Vehicle control device and vehicle control method

Patent metadata

Field	Value
Publication number	US-11130488-B2
Application number	US-201616462037-A
Country	US
Kind code	B2
Filing date	Nov 21, 2016
Priority date	Nov 21, 2016
Publication date	Sep 28, 2021
Grant date	Sep 28, 2021

Abstract

This vehicle control device comprises an autonomous driving control unit which automatically controls the stopping of a vehicle. If it is determined by a crossing determination unit that there is no crossing, the autonomous driving control unit controls the stopping of the vehicle so that the vehicle is stopped at a standard target stop position corresponding to a stop line on the basis of the positional information of the stop line, whereas if it is determined by the crossing determination unit that there is a crossing, the autonomous driving control unit controls the stopping of the vehicle so that the vehicle is stopped at a position before the standard target stop position on the basis of the positional information of the stop line.

First claim

The invention claimed is:

1. A vehicle control device comprising:
an automated driving control unit configured to automatically perform stop control of a host vehicle;
a crossing area determination unit configured to determine whether a crossing area where a traffic participant would cross exists in a travel direction of the host vehicle; and
a stop line position acquisition unit configured to acquire positional information of a stop line, wherein:
if the crossing area determination unit determines that the crossing area does not exist, the automated driving control unit is configured to perform the stop control of the host vehicle so that the host vehicle stops at a reference target stop position corresponding to the stop line on a basis of the positional information of the stop line; and
if the crossing area determination unit determines that the crossing area exists, the automated driving control unit is configured to perform the stop control of the host vehicle so that the host vehicle stops before the reference target stop position on a basis of the positional information of the stop line.

2. The vehicle control device according to claim 1 , further comprising a traffic participant recognition unit configured to recognize the traffic participant adjacent to the crossing area wherein:
if the traffic participant recognition unit does not recognize the traffic participant while the host vehicle travels, the automated driving control unit is configured to perform the stop control of the host vehicle so that the host vehicle stops at a first target stop position that is before the reference target stop position; and
if the traffic participant recognition unit recognizes the traffic participant while the host vehicle travels, the automated driving control unit is configured to perform the stop control of the host vehicle so that the host vehicle stops at a second target stop position that is before the first target stop position.

3. The vehicle control device according to claim 2 , wherein the automated driving control unit is configured to correct the second target stop position so that as the traffic participant recognition unit recognizes more traffic participants, a separation distance from the stop line to the second target stop position becomes longer.

4. The vehicle control device according to claim 2 , wherein if the automated driving control unit has received a travel start request signal of the host vehicle after the stop control of the host vehicle ends, the automated driving control unit is configured to automatically perform travel start control of the host vehicle.

5. The vehicle control device according to claim 4 , wherein if the automated driving control unit has received the travel start request signal, the automated driving control unit is configured to perform the travel start control of the host vehicle so that a travel start required time from when the automated driving control unit has received the travel start request signal to when the host vehicle starts to travel becomes longer in a case where the crossing area determination unit determines that the crossing area exists, than in a case where the crossing area determination unit determines that the crossing area does not exist.

6. The vehicle control device according to claim 5 , wherein the automated driving control unit is configured to perform the travel start control of the host vehicle so that the travel start required time becomes longer in a case where the traffic participant recognition unit recognizes the traffic participant adjacent to the crossing area, than in a case where the traffic participant recognition unit does not recognize the traffic participant adjacent to the crossing area.

7. The vehicle control device according to claim 6 , wherein the automated driving control unit is configured to correct the travel start required time so that as the traffic participant recognition unit recognizes more traffic participants, the travel start required time becomes longer.

8. The vehicle control device according to claim 4 , wherein if the automated driving control unit has received the travel start request signal, the automated driving control unit is configured to perform the travel start control of the host vehicle so that travel start acceleration of the host vehicle at a travel start is smaller in the case where the crossing area determination unit determines that the crossing area exists, than in the case where the crossing area determination unit determines that the crossing area does not exist.

9. The vehicle control device according to claim 8 , wherein the automated driving control unit is configured to perform the travel start control of the host vehicle so that the travel start acceleration is smaller in a case where the traffic participant recognition unit recognizes the traffic participant adjacent to the crossing area, than in a case where the traffic participant recognition unit does not recognize the traffic participant adjacent to the crossing area.

10. The vehicle control device according to claim 9 , wherein the automated driving control unit is configured to correct the travel start acceleration so that as the traffic participant recognition unit recognizes more traffic participants, the travel start acceleration is smaller.

11. A vehicle control method comprising:
a crossing area determination step of determining whether a crossing area where a traffic participant would cross exists in a travel direction of a host vehicle; and
a stop control step of automatically performing stop control of the host vehicle,
wherein in the stop control step, if it is determined that the crossing area does not exist in the crossing area determination step, the stop control of the host vehicle is performed so that the host vehicle stops at a reference target stop position corresponding to a stop line on a basis of positional information of the stop line, and
if it is determined that the crossing area exists in the crossing area determination step, the stop control of the host vehicle is performed so that the host vehicle stops before the reference target stop position on a basis of the positional information of the stop line.

12. The vehicle control method according to claim 11 , further comprising a traffic participant recognition step of recognizing the traffic participant adjacent to the crossing area,
wherein in the stop control step, if the traffic participant is not recognized in the traffic participant recognition step while the host vehicle travels, the stop control of the host vehicle is performed so that the host vehicle stops at a first target stop position before the reference target stop position, and
if the traffic participant is recognized in the traffic participant recognition step while the host vehicle travels, the stop control of the host vehicle is performed so that the host vehicle stops at a second target stop position before the first target stop position.

13. The vehicle control method according to claim 12 , wherein in the stop control step, the second target stop position is corrected so that as more traffic participants are recognized in the traffic participant recognition step, a separation distance from the stop line to the second target stop position becomes longer.

Assignees

• Honda Motor Co Ltd

Inventors

• Hanayama Ken
• MUKAI Takuyuki
• Tanaka Jun
• Ibuka Jun
• Horii Hiroaki

Classifications

• B60T7/12 Primary

  for automatic initiation; for initiation not subject to will of driver or passenger {(limiting speed of vehicles other than rail vehicles B60K31/00)} · CPC title

• B60W30/09 Primary

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

• G08G1/166

  for active traffic, e.g. moving vehicles, pedestrians, bikes · CPC title

• B60W2554/00

  Input parameters relating to objects · CPC title

• B60T2210/32

  Vehicle surroundings · CPC title