Route determination device, vehicle control device, route determination method, and storage medium

Patent metadata

Field	Value
Publication number	US-10831205-B2
Application number	US-201815907337-A
Country	US
Kind code	B2
Filing date	Feb 28, 2018
Priority date	Mar 16, 2017
Publication date	Nov 10, 2020
Grant date	Nov 10, 2020

Abstract

Provided is a route determination device including a recognition unit that recognizes peripheral circumstances of a host vehicle (121); and an evaluation unit (123C) that evaluates each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on peripheral circumstances of the host vehicle recognized by the recognition unit, and selects one or more routes from the plurality of routes based on an evaluation result. Each of the plurality of routes is generated by joining at least two of a plurality of edges. Each of the plurality of edges is generated by connecting two virtual nodes among a plurality of virtual nodes. The plurality of virtual nodes is located with space in each of a forward moving direction and a road width direction.

First claim

What is claimed is:

1. A route determination device comprising a processor configured to:
recognize peripheral circumstances of a host vehicle;
evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;
select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;
recognize a position of an object on a periphery of the host vehicle; and
increase a cost to be applied to an edge corresponding to another lane on a side toward which the object is biased, in a case that the position of the object recognized by the recognition unit is biased from a center of a lane, for evaluating each of a plurality of routes.

2. The route determination device according to claim 1 ,
wherein the plurality of virtual nodes are located for each lane in the road width direction.

3. The route determination device according to claim 1 ,
wherein the processor individually evaluates one or more routes in which the host vehicle is able to arrive at a target lane at a trailing end of an evaluation section in a case that the target lane at the trailing end of the evaluation section is set.

4. A vehicle control device comprising:
the route determination device according to claim 1 ; and
a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

5. A route determination device comprising a processor configured to:
recognize peripheral circumstances of a host vehicle;
evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;
select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;
recognize a position and a state of an object on a periphery of the host vehicle,
estimate a future position of the object based on the position and the state of the object; and
apply a cost to each of the plurality of edges based on the future position of the object for evaluating each of a plurality of routes.

6. The route determination device according to claim 5 ,
wherein the plurality of virtual nodes are located for each lane in the road width direction.

7. The route determination device according to claim 5 ,
wherein the processor individually evaluates one or more routes in which the host vehicle is able to arrive at an a target lane at a trailing end of an evaluation section in a case that the target lane at the trailing end of the evaluation section is set.

8. A vehicle control device comprising:
the route determination device according to claim 5 ; and
a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

9. A route determination device comprising a processor configured to:
recognize peripheral circumstances of a host vehicle;
evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;
select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction; and
determine that the host vehicle is to follow a preceding vehicle in a case that a sum of the costs of all of the plurality of routes exceeds a criterion.

10. A vehicle control device comprising:
the route determination device according to claim 9 ; and
a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

11. A route determination device comprising a processor configured to:
recognize peripheral circumstances of a host vehicle;
evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;
select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;
recognize a position and a size of an object on a periphery of the host vehicle; and
increase a cost to be applied to an edge on the periphery of the object in proportion to an increase in a width of the recognized object.

12. A vehicle control device comprising:
the route determination device according to claim 11 ; and
a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

13. A route determination device comprising a processor configured to:
recognize peripheral circumstances of a host vehicle;
evaluate each of a plurality of routes based on a sum of costs respectively applied to a plurality of edges based on the peripheral circumstances of the host vehicle;
select one or more routes from the plurality of routes based on an evaluation result, each of the plurality of routes being generated by joining at least two edges of the plurality of edges, and each of the plurality of edges being generated by connecting two adjacent virtual nodes among a plurality of virtual nodes, virtual nodes of the plurality of virtual nodes being located a predetermined distance from adjacent virtual nodes of the plurality of virtual nodes in each of a forward moving direction and a road width direction;
recognize a direction in which an object on a periphery of the host vehicle moves; and
determine a cost to be applied to an edge on the periphery of the object, based on the direction.

14. A vehicle control device comprising:
the route determination device according to claim 13 ; and
a driving control unit that controls the host vehicle to move based on a route selected by the evaluation unit of the route determination device.

15. A route determination method using a computer mounted in a host vehicle, com

Assignees

• Honda Motor Co Ltd

Inventors

• Sumioka Tadashi

Classifications

• G01C21/3453 Primary

  Special cost functions, i.e. other than distance or default speed limit of road segments · CPC title

• G01C21/3658

  Lane guidance · CPC title

• G01C21/3492

  employing speed data or traffic data, e.g. real-time or historical (traffic control systems for road vehicles involving transmission of navigation instructions to the vehicle G08G1/0968) · CPC title

• B60W30/09

  Taking automatic action to avoid collision, e.g. braking and steering · CPC title

• G08G1/167

  Driving aids for lane monitoring, lane changing, e.g. blind spot detection · CPC title