personal injury near the pedestrian crossing.

In the present invention, when an autonomous vehicle passes a pedestrian crossing such as an intersection, it is possible to comply with traffic regulations and prevent personal injury.

It is a block diagram in 1st Example of the self-driving car of this invention. It is an operation flowchart in 1st Example of the self-driving car of this invention. It is an operation flowchart in 1st Example of the self-driving car of this invention. It is an operation flowchart in 2nd Example of the self-driving car of this invention. It is an operation flowchart in 2nd Example of the self-driving car of this invention. It is an operation flowchart in 3rd Example of the self-driving car of this invention. It is explanatory drawing in 1st Example of the self-driving car of this invention. It is explanatory drawing in 1st Example of the self-driving car of this invention. It is explanatory drawing in 1st Example of the self-driving car of this invention. It is explanatory drawing in 2nd and 3rd Examples of the automatic driving vehicle of this invention. It is explanatory drawing in 2nd and 3rd Examples of the automatic driving vehicle of this invention. It is explanatory drawing in 2nd and 3rd Examples of the automatic driving vehicle of this invention. It is a block diagram in the 4th and 5th Examples of the self-driving car of this invention. It is an operation flowchart in 4th Example of the self-driving car of this invention. It is an operation flowchart in 5th Example of the self-driving car of this invention. It is an operation flowchart in 5th Example of the self-driving car of this invention. It is explanatory drawing in 4th and 5th Examples of the automatic driving vehicle of this invention.

Hereinafter, embodiments of the autonomous driving vehicle of the present invention will be described with reference to the drawings. The present invention is not limited to the following examples.

(First Example) With reference to FIG. 1, the configuration of the circuit block in the embodiment of the autonomous driving vehicle of the present invention will be described in detail below. The self-driving vehicle of this embodiment controls a drive unit A including an accelerator unit 102 for driving in basic driving and an engine unit 101 controlled by the accelerator unit, a brake unit 104 for braking the own vehicle, and the control thereof. The braking unit B including the brake control unit 103, the steering unit C including the steering unit 106 for steering and the steering drive control unit 105 for controlling the steering, the light unit 107 illuminating the front of the vehicle, and the bending direction of the vehicle ( It has a light emitting unit D including a direction indicating unit 108 indicating (turn right, turn left). The speed control unit AB includes the drive unit A and the braking unit B.

Further, the self-driving car is provided with a manual driving function, an automatic driving function, a car navigation function by the car navigation function unit 109, and the like. Therefore, regarding the automatic driving function of the autonomous driving vehicle, the control unit 124 including the ECU (CPU) and the like automatically performs the driving operation of the accelerator unit 102, the brake unit 104, the steering wheel unit (steering unit) 106, the direction indicating unit 108, and the like. It is automatically controlled by the operation function unit 110. That is, in the autonomous driving vehicle, a traveling route is set by the car navigation function unit 109, and the automatic driving function unit 110 and the control unit 124 set the route to the route by the camera unit (imaging unit) 112 and the radar unit (distance detection unit) 113. It can run automatically along.

The camera unit (imaging unit) 112 captures the surroundings of the vehicle by a plurality of cameras provided on the front, rear, left and right sides of the vehicle, but mainly in the lane on the road and the rear portion of the vehicle immediately before the vehicle. And other images around it can be clearly captured. The captured image is stored in the storage unit 122 and temporarily stored. Further, the distance detection unit (radar unit) 113 is also provided in the front part, the public relations part, and the side part of the own vehicle to detect the distance to the object outside the vehicle, but mainly to detect the distance to the vehicle immediately before and after. measure. In this self-driving car, the detection of the distance detection unit is radar, but may be detection by sound waves.

In addition, the moving body detecting unit 114 detects the presence or absence of a moving object (moving body P) based on the image of a predetermined area or range imaged by the imaging unit 112. This identification is done by the shape of the moving body. The moving body direction detecting unit 115 detects the movement of the position of the object (moving body P) for which the moving body detecting unit has detected its existence, and detects in which direction the moving body is moving. In addition, the moving body speed detecting unit 116 detects the moving speed of the object (moving body P) whose existence has been detected by the moving body detecting unit in the detected moving direction. Since the moving direction and the moving speed of the moving body are detected by the moving body detecting unit 114, the moving body can be specified by them. Further, the moving body acceleration detecting unit 117 detects the acceleration of the object (moving body) for which the moving body detecting unit has detected its existence.

Further, referring to FIGS. 7 and 10, the area setting unit 118 sets the first monitoring area M and the second monitoring area N. Both of the above areas are virtually provided in the image captured by the imaging unit. The first monitoring area is a substantially square provided on the sidewalk adjacent to both ends of the pedestrian crossing on the traveling route, and the second monitoring area is adjacent to the first monitoring area. It is a substantially quadrangle that extends on the sidewalk in the same direction as the pedestrian crossing or in a direction orthogonal to the pedestrian crossing and is separated from both ends of the pedestrian crossing by a predetermined distance. More specifically, the first monitoring area M is a substantially square having a side of about 8 meters or more or a semicircle having a radius of about 10 meters.

Further, the second monitoring area is provided so as to extend from both ends of the pedestrian crossing on the set travel path in the crossing direction onto the sidewalk, and the length of the longer side is approximately 20 meters in a substantially square shape. Is. Therefore, the second monitoring area is set to be adjacent to the first monitoring area and extend on the sidewalk in the direction opposite to the pedestrian crossing by a predetermined distance from the first monitoring area. There is. Here, the "sidewalk" includes a pedestrian road and a road in which a pedestrian road and a bicycle road extend in parallel.

Further, the area setting unit 118 expands or contracts the area of the first monitoring area according to the traveling speed of the vehicle 20 meters before the vehicle reaches the side of the area. Change the shape. For example, at a position 20 meters before approaching the first monitoring area, if the speed of the own vehicle is equal to or higher than a predetermined speed (30 km / h), the area is expanded, and if it is less than or equal to the predetermined speed, the area is reduced. This also applies to other embodiments.

Further, the area setting unit 118 changes the length of the second monitoring area in the longitudinal direction according to the traveling speed of the own vehicle 30 meters before reaching the side portion of the area. For example, if the speed of the own vehicle is equal to or higher than a predetermined speed (30 km / h), the length is increased, and if it is less than or equal to the predetermined speed, the length is shortened. This also applies to other embodiments. When the first monitoring area and the second monitoring area are set at the same time, both areas are changed at the same time. Even in that case, the two areas do not overlap. The functions of these area setting units are the same in other embodiments.

Further, the moving body prediction unit 119 determines the time required for the moving body P detected by the moving body detecting unit 114 in the second monitoring area N to enter the first monitoring area M from the time of the detection. The time required for the vehicle from the time of the detection to the pedestrian crossing is calculated, and both of the above times are compared to predict which of the above times is shorter, that is, which will arrive earlier.

The speaker unit 120 makes a voice announcement of traveling guidance by the car navigation function unit 109. In addition, the display unit 121 displays a map related to traveling guidance and a guidance display related to setting a destination by the car navigation function unit 109. The speaker unit and the display unit also give an alarm (warning) in the vehicle. In addition, the setting operation unit 123 performs input operations such as settings related to the car navigation function unit 109. Further, the control unit 124 performs overall control for each of the above units.

Hereinafter, the operation of the autonomous driving vehicle of this embodiment will be described in detail with reference to the drawings. With reference to FIG. 2, the driver operates the setting operation unit 123, the car navigation function unit 109 sets the destination and the waypoint, and then the own vehicle A1 starts the automatic operation by the automatic driving function unit 110 (). Step 20). Next, in step 21, after the start of traveling, if it is detected by the above-mentioned car navigation function and automatic driving function that the vehicle turns left at the intersection in front of the own vehicle A1 on the set traveling route, the speaker unit 119 , "Turn left at the next intersection." (See Fig. 7). Here, it is assumed that the car navigation function unit 110 detects that there is a pedestrian crossing W in the intersection based on various road information.

Next, in step 22, the automatic driving function unit 110 operates the direction indicating unit 108, the brake unit 104, and the steering unit 106 to prepare for a left turn at the intersection ahead and enter the intersection. In step 23, when the vehicle A1 reaches 50 meters before the intersection, the imaging unit 112 starts imaging on the pedestrian crossing on the left side of the vehicle. Next, the own vehicle reaches the stop line of the pedestrian crossing on the above-mentioned traveling route after it is confirmed that the traffic light at the intersection is blue and the own vehicle A1 during automatic driving starts turning left. If the moving object detection unit 114 detects a pedestrian P on the pedestrian crossing before the operation, the automatic driving function unit 110 operates the steering unit, the brake unit, and the like to stop the pedestrian crossing in step 24. Stop the vehicle on line L (see FIG. 8).

In step 25, the pedestrian-only traffic light is blue, and the moving body detection unit 114 is on the pedestrian crossing based on the image captured by the imaging unit 112 again on the pedestrian crossing with the vehicle A1 temporarily stopped. Starts detecting the pedestrian P. If no pedestrian on the pedestrian crossing is detected in step 25, the process proceeds to step 26, and the moving object detection unit exists in the first monitoring area M while the own vehicle is temporarily stopped. Start detecting pedestrians (moving body P).

On the other hand, if the moving body P is not detected on the pedestrian crossing in step 23, the process proceeds to step 26 (see FIG. 3). In step 26, the moving body detection unit 114 moves the pedestrian (movement) in the first monitoring area M before the self-driving vehicle starts turning left and reaches the stop line of the pedestrian crossing on the traveling route. Detects the presence of body P). If the pedestrian is detected, in step 27, the moving body direction detecting unit 115 detects whether the moving body P is moving toward the pedestrian crossing or the traveling route on the pedestrian crossing of the own vehicle.

Here, when it is detected that the moving body P is moving toward the traveling path on the pedestrian crossing or the pedestrian crossing of the own vehicle, the control unit 124 receives the image of the moving body captured by the imaging unit 112. The image is displayed on the display unit 121, and the display of the moving body continues until the crosswalk is passed. Further, the control unit 124 temporarily stores the image in the storage unit 122. By observing this display, the driver can determine whether the moving object heading for the pedestrian crossing is a bicycle or a person, and the speed thereof on the screen of the display unit. For example, the moving object. In the case of a bicycle on which an elementary school student rides or an elderly person who is in a very hurry, special attention can be paid, and the driver can perform an accurate braking operation in the event of a sudden jump.

Further, in step 28, the moving body direction detecting unit 115 detects the moving speed of the detected pedestrian P. Here, if the moving speed of the pedestrian is equal to or higher than a predetermined speed, an alarm sound is emitted from the speaker unit 120, and the process proceeds to step 24. Operate to stop the vehicle at the stop line L of the pedestrian crossing (see FIG. 8).

On the other hand, if the moving speed is equal to or lower than the predetermined speed in step 28, the own vehicle A1 can be stopped immediately by slow driving by operating the accelerator unit 102 by the automatic driving function unit 110 in step 29. Start at a slow speed. Since the average walking speed of a pedestrian is usually about 5 km / h, the predetermined speed is, for example, about 3 km / h, and the moving speed of the moving body is equal to or less than the predetermined speed. Including when the moving body is stopped. Next, in step 30, the car navigation function unit 109 detects whether or not the vehicle has passed the pedestrian crossing, and if it is detected that the car navigation function unit 109 has passed, the processing program ends.

In step 25, if the moving body detection unit 114 detects the pedestrian P on the pedestrian crossing while the self-driving vehicle is stopped at the stop line of the pedestrian crossing on the traveling route. Moving to step 24, the own vehicle is temporarily stopped as described above. Further, in step 28, if the moving body has a moving speed equal to or lower than a predetermined speed, in step 29, in step 29, the accelerator unit 102 is operated by the automatic driving function unit 110, and the vehicle A1 is immediately driven by slow driving. Start at a low speed that can be stopped.

Further, in step 26, when the own vehicle is stopped in front of the pedestrian crossing and no moving object (pedestrian P) is detected in the first monitoring area M, and in step 27, the moving object is described above. When is not moving toward the above-mentioned traveling path on the pedestrian crossing or the pedestrian crossing of the own vehicle, the process proceeds to step 29, and the automatic driving function unit 110 operates the accelerator unit 102 as described above to drive slowly. Start at.

Next, referring to FIG. 9, even after the own vehicle A1 enters the pedestrian crossing in step 29, the process proceeds to step 25 through step 30, and from step 24 to step 29, the own vehicle crosses the above. After entering the sidewalk and pausing, the pedestrian P detection process on the pedestrian crossing described above is performed, and the pedestrian P detection process or the like in the first monitoring area M described above is performed to cross the pedestrian crossing. These steps are repeated until you escape the sidewalk, that is, until the rear of your vehicle leaves the pedestrian crossing and is a few meters away. Therefore, the detection of the pedestrian P in the first monitoring area by the moving body detection unit 114 is performed in a state where the own vehicle is stopped at the stop line of the pedestrian crossing and when the own vehicle after the temporary stop is started and crossed. It is also executed after entering the sidewalk.

That is, in step 30, when the own vehicle enters the pedestrian crossing or when the own vehicle enters the pedestrian crossing and pauses, the moving object detection unit 114 is on the pedestrian crossing and the planned crossing of the own vehicle. Detects whether the vehicle is moving toward a travel route on the sidewalk. This also applies to the other embodiments, and further, the same applies when the own vehicle temporarily stops at the stop line of the pedestrian crossing.

In addition, referring to FIG. 7, in this embodiment, the case where the own vehicle turns left is assumed, and in that case, the first monitoring area M is the pedestrian crossing W after turning left at the intersection. It is set at both ends, but when the vehicle turns right, it is set at both ends of the pedestrian crossing W after turning right at the intersection. Further, the detection of the moving body itself, the moving direction, the moving speed, the arrival at a predetermined point, the entry into a predetermined area, and the like in this embodiment may be performed by two-dimensional and three-dimensional image analysis.

Further, in this embodiment, the moving speed of the moving body in the first monitoring area M is detected, but the acceleration of the moving body may be detected. In this case, since the first monitoring area of this embodiment is a substantially square with a side of about 8 meters, for example, a pedestrian P standing in the first monitoring area M suddenly heads toward the pedestrian crossing. Assuming that the person has started walking, the value of the acceleration that reaches the pedestrian crossing at about 3 km / h after leaving the distance within about 8 m of the first monitoring area M in a few seconds can be set as the predetermined acceleration. Further, in this embodiment, it is possible to deal with the case where the own vehicle goes straight through the intersection and temporarily stops in front of the pedestrian crossing at the intersection.

According to this embodiment, when there are pedestrians near the pedestrian crossing, the vehicle does not violate the traffic rule that the vehicle must be paused, and pedestrians who may jump out to the pedestrian crossing are on the pedestrian crossing. When it jumps out, it is possible to prevent contact with the pedestrian.

(Second Example) With reference to the figure, the configuration of the circuit block in the embodiment of the autonomous driving vehicle of the present invention will be described below. Since the configuration of the circuit block of this embodiment is the same as that of the first embodiment, the description thereof will be omitted. The operation of the second embodiment is different from that of the first embodiment because the software program related to the operation is different. Hereinafter, the operation of the second embodiment will be described in detail with reference to FIGS. 3 and 4.

In FIG. 4, steps 31 and 32 are the same as steps 21 and 22 of the first embodiment, and thus a detailed description thereof will be omitted. In step 32, the car navigation function unit 109 detects that the vehicle navigation function unit 109 turns left at the intersection ahead in the set travel path, so that the speaker unit 119 and the display unit 120 start the notification. For example, the speaker unit 119 makes a voice announcement saying, "Turn left at the next intersection."

Next, referring to FIGS. 4 and 10, in step 33, the imaging unit 112 starts imaging in the left turn direction from a point about 50 meters before the intersection, and the moving object detecting unit 114 automatically operates. While the vehicle inside is traveling on the side of the second monitoring area N, the longitudinal direction of the pedestrian crossing W on the left side of the vehicle (on the left side of the intersection on the drawing) (the direction of travel of the vehicle at this point). A moving body P (including a bicycle and a running pedestrian) in the second monitoring area N on the sidewalk is detected and identified (step 34).

Here, the second monitoring area N is a substantially quadrangle having a length and width of about 8 meters and about 20 meters, and is provided on the sidewalk adjacently in the crossing direction of the pedestrian crossing and in the opposite direction. Further, the above-mentioned predetermined moving speed is about 10 km / h because in this embodiment, it is assumed that a person is running and a person riding a bicycle.

In step 35, the moving direction and moving speed of the moving body P detected or specified in the first monitoring area M in step 34 are detected. Here, it is assumed that the moving body is heading toward the pedestrian crossing on which the own vehicle A1 is about to enter, and it is detected that the speed is equal to or higher than the predetermined speed. When it is detected that the moving body P is moving toward the pedestrian crossing, the control unit 124 causes the display unit 121 to display the image of the moving body captured by the imaging unit 112, and the display is displayed. Continue until you pass the above pedestrian crossing. Further, the control unit 124 temporarily stores the image in the storage unit 122.

Next, in step 36, since it was confirmed that the signal at the intersection was blue, the automatic driving function unit 119 operated the direction indicating unit 108, the brake unit 104, and the like to prepare for passing the pedestrian crossing W. conduct.

Next, after the own vehicle A1 enters the intersection, in step 37, based on the image captured by the imaging unit 112, the moving object detection unit 114 is scheduled to pass the pedestrian crossing in front of the own vehicle A1 (passing after the start of the left turn). The presence or absence of a pedestrian P on the pedestrian crossing) is detected. If the pedestrian P is detected, the process proceeds to step 38, the automatic driving function unit 110 operates the brake unit 104, and the vehicle is temporarily stopped at the stop line L of the pedestrian crossing W (FIG. FIG. 11).

Further, in steps 38 to 39, these steps are repeated until there is no pedestrian P on the pedestrian crossing, that is, until no pedestrian is detected, while the own vehicle A1 is stopped. If pedestrian P is not detected on the pedestrian crossing in step 37, the process proceeds to step 40 with reference to FIG. 5, the vehicle starts turning left, and the pedestrian crossing on the traveling route Before reaching the stop line, it is detected whether or not the pedestrian P detected or identified in the second monitoring area N has entered the first monitoring area M (step 40), and if detected. If so, it is detected whether the moving direction is toward the pedestrian crossing and the moving speed is equal to or higher than a predetermined speed (step 41).

Further, in this step 40, it may be detected whether the moving body P detected in the second monitoring area N has entered the first monitoring area M within a predetermined time from the detection. Therefore, in this case, if it is detected that the vehicle has entered within a predetermined time, the process proceeds to step 42.

Further, in this step 40, it is detected whether or not the pedestrian P has entered the first monitoring area M before reaching the stop line of the pedestrian crossing on the traveling route, and the own vehicle is temporarily stopped. Although it stopped, in addition to this, the moving body passed through the second monitoring area N before the own vehicle A1 entered the intersection, started a left turn, and reached the stop line of the pedestrian crossing on the traveling route. When the moving body detection unit 114 detects that the vehicle has passed (passed), the speed control unit AB may temporarily stop the own vehicle at the stop line L of the pedestrian crossing.

Further, in steps 40 and 41, a pedestrian different from the detected or specified pedestrian P is detected in the first monitoring area M and is heading for the pedestrian crossing, and the moving speed thereof is predetermined. If the speed is equal to or higher than the above speed (3 km / h), the pedestrian is detected in the same manner, and the speed control as described above is performed. If no moving object is detected in step 40, the process proceeds to step 42.

Next, in step 41, if the moving speed of the specified moving body is equal to or higher than a predetermined speed (10 km / h), an alarm sound is emitted from the speaker unit 120, the process returns to step 38, and the vehicle owns the vehicle. Pause. On the other hand, if the moving speed of the detected or specified moving body P is equal to or lower than a predetermined speed, the automatic driving function unit 110 operates the accelerator unit 102 in step 42 to drive the vehicle at a slow speed. Start off. If the vehicle A1 reaches the pedestrian crossing in step 43 but does not leave the pedestrian crossing, the process returns to step 37 and repeats the detection on the pedestrian crossing and the second monitoring area.

In this embodiment, the second monitoring area N is adjacent to the first monitoring area M, but may be separated from each other by a predetermined distance. Further, in the present embodiment, the case where the own vehicle turns left is assumed, and in that case, the second monitoring area N is set at both ends of the pedestrian crossing W which the own vehicle passes after turning left at the intersection. However, when the vehicle turns right, it is set at both ends of the pedestrian crossing W that the vehicle passes after turning right at the intersection. Further, the first monitoring area M is also provided at four places on the sidewalk adjacent to the pedestrian crossing through which the own vehicle passes in the case of a right turn.

According to this embodiment, a moving body that moves at a speed faster than the walking speed of a normal pedestrian, that is, a pedestrian who moves faster than a pedestrian or a pedestrian who is jogging can be detected or identified at an early stage. It is possible to prevent personal injury near the pedestrian crossing.

(Third Example) With reference to the figure, the configuration of the circuit block in the third embodiment of the autonomous driving vehicle of the present invention will be described below. Since the configuration of the circuit block of this embodiment is the same as that of the first embodiment, the description thereof will be omitted. However, regarding the operation of the third embodiment, the software programs related to the operation are different from those of the first and second embodiments. Therefore, the operation itself is also different. The first half of the operation of the third embodiment is the same as that of steps 31 to 39 of the second embodiment, and the description thereof will be omitted. Since the latter half is different, the steps 50 to 54, which are the steps following the step 39, will be described in detail with reference to FIG.

With reference to FIGS. 10, 11 and 12, in step 50, since the moving body direction detecting unit 115 can detect the position of the moving body, the moving body prediction unit 119 is in the second monitoring area. The time required for the moving body P detected by the moving body detecting unit 114 to enter the first monitoring area from the time of the detection and the time required for the own vehicle from the time of the detection to the stop line of the pedestrian crossing. The time is calculated and both of the above times are compared to determine which of the above times is shorter, that is, which arrives earlier.

Here, the time required for the moving body P to enter the first monitoring area from the time of the detection is the position where the moving body speed detection unit detects the moving body and the second monitoring area of the moving body. It is calculated by detecting the moving speed in the inside and setting the shape, length and position of the first monitoring area, the length of the second monitoring area, and the like. On the other hand, the time required from the detection of the own vehicle to the stop line of the pedestrian crossing is calculated from the fact that the car navigation function unit constantly detects the position of the own vehicle and the traveling speed of the own vehicle. ..

When the moving object prediction unit predicts that the own vehicle will arrive earlier, the speaker unit 120 emits an alarm sound, the process proceeds to step 51, and the speed control unit AB crosses the own vehicle by operating the brake. Pause at the stop line on the sidewalk (Fig. 11).

The two times to be compared are the time required for the detected moving body P to enter the first monitoring area from the time of the detection and the time required for the own vehicle to enter the first monitoring area from the time of the detection to the stop line of the pedestrian crossing. The time required for the moving body P detected in the second monitoring area to pass through the second monitoring area from the time of the detection and the time required for the own vehicle to pass through the second monitoring area from the time of the detection and the time required for the own vehicle to be on the pedestrian crossing from the time of the detection. It may be the time required to reach the stop line.

Here, the time required for the moving body P detected in the second monitoring area to pass through the second monitoring area from the time of the detection is the position of the moving body and the second time by the moving body speed detection unit. It is calculated by detecting the moving speed in the monitoring area of the above and also setting the length of the second monitoring area.

In step 52, if the moving object detection unit 114 does not detect the presence of the pedestrian P on the pedestrian crossing in front of the vehicle while the vehicle is temporarily stopped, the process proceeds to step 53, and the speed control unit AB operates the accelerator. The vehicle A1 is started at a slow speed (Fig. 12). Next, in step 54, the player escapes through the pedestrian crossing. If the moving object prediction unit 119 does not make the above prediction in step 50, the process proceeds to step 53, and in step 54, the moving object predicting unit 119 passes through the pedestrian crossing and escapes. If a pedestrian P is detected on the pedestrian crossing in step 52, the process returns to step 51. Further, also in this embodiment, the display of the display unit and the storage of the storage unit in step 35 have the same display contents and the same storage contents as described above.

According to this embodiment, when passing through a pedestrian crossing in an intersection of an autonomous vehicle, a moving body that moves at a speed faster than the walking speed of a normal pedestrian, that is, a bicycle or a pedestrian who moves faster than a pedestrian. Is detected or identified early in the second monitoring area, and if the bicycle or pedestrian is predicted to proceed to the first area adjacent to the pedestrian crossing, move to temporarily stop the vehicle. Even if the moving speed of the body is high, the moving body can be detected more reliably, and an accident resulting in injury or death near the pedestrian crossing can be prevented.

(Fourth Example) With reference to the figure, a fourth embodiment of the autonomous driving vehicle of the present invention will be described below. First, the configuration of the circuit block in this embodiment will be described with reference to FIG. In the figure, among the figures 101 to 124, those having the same numbers as those in the block diagram (FIG. 1) of the first embodiment have the same functions, and thus the description thereof will be omitted. Therefore, the line setting unit 118A and the moving object prediction unit 119A will be described.

The line setting unit 118A is a first monitoring unit provided at a predetermined distance from the pedestrian crossing so as to be orthogonal to the longitudinal direction of the pedestrian crossing facing the intersection on the traveling route of the own vehicle by turning left. A second monitoring line Y provided at a predetermined distance from the line X and the first monitoring line X and parallel to the first monitoring line is set (see FIG. 17).

In the line setting unit 118A, the own vehicle monitors the width (distance) between the first monitoring line and the second monitoring line and the width (distance) between the pedestrian crossing and the first monitoring line. It changes according to the running speed when running 20 meters in front of the line. For example, if the speed is greater than or equal to a predetermined speed (30 km / h), both widths are increased, and if less than or equal to, the width is reduced.

On the other hand, in the moving body prediction unit 119A, the moving body detected by the moving body detecting unit 114 between the first monitoring line X and the second monitoring line Y is monitored by the first monitoring from the time of the detection. The time required to reach the line X and the time required for the own vehicle from the time of the detection to the stop line of the pedestrian crossing are calculated, both of the above times are compared, and which of the above times is shorter is determined.

Next, the operation of this embodiment will be described with reference to FIG. Since the operations of this embodiment are the same in steps 20 to 25 of the flowchart (FIG. 3) showing the operations of the first embodiment, the description thereof will be omitted. Further, since only step 26 is different from steps 26 to 30 in the flowchart (FIG. 4) showing the operation of the first embodiment, the description of steps 26 to 30 will be omitted.

Therefore, in step 26A, the moving body detection unit 114 detects whether or not the moving body P exists between the lines while the own vehicle A1 is traveling between the second monitoring line and the first monitoring line. .. If the moving body detection unit 114 detects the moving body while the own vehicle A1 scheduled to turn left along the traveling route is traveling between the lines, the process proceeds to step 27. In step 27, the moving body direction detecting unit 115 detects whether or not the moving body is heading for the pedestrian crossing. Here, the operation of the speaker unit 120 and the display unit 121 is the same as that of the above embodiment.

If it is detected that the moving body P is heading for the pedestrian crossing, in step 28, if the moving body speed detecting unit 116 detects that the moving body is at a predetermined speed or higher, step 24 ( In FIG. 2), the speed control unit AB temporarily stops the own vehicle A1 at the stop line L of the pedestrian crossing.

In this embodiment, the monitoring criteria are configured with two monitoring lines (first and second monitoring lines) different from one or two monitoring areas, but the same effect as that of the above-mentioned equivalent embodiment is obtained, and further. By setting the line, the setting process is easy and the setting can be performed in a short time.

(Fifth Example) With reference to the figure, the configuration of the circuit block in the fifth embodiment of the autonomous driving vehicle of the present invention will be described below. Since the configuration of this embodiment is the same as that of the fourth embodiment, the description thereof will be omitted. Further, the operation of this embodiment is shown in the flowcharts of FIGS. 15 and 16, but the steps having the same number as the number of each step shown in the flowcharts of FIGS. 4 and 6 are for the same operation processing. The explanation is omitted.

Therefore, in step 34A, while the own vehicle A1 scheduled to turn left along the traveling route is traveling between the first monitoring line and the second monitoring line set by the line setting unit 118A, the moving body detecting unit 114 Detects whether or not there is a moving object between the lines. Next, in step 35, assuming that the moving body direction detecting unit 115 detects that the detected moving body is heading for the pedestrian crossing that the own vehicle A1 faces after the start of the left turn, the speaker unit 120 and the display unit 121 The operation with is the same as that of the above embodiment. Further, in step 50A, when the moving body prediction unit 116 determines that the time required for the own vehicle A1 from the time of the detection to the stop line L of the pedestrian crossing is shorter, the speed control unit AB tells the own vehicle A1. Is temporarily stopped at the stop line of the above pedestrian crossing.

In this embodiment as well, the monitoring criteria are configured with two monitoring lines (first and second monitoring lines) different from one or two monitoring areas, but the same effect as that of the above-mentioned equivalent embodiment is obtained, and further. , By setting the line, the setting process becomes easy and the setting time is short.

The present invention is related to the automatic driving of an autonomous vehicle and is related to the safety of pedestrians when passing through a pedestrian crossing, and therefore has high industrial utility.

109 Car navigation function unit 110 Automatic operation function unit 111 Operation mode switching unit 112 Imaging unit 113 Distance detection unit 115 Mobile object detection unit 116 Mobile object direction detection unit 117 Mobile body acceleration detection unit 118 Area setting unit

Claims (2)

In an autonomous vehicle that has an imaging unit that captures the surroundings of the vehicle and a distance detection unit that detects the distance between the vehicle and an object and automatically travels along a set travel route.
A speed control unit that controls the running speed and braking of the own vehicle,
A mobile body detection unit that detects the presence of a mobile body based on the image captured by the image pickup unit, and
A moving body direction detecting unit that detects the moving direction of the moving body for which the moving body detecting unit has detected the existence of the moving body, and a moving body direction detecting unit that detects the moving direction of the moving body.
A moving body speed detecting unit that detects the moving speed of the moving body detected by the moving body detecting unit, and a moving body speed detecting unit.
Adjacent to the end of the pedestrian crossing that the vehicle passes after turning left in the intersection on the above-mentioned travel route, and adjacent to the substantially rectangular first monitoring area provided on the sidewalk and the first monitoring area. An area setting unit that is provided on the sidewalk so as to extend in the same direction as the pedestrian crossing and sets a substantially rectangular second monitoring area separated from the end of the pedestrian crossing by a predetermined distance. ,
While driving the side of the monitor area the vehicle is the second left turn expected along said travel path, said moving object detecting unit detects the presence of the moving object at the second monitoring area the mobile direction detecting section detects that the moving body is toward the crosswalk, the mobile speed detecting unit detects that the moving speed of the moving object is equal to or higher than a predetermined speed, the after the vehicle has started left, before reaching the upper Kiyoko sectional sidewalk, the moving body detection unit is the moving object above this and and before Symbol mobile speed detecting unit which enters the first monitoring area When it is detected that the approaching speed of the moving body is equal to or higher than the predetermined speed, the speed control unit temporarily stops the own vehicle, and the control unit
Self- driving car with. In an autonomous vehicle that has an imaging unit that captures the surroundings of the vehicle and a distance detection unit that detects the distance between the vehicle and an object and automatically travels along a set travel route.
A speed control unit that controls the running speed and braking of the own vehicle,
A mobile body detection unit that detects the presence of a mobile body based on the image captured by the image pickup unit, and
A moving body direction detecting unit that detects the moving direction of the moving body for which the moving body detecting unit has detected the existence of the moving body, and a moving body direction detecting unit that detects the moving direction of the moving body.
A moving body speed detecting unit that detects the moving speed of the moving body detected by the moving body detecting unit, and a moving body speed detecting unit.
Adjacent to both ends of the pedestrian crossing that the vehicle passes after turning left in the intersection on the above-mentioned travel route, a substantially rectangular first monitoring area provided on the sidewalk and the first monitoring area. Area setting that is adjacent and is provided on the sidewalk so as to extend in the same direction as the pedestrian crossing, and sets a second monitoring area having a substantially rectangular shape that is separated from the end of the pedestrian crossing by a predetermined distance. Department and
While the vehicle scheduled to turn left along the traveling route is traveling on the side of the second monitoring area, the moving body detection unit detects the presence of the moving body in the second monitoring area. , The moving body direction detecting unit detects that the moving body is heading toward the crosswalk, and the moving body speed detecting unit detects that the moving speed of the moving body is equal to or higher than a predetermined speed. After the vehicle has started to turn left and before reaching the crosswalk, the moving body detecting unit has entered the first monitoring area and the moving body speed detecting unit of the moving body has entered the first monitoring area. When it is detected that the approaching speed is equal to or higher than the predetermined speed, the speed control unit temporarily stops the own vehicle, and the control unit
Self-driving car with.

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