Travel control device and method for vehicle

Patent metadata

Field	Value
Publication number	US-9862382-B2
Application number	US-201415501115-A
Country	US
Kind code	B2
Filing date	Aug 11, 2014
Priority date	Aug 11, 2014
Publication date	Jan 9, 2018
Grant date	Jan 9, 2018

Abstract

A travel control device acquires subject vehicle information including the position of a subject vehicle, acquires object information including the position of an avoidance object which the subject vehicle should avoid, plans a target route for avoiding the avoidance object in accordance with the position of the subject vehicle and the position of the avoidance object, and outputs command information for driving the subject vehicle on the target route. The planning function is used to reduce the distance from the subject vehicle to a turning point as a margin distance decreases. The margin distance is the distance between the subject vehicle and a lane marker on a road on which the subject vehicle is traveling and is along a width direction of the road. The turning point is a point at which the location of the target route along the width direction varies by a predetermined distance or more.

First claim

The invention claimed is:

1. A travel control device comprising:
a subject vehicle information acquisition unit configured to acquire subject vehicle information including a position of a subject vehicle;
an object information acquisition unit configured to acquire object information including a position of a first avoidance object which the subject vehicle should avoid;
a planning unit configured to plan a target route for avoiding the first avoidance object in accordance with the position of the subject vehicle and the position of the first avoidance object;
a control unit configured to output command information for driving the subject vehicle on the target route; and
a margin distance information acquisition unit configured to acquire information on a margin distance, the margin distance being a distance between the subject vehicle and a lane marker on a road on which the subject vehicle is traveling, the margin distance being along a width direction of the road,
wherein the planning unit, when planning the target route, reduces a distance from the subject vehicle to a turning point as the margin distance decreases, the turning point being a point at which avoidance of the first avoidance object starts in a direction of deviating from the first avoidance object along the width direction.

2. The travel control device according to claim 1 ,
wherein the margin distance is a distance between the lane marker and the subject vehicle at a current position of the subject vehicle or a distance between the lane marker and the subject vehicle at a point at which the subject vehicle is expected to overtake or pass by the first avoidance object.

3. The travel control device according to claim 1 ,
wherein the planning unit reduces a distance between the target route and the first avoidance object along the width direction as the margin distance decreases.

4. The travel control device according to claim 1 ,
wherein the lane marker comprises a pair of lane markers that define a travel lane in which the subject vehicle is traveling and the margin distance is a distance along the width direction between the subject vehicle and a lane marker of the pair of lane markers at an opposite side to a side of the first avoidance object.

5. The travel control device according to claim 1 ,
wherein the lane marker comprises a pair of lane markers that define a travel lane in which the subject vehicle is traveling and the margin distance is calculated on a basis of a distance between either of the pair of lane markers and the target route along the width direction.

6. The travel control device according to claim 1 ,
wherein the margin distance is calculated on a basis of a width of a travel lane in which the subject vehicle is traveling.

7. The travel control device according to claim 1 ,
wherein the margin distance is calculated on a basis of a width of an adjacent lane to a travel lane in which the subject vehicle is traveling.

8. The travel control device according to claim 1 ,
wherein the planning unit estimates an existence possibility of a second avoidance object other than the first avoidance object on the road on which the subject vehicle is traveling, and when planning the target route, reduces the distance from the subject vehicle to the turning point in the target route as the existence possibility of the second avoidance object increases.

9. The travel control device according to claim 8 ,
wherein the planning unit, when planning the target route, reduces a distance between the target route and the first avoidance object along the width direction as the existence possibility of the second avoidance object increases.

10. The travel control device according to claim 1 ,
wherein the planning unit acquires information on a road type of the road on which the subject vehicle is traveling, and adjusts the distance from the subject vehicle to the turning point in the target route in accordance with the information on the road type.

11. The travel control device according to claim 10 ,
wherein the planning unit plans a distance between the target route and the first avoidance object along the width direction in accordance with the information on the road type.

12. The travel control device according to claim 1 ,
wherein the first setting unit acquires information on a distance between the subject vehicle and the first avoidance object along the width direction of the road on which the subject vehicle is traveling, and reduces the distance from the subject vehicle to the turning point in the target route as the distance between the subject vehicle and the first avoidance object along the width direction of the road on which the subject vehicle is traveling decreases.

13. The travel control device according to claim 12 ,
wherein, as the distance between the subject vehicle and the first avoidance object along the width direction of the road on which the subject vehicle is traveling decreases, the planning unit increases a distance between the target route and the first avoidance object along the width direction.

14. The travel control device according to claim 1 ,
further comprising a setting unit configured to set an object area on a basis of the position of the first avoidance object,
wherein the planning unit plans, as the target route, a route for avoiding the object area set by the setting unit.

15. The travel control device according to claim 1 ,
further comprising an output unit configured to output one or more information items among information in accordance with the object information, information in accordance with a location of the target route, and information in accordance with the command information for driving the subject vehicle on the target route to an onboard apparatus of the subject vehicle, the onboard apparatus being connected to the travel control device.

16. A travel control method executed by a computer, the computer outputting command information for driving a subject vehicle on a target route, the travel control method comprising:
acquiring subject vehicle information including a position of the subject vehicle;
acquiring object information including a position of an avoidance object which the subject vehicle should avoid;
acquiring information on a margin distance, the margin distance being a distance between the subject vehicle and a lane marker on a road on which the subject vehicle is traveling, the margin distance being along a width direction of the road; and
planning a target route in which a distance from the subject vehicle to a turning point decreases as the margin distance decreases, the turning point being a point at which a position along the width direction varies by a predetermined distance or more.

Assignees

• Nissan Motor

Inventors

• Nakamura Masahide

Classifications

• G08G1/16

  Anti-collision systems (road vehicle drive control systems for predicting or avoiding probable or impending collision otherwise than by control of a particular sub-unit B60W30/08) · CPC title

• B60W2754/00

  Output or target parameters relating to objects · CPC title

• B60W30/143

  Speed control (B60W30/16 takes precedence) · CPC title

• B60W30/095 Primary

  Predicting travel path or likelihood of collision · CPC title

• B60W30/02

  Control of vehicle driving stability · CPC title