JP2010079472A - Vehicle traveling controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle traveling controller that reliably prevents, when a preceding vehicle is detected on an adjacent lane adjacent to a lane where a vehicle is traveling, false detection of a preceding vehicle which does not actually exist, and improves accuracy of detecting the preceding vehicle on the same lane. <P>SOLUTION: When it is determined that a preceding vehicle is likely to exist on the same lane, and the reception intensity of a reflected wave from the lane detected by a millimeter wave radar is less than a predetermined value, an image captured by a CCD camera is processed. When no vehicle lateral edge exists on the lane, it is determined that no preceding vehicle exists on the same lane. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle travel control device, and in particular, when a radar unit and an imaging unit are used to determine that a preceding vehicle exists on an adjacent lane adjacent to the own vehicle traveling lane, the preceding vehicle on the own vehicle traveling lane. The present invention relates to a technique capable of accurately determining whether or not there exists.

  Conventionally, a millimeter wave radar that detects an obstacle ahead of the host vehicle is provided. Based on obstacle detection information (distance and relative speed between the host vehicle and the obstacle) by the millimeter wave radar, for example, the host vehicle When it is predicted that the vehicle will collide with an obstacle, a vehicle travel control device that controls the vehicle equipment of the vehicle, such as a brake device that brakes the vehicle or a seat belt pretensioner that tightens the seat belt, is put into practical use. Has been. However, it is difficult for the millimeter wave radar to accurately detect the lateral position of the obstacle ahead of the host vehicle.

  Therefore, in recent years, in addition to the millimeter wave radar, an in-vehicle camera (CCD camera) that images the front of the host vehicle is provided, and based on the obstacle detection information by the millimeter wave radar and the captured image information by the in-vehicle camera, Vehicle travel control devices (see, for example, Patent Document 1) that increase the accuracy of obstacle detection and control the vehicle equipment of the host vehicle are becoming mainstream.

  In this type of vehicle travel control device, when an obstacle ahead of the host vehicle is detected by the millimeter wave radar, an image captured by the in-vehicle camera is processed. At that time, as shown in FIG. 4 according to the embodiment. In addition, when a vehicle feature portion including predetermined vehicle vertical edges V1a and V1b (V2a and V2b) is specified in the image area 30 where the obstacle V1 (V2) detected by the millimeter wave radar is captured, the obstacle is detected. While determining that the object V1 (V2) is the preceding vehicle V1 (V2), the position of the preceding vehicle V1 (V2) can be detected from the positions of the specified vehicle vertical edges V1a, V1b (V2a, V2b). .

  In Patent Document 1, the reliability related to the direction of the obstacle detected by the radar is calculated from the difference between the direction of the previous detection and the direction of the current detection, and similarly, it relates to the direction of the obstacle detected by the in-vehicle camera. The reliability is calculated from the difference between the previous detection direction and the current detection direction, and the total reliability of these reliability levels is calculated and used for collision determination. Therefore, the collision determination criteria can be changed according to the total reliability level. Have been disclosed.

JP 2008-8679 A

  As shown in FIG. 3 according to the embodiment, there are many situations where the preceding vehicles V1 and V2 exist on the left and right adjacent lanes L1 and L2 adjacent to the traveling lane L of the host vehicle V. In this case, the vehicle travel control apparatus processes an image captured by the in-vehicle camera, and as shown in FIG. 4 according to the embodiment, a plurality of (four) vehicle vertical edges V1a, V1b, V2a, V2b. However, the plurality of vehicle vertical edges V1a, V1b, V2a, V2b are arranged in the horizontal direction so that there are two vehicle vertical edges V1b, V2a that are adjacent to each other on the driving lane L from the left and right sides. Therefore, there is a possibility that it is erroneously determined that the preceding vehicle exists on the traveling lane L by the two vehicle vertical edges V1b and V2a, although the preceding vehicle does not actually exist on the traveling lane L. In particular, there is a high risk of erroneous determination when the distance between the vehicle vertical edges V1b and V2a is about the same as the vehicle width.

  If it is erroneously determined that there is a preceding vehicle on the own vehicle travel lane, if the own vehicle approaches the preceding vehicle on both the left and right adjacent lanes, a virtual on the own vehicle travel lane that does not actually exist Since it is determined that the vehicle has also approached, there is a case where it is predicted that the own vehicle will collide with the virtual vehicle, and for example, a brake device for braking the vehicle or a seat belt is tightened. The problem that the seat belt pretensioner operates unnecessarily occurs, that is, the vehicle equipment of the host vehicle cannot be accurately controlled.

  An object of the present invention is to erroneously determine that there is a preceding vehicle that does not actually exist on the own vehicle traveling lane, particularly when it is determined that the preceding vehicle exists on an adjacent lane adjacent to the own vehicle traveling lane. It is to provide a travel control device for a vehicle that can reliably prevent the occurrence of the vehicle, that is, the accuracy of detection of a preceding vehicle on the travel lane of the host vehicle.

  According to a first aspect of the present invention, there is provided a vehicle travel control apparatus including a radar unit that detects an obstacle ahead of the host vehicle and an imaging unit that images the front of the host vehicle. In the vehicle travel control device that controls the vehicle equipment of the host vehicle based on the captured image information, when an obstacle is detected by the radar unit, the image captured by the imaging unit is processed, and the host vehicle travels. Vehicle presence / absence determining means for determining whether or not there is a possibility of a preceding vehicle on the traveling lane of the host vehicle when it is determined that a preceding vehicle is present on an adjacent lane adjacent to the lane; and the vehicle presence / absence determining means When the affirmative determination is made, the radar means detects the reception intensity of the reflected wave from the traveling lane of the own vehicle, and determines whether the reception intensity is equal to or higher than a predetermined intensity. car Characterized in traveling on the lane that the preceding vehicle has a traveling lane vehicle whether re determining means for determining that there.

  In this vehicle travel control device, the vehicle presence / absence determining means determines that there is a preceding vehicle on an adjacent lane adjacent to the own vehicle traveling lane, and there is a possibility that the preceding vehicle exists on the own vehicle traveling lane. If it is determined, the traveling lane vehicle presence / absence re-determination means detects the reception intensity of the reflected wave from the traveling lane of the own vehicle by the radar means and determines whether or not the reception intensity is equal to or higher than a predetermined intensity. When it is determined, it is determined that a preceding vehicle exists on the own vehicle travel lane. That is, since it is reliably determined whether or not there is a preceding vehicle on the own vehicle traveling lane based on the reception intensity of the reflected wave from the own vehicle traveling lane, the preceding vehicle that does not actually exist on the own vehicle traveling lane It is reliably prevented that it is erroneously determined that exists.

  According to a second aspect of the present invention, there is provided a vehicle travel control apparatus including a radar unit that detects an obstacle ahead of the host vehicle and an imaging unit that captures an image of the front of the host vehicle. In the vehicle travel control device that controls the vehicle equipment of the host vehicle based on the captured image information, when an obstacle is detected by the radar unit, the image captured by the imaging unit is processed, and the host vehicle travels. Vehicle presence / absence determining means for determining whether or not there is a possibility of a preceding vehicle on the traveling lane of the host vehicle when it is determined that a preceding vehicle is present on an adjacent lane adjacent to the lane; and the vehicle presence / absence determining means When an affirmative determination is made, the image picked up by the image pickup means is processed to determine whether or not a predetermined vehicle lateral edge exists on the traveling lane of the own vehicle. On the driving lane Wherein the preceding vehicle and a traffic lane the vehicle whether re determining means for determining that there is no.

  In this vehicle travel control device, the vehicle presence / absence determining means determines that there is a preceding vehicle on an adjacent lane adjacent to the own vehicle traveling lane, and there is a possibility that the preceding vehicle exists on the own vehicle traveling lane. If it is determined, the traveling lane vehicle presence / absence re-determination means processes the image captured by the imaging means to determine whether or not a predetermined vehicle lateral edge exists on the host vehicle traveling lane, and a negative determination is made. If it is determined that there is no preceding vehicle on the host vehicle travel lane. That is, since it is reliably determined whether or not there is a preceding vehicle on the own vehicle traveling lane based on the presence or absence of the vehicle lateral edge on the own vehicle traveling lane, the preceding vehicle that does not actually exist on the own vehicle traveling lane It is reliably prevented that it is erroneously determined that exists.

  The vehicle travel control device according to claim 3 is the invention according to claim 1 or 2, wherein the vehicle presence / absence determining means determines that there is a preceding vehicle on the left and right adjacent lanes adjacent to the travel lane of the host vehicle. It is determined that there is a possibility that a preceding vehicle exists on the traveling lane of the own vehicle.

  According to a fourth aspect of the present invention, there is provided a vehicle travel control apparatus according to any one of the first to third aspects, wherein the actuating device has an informing means, and when the affirmative judgment is made by the travel lane vehicle presence / absence judging means, When the vehicle is predicted to collide with a preceding vehicle, the notification means is operated so as to notify the occupant to that effect.

  According to a fifth aspect of the present invention, there is provided the vehicle travel control apparatus according to any one of the first to third aspects, wherein the operating device includes a brake unit that brakes the vehicle, and the affirmative determination is made by the travel lane vehicle presence / absence determination unit. In this case, the brake means is actuated when it is predicted that the host vehicle will collide with a preceding vehicle.

  According to a sixth aspect of the present invention, there is provided the vehicle travel control apparatus according to any one of the first to third aspects, wherein the operating device includes a seat belt pretensioner that tightens a seat belt. When it is determined, the seat belt pretensioner is operated when it is predicted that the host vehicle collides with a preceding vehicle.

  According to the vehicle travel control apparatus of the first aspect, when an obstacle is detected by the radar unit, the vehicle presence / absence determination unit processes the image captured by the image capturing unit and is adjacent to the own vehicle travel lane. When it is determined that there is a preceding vehicle on the lane, for example, in the image area where the obstacle detected by the radar means is captured, the preceding vehicle exists on the own vehicle traveling lane based on the specified vehicle vertical edge. If the vehicle presence / absence determination means determines that there is a possibility that a preceding vehicle may exist on the traveling lane of the own vehicle, the radar means re-determines the own vehicle While detecting the reception intensity of the reflected wave from the traveling lane, it is determined whether or not the reception intensity is equal to or higher than a predetermined intensity, and when an affirmative determination is made, it is determined that there is a preceding vehicle on the own vehicle traveling lane.In other words, when it is determined that there is no possibility that a preceding vehicle exists on the own vehicle travel lane, the processing by the travel lane vehicle presence / absence re-determination means is omitted to suppress an increase in processing load and If it is determined that there is a possibility that a preceding vehicle exists in the vehicle, the processing by the traveling lane vehicle presence / absence re-determination means is executed, and based on the reception intensity of the reflected wave from the own vehicle traveling lane, It is possible to reliably prevent erroneous determination that there is a preceding vehicle that does not actually exist on the lane, and to increase the accuracy of detection of the preceding vehicle on the host vehicle travel lane. Therefore, the vehicle equipment of the host vehicle can be controlled with high accuracy.

  According to the vehicle travel control apparatus of claim 2, as in the case of claim 1, when the vehicle presence / absence determination means determines that there is a possibility that a preceding vehicle exists on the own vehicle travel lane, the travel lane vehicle The presence / absence re-determination means processes the image picked up by the imaging means, determines whether or not a predetermined vehicle lateral edge exists on the own vehicle travel lane, and if a negative determination is made, precedes on the own vehicle travel lane Judge that there is no vehicle. That is, when it is determined that there is no possibility that a preceding vehicle exists on the own vehicle travel lane, the processing by the travel lane vehicle presence / absence re-determination means is omitted to suppress an increase in processing load and If it is determined that there is a possibility that a preceding vehicle exists on the line, the processing by the traveling lane vehicle presence / absence re-determination means is executed, and based on the presence / absence of the vehicle lateral edge on the own vehicle traveling lane, It is possible to reliably prevent the erroneous determination that there is a preceding vehicle that does not actually exist on the traveling lane, and to increase the detection accuracy of the preceding vehicle on the own vehicle traveling lane. Therefore, the vehicle equipment of the host vehicle can be controlled with high accuracy.

  According to the vehicle travel control device of the third aspect, when the vehicle presence / absence determining means determines that the preceding vehicle is present on both the left and right adjacent lanes adjacent to the travel lane of the host vehicle, Since it is determined that there is a possibility that a preceding vehicle exists, for example, in the image area in which the image captured by the imaging unit is processed and the obstacle detected by the radar unit is captured, the specified vehicle vertical edge is If there are two vehicles on the own vehicle travel lane in close proximity from both the left and right sides, there is a possibility of erroneous determination that there is a preceding vehicle that does not actually exist on the own vehicle travel lane. It is possible to reliably prevent this erroneous determination from being performed by executing the process according to the above.

  According to the vehicle travel control device of claim 4, when the operating device has the notification means, and when the affirmative determination is made by the traveling lane vehicle presence / absence determination means, it is predicted that the host vehicle collides with the preceding vehicle. In addition, since the notification means is operated so as to notify the occupant to that effect, danger avoidance by the occupant becomes possible at an early stage, and the safety of the occupant increases.

  According to the vehicle travel control apparatus of the fifth aspect, the operating device has the brake means for braking the vehicle, and the host vehicle may collide with the preceding vehicle when the affirmative determination is made by the travel lane vehicle presence / absence determination means. When it is predicted, the brake means is operated, so that the safety of the occupant is increased.

  According to the vehicle travel control apparatus of the sixth aspect, the operating device has the seat belt pretensioner that tightens the seat belt, and when the traveling lane vehicle presence / absence re-determination means makes a positive determination, the own vehicle collides with the preceding vehicle. When this is predicted, the seat belt pretensioner is operated, so that the safety of the occupant is increased.

  The vehicle travel control apparatus of the present invention includes radar means for detecting an obstacle ahead of the host vehicle and imaging means for imaging the front of the host vehicle. Obstacle detection information by the radar means and imaging by the imaging means. The vehicle equipment of the host vehicle is controlled based on the image information.

  As shown in FIGS. 1 and 2, the travel control device 1 installed in the vehicle V includes a CCD camera 2, a millimeter wave radar 3, a collision sensor 4, a rudder angle sensor 5, a rudder angular velocity sensor 6, a lateral G sensor 7, A seat belt pretensioner 8, an informing means 9, a brake means 10, and a control unit 11 (hereinafter referred to as ECU 11) are provided and electrically connected as shown in FIG.

  The CCD camera 2 is an imaging means (on-vehicle camera) that images the front of the host vehicle V, and is attached to the upper rear side of the windshield of the host vehicle V, for example. It is fixed to the roof lower end surface on the upper rear side. It is also possible to provide a CCD camera rotation device so that the CCD camera 2 can be rotated up and down and left and right according to instructions from the ECU 11 and the imaging direction can be changed.

  The millimeter wave radar 3 transmits a millimeter wave (for example, a frequency of 76 GHz to 77 GHz) forward, receives a reflected wave from an obstacle, and based on a propagation time, a frequency difference caused by the Doppler effect, and the like Radar means that detects an obstacle ahead of V and can detect the distance and relative speed between the detected obstacle and the host vehicle V. For example, the front bumper of the vehicle V is moved forward on the rear side of an emblem or the like. Installed towards. Various radars such as an infrared radar can be employed instead of the millimeter wave radar 3.

The millimeter wave radar 3 can detect the reception intensity (reception power, reception sensitivity) of the reflected wave from the obstacle. In this case, the reception intensity of the reflected wave from an arbitrary direction (for example, on the own vehicle travel lane L). Is configured to be detectable. In the ECU 11, the reflection intensity Pr = Pt × G ² × λ ² × τ ÷ ((4π) ³ from the transmission power Pt, the antenna gain G, the distance R to the obstacle, the transmission radio wave wavelength λ, and the effective reflection area τ. XR ⁴ ) is calculated, and the calculated reception intensity and the detected reception intensity are compared to increase the obstacle detection accuracy.

  The seat belt pretensioner 8 is composed of first and second seat belt pretensioners 12 and 13 that pull a seat belt worn by an occupant into a retractor and tighten it. The first seat belt pretensioner 12 tightens the seat belt to the extent that it does not affect the collision avoidance operation of the occupant (driver) when the host vehicle V is predicted to collide with an obstacle. When it is detected that the host vehicle V has collided with an obstacle, the seat belt pretensioner 13 further tightens the seat belt to restrain the occupant with a strong restraining force.

  The notification means 9 includes a speaker 14, a buzzer 15, a lamp 16, and a display 17, and when at least one of them is predicted that the host vehicle V will collide with an obstacle, the notification means 9 notifies the passenger to that effect. Is for the purpose.

  The ECU 11 includes an image processing unit 20, a vehicle presence / absence determination unit 21 (vehicle presence / absence determination unit), a traveling lane vehicle presence / absence re-determination unit 22 (traveling lane / vehicle presence / absence determination unit), a collision determination unit 23, and an operating device control unit 24. ing.

  The image processing unit 20 processes an image in front of the host vehicle V picked up by the CCD camera 2 and captures an obstacle serving as a target detected by the millimeter wave radar 3 in the entire image region. 30, when the obstacle is a preceding vehicle, in addition to the vehicle vertical edge along the rear side edge of the preceding vehicle, vehicle features such as the rear window glass and tail lamp of the preceding vehicle, and the roof of the preceding vehicle It is possible to extract the vehicle lateral edge along the upper edge, the upper and lower edges of the rear window glass, the straight line connecting the left and right tail lamps, the rear bumper, and the like.

  When an obstacle is detected by the millimeter wave radar 3, the vehicle presence / absence determination unit 21 processes the image captured by the CCD camera 2 by the image processing unit 20, and the vehicle V travels as shown in FIG. 3. When it is determined that the preceding vehicles V1 and V2 exist on the adjacent lanes L1 and L2 adjacent to the lane L, it is determined whether or not there is a possibility that the preceding vehicle exists on the travel lane L of the host vehicle V.

  In this case, first, the extracted vehicle feature portion is compared with a preset vehicle-specific template, and when there are a predetermined number or more of matching portions, the obstacle ahead of the host vehicle V is the preceding vehicle. However, as shown in FIG. 4, when the vehicle vertical edges V1a, V1b, V2a, V2b are extracted and the preceding vehicles V1, V2 exist on the left and right adjacent lanes L1, L2 adjacent to the travel lane L. When two vehicle vertical edges V1b and V2a that are close to the left and right sides are present on the travel lane L, it is determined that there is a possibility that a preceding vehicle exists on the travel lane L.

  For example, when a lane marking such as a white line can be detected by the image processing in the image processing unit 20, the traveling lane L in front of the host vehicle V is recognized based on the lane marking. Alternatively, the traveling direction of the host vehicle V can be calculated based on the steering angle sensor 5, the steering angular velocity sensor 6, the lateral G sensor 7, and the like, and can be estimated based on the traveling direction.

  The traveling lane vehicle re-determination unit 22 determines that there is a possibility that a preceding vehicle may exist on the traveling lane L of the host vehicle V by the vehicle presence / absence determination unit 21. When the reception intensity of the reflected wave from the traveling lane L is detected, it is determined whether the reception intensity is equal to or higher than a predetermined intensity, and when an affirmative determination is made, it is determined that there is a preceding vehicle on the traveling lane L of the host vehicle V. To do. For example, when the preceding vehicle exists on the traveling lane L of the host vehicle V, the detected reception intensity is about 10 times that when the preceding vehicle does not exist. The predetermined intensity is the minimum detection reception that is assumed based on the shape of the preceding vehicle and the like when the preceding vehicle exists on the traveling lane L of the host vehicle V in consideration of the calculation formula of the reflection intensity Pr. It is set to a value that is surely lower than the strength.

  Further, when the traveling lane vehicle re-determination unit 22 makes a negative determination that the reception intensity of the reflected wave from the traveling lane L of the host vehicle V detected by the millimeter wave radar 3 is less than a predetermined intensity, the CCD camera 2 is processed by the image processing unit 20 to determine whether or not a predetermined vehicle lateral edge is present on the travel lane L of the host vehicle V. When it is determined that there is no preceding vehicle on the lane L and an affirmative determination is made, it is determined that there is a preceding vehicle on the traveling lane L of the host vehicle V.

  Here, as shown in FIG. 5, when the preceding vehicle V3 exists on the travel lane L of the host vehicle V, the upper edge of the roof of the preceding vehicle, the rear window glass is obtained by image processing in the image processing unit 20. At least one of the vehicle lateral edges V3a to V3e along each of the upper and lower edges, the straight line connecting the left and right tail lamps, the rear bumper, and the like is extracted. In the traveling lane vehicle re-determination unit 22, a predetermined vehicle lateral edge is placed on the traveling lane L of the host vehicle V depending on whether or not the number of extracted vehicle lateral edges is equal to or greater than a predetermined number (for example, 2). You may make it determine whether it exists.

  The operating device control unit 24 controls the operating device of the host vehicle V based on the captured image information by the CCD camera 2 and the obstacle detection information by the millimeter wave radar 3. In this case, the collision is predicted by the collision determination unit 23. In this case, the notification means 9, the brake means 10, and the first seat belt pretensioner 12 are controlled, and when a collision is detected by the collision determination unit 23, the second seat belt pretensioner 13 is controlled.

  As shown in FIG. 6, the notification means 9 operates in a LONG alarm area A1 as a first operation timing and a SHORT alarm area A2 as a second operation timing later than the first operation timing. It is configured. This LONG alarm area A1 has a wide area where the millimeter wave radar 3 detects an obstacle 40 (another vehicle or the like), and the SHORT alarm area A2 is narrower than the LONG alarm area A1.

  The area in the vehicle width direction of the LONG alarm area A1 and the SHORT alarm area A2 is limited to the same area as the vehicle width L, and the front end leaves an area of ± 10% of the vehicle width L from the left and right center line. It is a mountain-shaped region extending from there to the front end of the host vehicle V cut so as to spread rearward. That is, the LONG warning area A1 connects the point P1 at the offset 40% and the time T1 until the collision from the end in the vehicle width direction of the host vehicle V and the point P4 at the offset 0% and the time T4 until the collision. The outside is cut off from the line. The time until the collision is determined by the vehicle speed of the host vehicle V, the relative speed with the obstacle, the traveling direction of the host vehicle V, and the like.

  The SHORT warning area A2 is a line connecting a point P2 at an offset 40% and a time T2 until the collision from the end of the vehicle width direction end of the host vehicle V and a point P4 at an offset 0% and a time T4 until the collision. The outside is a cut area. In this way, the left and right corners on the front end side are cut off because the obstacle 40 at a short distance from the host vehicle V is difficult to avoid by the steering operation, but the obstacle 40 at a long distance and the left and right center side is This is because it is easy to avoid by steering operation.

  When the millimeter wave radar 3 determines that the obstacle 40 has entered a region of a predetermined distance (point P3 at time T3 until the collision), a signal is sent to the brake means 10 by the ECU 11, and the driver is relatively weak. The primary brake is activated to call attention. Further, when the millimeter wave radar 3 determines that the obstacle 40 has further entered a region at a closer distance (point P5 of time T5 until the collision), the ECU 11 sends a signal to the brake means 10 to avoid the collision. A strong secondary brake is activated.

  The detection areas A3 and A4 of the primary brake and the secondary brake are also cut off at the left and right front end sides in the same manner as the alarm areas A1 and A2. Specifically, the primary brake area A3 is cut outside the line connecting the point of steering avoidance time (not shown) with an offset of 10% and the point P3 of the offset 40% and time T3 until the collision. The tip of the vehicle 1 is a mountain-shaped region.

  Further, the secondary brake area A4 includes a range up to a minute time after the collision. This is a control continuation time for absorbing the measurement variation of the millimeter wave radar 3, and is provided for reasons such as preventing the brake means 10 from being released after a collision.

  The seat belt pretensioner 8 includes a first seat belt pretensioner 12 and a second seat belt pretensioner 13, and the millimeter wave radar 3 causes the obstacle 40 to move a predetermined distance (a point P6 at a time T6 until the collision). ), The first seat belt pretensioner 12 pulls the seat belt into the retractor to restrain the occupant with a predetermined tension (a level that does not affect the collision avoidance operation).

  When the collision sensor 4 detects that the vehicle has collided, the second seat belt pretensioner 13 further pulls in the seat belt and restrains the occupant with a strong restraining force. The first seat belt pretensioner 12 is configured to retract the seat belt by an electric motor (not shown). The second seat belt pretensioner 13 is configured to retract the seat belt by an inflator such as explosives.

  The driving operation state is detected by a steering angle sensor 5 that detects a steering angle θf that indicates the steering angle of the steering wheel, a steering angular velocity sensor 6 that detects a steering angular velocity dθf / dsec that indicates a change in the steering angle θf per unit time, This is detected by the lateral G sensor 7 that detects the acceleration received in the lateral direction with respect to the traveling direction of the host vehicle V, that is, the lateral G. The steering angle θf and the lateral G are input to the ECU 11 with the right side being positive and the left side being negative, for example. Although the steering angle θf, the steering angular velocity dθf / dsec, and the lateral G are detected, it is not necessary to detect all of them, and only a part of them may be detected.

  The ECU 11 determines whether the absolute value of the steering angle θf is larger than a predetermined value (for example, 90 °), whether the absolute value of the steering angular velocity dθf / dsec is larger than a predetermined value (for example, 50 ° / sec), or the absolute value of the lateral G Is greater than a predetermined value (for example, 6 m / sec 2). If one of the conditions is satisfied, the vehicle V is in a driving operation state in which the vehicle V is bent and the current driving If the state continues, it is determined that the obstacle does not collide with the host vehicle, and the operation timing of the notification means 9 is set to SHORT.

  Next, travel control including obstacle detection processing executed by the ECU 11 will be described based on the flowchart of FIG. A program for executing this control is stored in the computer ROM of the ECU 11 or the like. Si (i = 1, 2,...) Indicates a processing step.

  First, it is determined by the millimeter wave radar 3 whether or not an obstacle (preceding vehicle V1, V2) is detected in front of the host vehicle V (S1). If S1; No, the process returns. If S1; Yes, The distance and relative speed between the own vehicle V and the obstacle are read from the millimeter wave radar 3. In S <b> 1, an image region 30 for capturing an obstacle that is a target detected by the millimeter wave radar 3 is set.

  Next, the image in the image area 30 set in S <b> 1 out of all images captured by the CCD camera 2 is read (S <b> 2) and is subjected to image processing, so that the vehicle V is first adjacent to the traveling lane L. It is determined whether or not the preceding vehicles V1 and V2 exist on the left and right adjacent lanes L1 and L2 (S3). In the case of S3; No, the process returns, and in the case of S3; Yes, as shown in FIG. If an affirmative determination is made, it is determined that there is a possibility that a preceding vehicle exists on the traveling lane L of the host vehicle V (S4; Yes), and the process proceeds to S5. S4: If No, return.

  Next, it is determined whether or not the received intensity of the reflected wave from the traveling lane L of the host vehicle V detected by the millimeter wave radar 3 is less than a predetermined intensity (S5). If S5; No, the process proceeds to S8, and if S5; Yes, next, a vehicle lateral edge extraction process (S6) on the travel lane L of the host vehicle V is performed, and on the travel lane L of the host vehicle V It is determined whether or not there is a vehicle lateral edge (S7). If S7; No, the process returns. If S7; Yes, the process proceeds to S8.

  Thereafter, when it is predicted that the host vehicle V will collide with the preceding vehicle (S8; Yes), in S9, the notifying means 9 is operated so as to notify the occupant to that effect, the brake means 10 is operated, The first seat belt pretensioner 12 is activated. If it is detected that the host vehicle V has collided with the preceding vehicle (S10; Yes), the first seat belt pretensioner 12 is operated in S11.

According to the traveling control device 1 for the vehicle V described above, the following effects are obtained.
When an obstacle is detected by the millimeter wave radar 3, the vehicle presence / absence determination unit 21 processes the image captured by the CCD camera 2 and places the image on the adjacent lanes L 1 and L 2 adjacent to the traveling lane L of the host vehicle V. When it is determined that the preceding vehicles V1 and V2 exist, the travel lane L of the host vehicle V is determined based on the specified vehicle vertical edges V1b and V2a in the image region 30 where the obstacle detected by the millimeter wave radar 3 is captured. The reliability of the determination that a preceding vehicle exists above is very low.

  Therefore, when it is determined that there is a possibility that a preceding vehicle exists on the traveling lane L of the own vehicle V, the traveling lane vehicle presence / absence re-determination unit 22 causes the millimeter wave radar 3 to detect the preceding vehicle on the traveling lane L of the own vehicle V. When the reception intensity of the reflected wave from the vehicle is detected and it is determined whether or not the reception intensity is greater than or equal to a predetermined intensity, and an affirmative determination is made, it is determined that a preceding vehicle exists on the travel lane L of the host vehicle V.

  Further, when the traveling lane vehicle presence / absence re-determination unit 22 makes a negative determination that the reception intensity of the reflected wave from the traveling lane L of the host vehicle V detected by the millimeter wave radar 3 is less than a predetermined intensity, the CCD camera 2 is processed to determine whether or not a predetermined vehicle lateral edge exists on the traveling lane L of the host vehicle V, and when a negative determination is made, a preceding vehicle on the traveling lane L of the host vehicle V is determined. Is determined not to exist.

  That is, when the vehicle presence / absence determination unit 21 determines that there is no possibility that a preceding vehicle exists on the traveling lane L of the host vehicle V, the processing by the traveling lane vehicle presence / absence re-determination unit 22 is omitted, and the processing load increases. And when the vehicle lane L is determined to be present on the travel lane L of the host vehicle V, the process by the travel lane vehicle presence / absence re-determination unit 22 is executed, and the travel of the host vehicle V is performed. Based on the reception intensity of the reflected wave from the lane L and the presence / absence of a vehicle lateral edge on the travel lane L of the host vehicle V, there is a preceding vehicle that does not actually exist on the travel lane L of the host vehicle V. Therefore, it is possible to reliably prevent the vehicle from being erroneously determined, and to improve the accuracy of detection of the preceding vehicle on the traveling lane L of the host vehicle V. Therefore, the vehicle equipment of the host vehicle V can be controlled with high accuracy.

  Here, when the vehicle presence / absence determination unit 21 determines that the preceding vehicles V1 and V2 exist on the left and right adjacent lanes L1 and L2 adjacent to the travel lane L of the host vehicle V, the vehicle presence / absence determination unit 21 is on the travel lane L of the host vehicle V. Therefore, for example, the image captured by the CCD camera 2 is processed and the obstacle detected by the millimeter wave radar 3 is captured. If two vertical vehicle edges V1b and V2a are present on the traveling lane L of the host vehicle V in close proximity from the left and right sides, it is erroneously assumed that there is a preceding vehicle that does not actually exist on the traveling lane L of the host vehicle V. Although there is a possibility of determination, the processing by the traveling lane vehicle presence / absence re-determination unit 22 can be executed to reliably prevent this erroneous determination.

  When the traveling lane vehicle presence / absence re-determination unit 22 makes an affirmative determination, when the host vehicle V is predicted to collide with a preceding vehicle, the notifying unit 9 is operated so as to notify the passenger to that effect. The danger avoidance by the occupant becomes possible at an early stage, and since the brake means 10 and the seat belt pretensioner 8 (12) are operated, the safety of the occupant is increased.

In addition, the said Example can be changed as follows.
(1) If S5 is omitted and S4; Yes, the process proceeds to S6. That is, the traveling lane vehicle presence / absence re-determination unit 22 immediately determines with the CCD camera 2 when the vehicle presence / absence determination unit 21 determines that there is a possibility that a preceding vehicle exists on the traveling lane L of the host vehicle V. The captured image is processed to determine whether or not a predetermined vehicle lateral edge exists on the traveling lane L of the host vehicle V. When a negative determination is made, a preceding vehicle is located on the traveling lane L of the host vehicle V. Judge that it does not exist.

(2) S6 and S7 are omitted, and if S5; Yes, the process returns. That is, the traveling lane vehicle presence / absence re-determination unit 22 detects the detection by the millimeter wave radar 3 when the vehicle presence / absence determination unit 21 determines that there is a possibility that a preceding vehicle exists on the traveling lane L of the host vehicle V. When the received intensity of the reflected wave from the traveling lane L of the host vehicle V is less than the predetermined intensity, it is determined that there is no preceding vehicle on the traveling lane L of the host vehicle V.

(3) Instead of S8 to S11 or in parallel with S8 to S11, the vehicle travels at the set vehicle speed. Further, if there is a preceding vehicle on the traveling vehicle L of the host vehicle V, the preceding vehicle is In order to enable auto-cruise control to follow the vehicle, the presence / absence determination of the preceding vehicle on the traveling vehicle L of the host vehicle V may be accurately performed by the traveling lane vehicle presence / absence determination unit 22.

  In addition, various modifications can be added without departing from the spirit of the present invention. The vehicle travel control device of the present invention is applicable to various vehicles including radar means and imaging means.

1 is a perspective view of a vehicle according to an embodiment of the present invention. 1 is a block diagram of a vehicle travel control device. FIG. It is a top view which shows the positional relationship of the own vehicle and a preceding vehicle. It is explanatory drawing about the detection of the vehicle vertical edge of a preceding vehicle. It is explanatory drawing about the detection of the vehicle side edge of a preceding vehicle. It is explanatory drawing of an obstruction detection process. It is a flowchart of the traveling control including the obstacle detection process executed by the ECU.

Explanation of symbols

V own vehicle 1 traveling control device 2 CCD camera 3 millimeter wave radar 8 seat belt pretensioner 9 notifying means 10 brake means 11 ECU
20 Image processing unit 21 Vehicle presence / absence determination unit 22 Driving lane vehicle re-determination unit 23 Collision determination unit 24 Actuator control unit

Claims (6)

Radar means for detecting an obstacle ahead of the host vehicle and imaging means for imaging the front of the host vehicle, and vehicle equipment of the host vehicle based on obstacle detection information by the radar means and captured image information by the imaging means In the vehicle travel control device for controlling
When an obstacle is detected by the radar unit, the image captured by the imaging unit is processed, and when it is determined that a preceding vehicle exists on an adjacent lane adjacent to the traveling lane of the own vehicle, Vehicle presence / absence determining means for determining whether or not there is a possibility of a preceding vehicle on the traveling lane;
When the vehicle presence determination means makes an affirmative determination, the radar means detects the reception intensity of the reflected wave from the traveling lane of the host vehicle, and determines whether the reception intensity is equal to or greater than a predetermined intensity. A running lane vehicle presence / absence re-determination means for judging that a preceding vehicle is present on the traveling lane of the own vehicle,
A travel control device for a vehicle, comprising: Radar means for detecting an obstacle ahead of the host vehicle and imaging means for imaging the front of the host vehicle, and vehicle equipment of the host vehicle based on obstacle detection information by the radar means and captured image information by the imaging means In the vehicle travel control device for controlling
When an obstacle is detected by the radar unit, the image captured by the imaging unit is processed, and when it is determined that a preceding vehicle exists on an adjacent lane adjacent to the traveling lane of the own vehicle, Vehicle presence / absence determining means for determining whether or not there is a possibility of a preceding vehicle on the traveling lane;
When an affirmative determination is made by the vehicle presence / absence determining means, the image picked up by the image pickup means is processed to determine whether or not a predetermined vehicle lateral edge exists on the traveling lane of the own vehicle, and a negative determination is made. A traveling lane vehicle presence / absence re-determination means for determining that there is no preceding vehicle on the traveling lane of the host vehicle,
A travel control device for a vehicle, comprising:   The vehicle presence / absence determining means determines that there is a possibility that the preceding vehicle exists on the traveling lane of the own vehicle when it is determined that the preceding vehicle exists on both the left and right adjacent lanes adjacent to the traveling lane of the own vehicle. The vehicle travel control apparatus according to claim 1 or 2, wherein The operating device has a notification means,
When the affirmative determination is made by the travel lane vehicle presence / absence re-determination means, when the host vehicle is predicted to collide with a preceding vehicle, the notification means is operated so as to notify the occupant to that effect. The travel control device for a vehicle according to any one of claims 1 to 3. The actuating device has brake means for braking the vehicle,
The brake means is actuated when it is predicted that the host vehicle will collide with a preceding vehicle when an affirmative determination is made by the traveling lane vehicle presence / absence re-determination means. The vehicle travel control device according to claim 1. The actuating device has a seat belt pretensioner for tightening the seat belt;
The seat belt pretensioner is actuated when the vehicle lane vehicle presence / absence re-determination means makes an affirmative determination and the host vehicle is predicted to collide with a preceding vehicle. The vehicle travel control apparatus according to any one of the above.