JP2019153052A - Collision determination apparatus - Google Patents

Abstract

To suppress influence of sway of a vehicle on collision determination.SOLUTION: A collision determination device (100) comprises: acquisition means (10) for acquiring intersection information including lane width information and fixed information when an own vehicle (1) turns right at an intersection; calculation means (31) for calculating a first region where the own vehicle is likely to pass when turning right at the intersection based on a track when the own vehicle turns right at the intersection and the lane width information and a second region where the own vehicle is likely to pass when an oncoming vehicle of the own vehicle goes straight through the intersection based on the lane width information; setting means (31) for setting a collision region where the first region and the second region intersect with each other in association with the fixed information; and determination means (33) for determining collision between the own vehicle and the oncoming vehicle based on a time required to reach the collision region of each of the own vehicle and the oncoming vehicles.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a technical field of a collision determination device.

  As this type of device, for example, the own vehicle, the oncoming vehicle, and the oncoming vehicle candidate based on the distance, relative speed and angle of each oncoming vehicle and the oncoming vehicle candidate existing in the shadow of the oncoming vehicle, and information on the own vehicle. There has been proposed an apparatus that calculates each predicted course and determines the possibility of collision between the host vehicle and an oncoming vehicle or an oncoming vehicle candidate at the time of a right turn (see Patent Document 1).

  It is a device for operating the right turn collision prevention system and the red light entry prevention system based on the situation information about the traffic situation around the host vehicle. When the right turn collision prevention system is activated, the red signal entry prevention system When the conditions for operating the vehicle are satisfied, a technique has been proposed in which the red light approach prevention system is operated without operating the right turn collision prevention system (see Patent Document 2).

JP 2017-120473 A JP 2010-198311 A

  In the technique described in Patent Document 1, no consideration is given to vehicle wobble. If the vehicle fluctuates, the actual trajectory of the vehicle deviates from the expected course, and the accuracy of collision determination deteriorates.

  The present invention has been made in view of the above-described problems, and an object of the present invention is to provide a collision determination device that can suppress the influence of vehicle wobbling on collision determination.

  The collision determination device according to one aspect of the present invention relates to the intersection including lane width information indicating a lane width and fixed information related to a position fixed at the intersection when the host vehicle turns right at the intersection. Based on the acquisition means for acquiring intersection information, the course when the host vehicle makes a right turn at the intersection, and the lane width information, there is a possibility that the host vehicle passes when the vehicle makes a right turn at the intersection. Calculating means for calculating one area, and on the basis of the lane width information, a calculating means for calculating a second area that may pass when an oncoming vehicle of the host vehicle goes straight through the intersection; and the first area; A setting means for setting a collision area intersecting with the second area in association with the fixed information, and the own vehicle and the vehicle based on time until the collision area of each of the own vehicle and the oncoming vehicle is reached. Opposite A judging means for performing collision judgment with is that comprising a.

It is a block diagram which shows the structure of the collision avoidance assistance system which concerns on embodiment. It is a conceptual diagram which shows an example of the collision area which concerns on embodiment. It is a flowchart which shows the collision avoidance assistance process which concerns on embodiment.

  An embodiment according to a collision determination device will be described with reference to the drawings. Here, a collision avoidance support system is taken as an example of the collision determination device. In the embodiment described below, it is assumed that left-hand traffic of the vehicle is required. When right-hand traffic is required for the vehicle, “right turn” in the following description may be read as “left turn”.

(Constitution)
The configuration of the collision avoidance support system according to the embodiment will be described with reference to FIG. FIG. 1 is a block diagram illustrating a configuration of a collision avoidance support system according to an embodiment.

  In FIG. 1, a collision avoidance support system 100 is mounted on a vehicle 1. The collision avoidance support system 100 includes an external information processing unit 10, a host vehicle information processing unit 20, a collision possibility determination unit 30, and an alarm device 40.

  The external information processor 10 processes information acquired by the external sensor 2. Here, the external sensor 2 includes, for example, an in-vehicle camera, a millimeter wave radar, a location camera, and the like. The external sensor 2 does not need to be uniquely provided in the collision avoidance support system 100, and may be shared with other devices or systems mounted on the vehicle 1. The information acquired by the external sensor 2 includes, in particular, intersection information relating to an intersection existing ahead in the traveling direction of the vehicle 1, and moving body information relating to other vehicles (particularly oncoming vehicles) existing around the vehicle 1. included.

  The outside world information processing unit 10 processes the information acquired by the outside sensor 2, for example, the width of the own lane, the width of the opposite lane, the lane that intersects the own lane, which is the lane in which the vehicle 1 is currently traveling. That is, intersection information including information on the position and width, road edge, roadside structure, and the like of the vehicle 1 is acquired.

  The road edge may be appropriately defined according to the structure of the intersection. Specifically, the road edge may be defined as, for example, a boundary between a roadway and a sidewalk, or may be defined as a boundary between a road and a curb.

  The outside world information processing unit 10 processes the information obtained by the outside world sensor 2 to obtain moving body information including information indicating other vehicles existing around the vehicle 1. Particularly in the present embodiment, the moving body information includes information indicating the presence or absence of an oncoming vehicle, and information indicating the position and speed of the oncoming vehicle when an oncoming vehicle exists.

  It should be noted that various existing aspects can be applied to the method of acquiring intersection information and moving body information from information acquired by the external sensor 2 (for example, camera images, detection results by radar, etc.). Description is omitted.

  The own vehicle information processing unit 20 processes the information acquired by the internal sensor 3 and acquires own vehicle information that is information related to the vehicle 1. Here, the internal sensor 3 includes, for example, a vehicle speed sensor, a yaw rate sensor, a rudder angle sensor, and the like. The inner world sensor 3 does not need to be uniquely provided in the collision avoidance support system 100 and may be shared with other devices or systems mounted on the vehicle 1. The own vehicle information includes, for example, information indicating the position of the vehicle 1, the vehicle speed, the yaw rate, the steering angle, the operating status of the blinker, and the like.

  The own vehicle information processing unit 20 includes a right turn intention determination unit 21 as a processing block logically realized therein or as a processing circuit physically realized. The right turn intention determination unit 21 determines the right turn intention of the driver of the vehicle 1 based on the own vehicle information and the information acquired by the external sensor 2. Specifically, the right turn intention determination unit 21 uses, for example, the vehicle 1 from the position of the vehicle 1 indicated by the own vehicle information and the information related to the lane obtained by processing the information acquired by the external sensor 2. By determining whether or not the vehicle is driving on the right turn lane, or determining whether or not the operating status of the winker indicated by the vehicle information is blinking of the right winker. judge.

  The right turn intention determination unit may use the intersection information acquired by the external information processing unit 10 instead of the information acquired by the external sensor 2.

  The collision possibility determination unit 30 includes a collision area calculation unit 31, a TTC (Time to Collation) calculation unit 32, and a determination unit 33 as processing blocks that are logically realized therein or as processing circuits that are physically realized. Have

  The collision area calculation unit 31 calculates a collision area based on the outputs of the external world information processing unit 10 and the vehicle information processing unit 20. Here, the collision area will be described with reference to FIG. FIG. 2 is a conceptual diagram illustrating an example of a collision area according to the embodiment.

  The collision area calculation unit 31 includes a route when the vehicle 1 turns right at the intersection (see the broken line arrow in FIG. 2), and information indicating the width of the own lane and the position and width of the lane that intersects the own lane (both Based on an example of the output of the external information processor 10, an area that may pass when the vehicle 1 turns right at the intersection is calculated. In addition, what is necessary is just to set the course at the time of the vehicle 1 turning right at an intersection based on the output of the own vehicle information processing part 20. FIG.

  The collision area calculation unit 31 further calculates an area through which the oncoming vehicle may pass when going straight through the intersection based on, for example, the width of the oncoming lane (an example of the output of the external information processing unit 10).

  The collision area calculation unit 31 is an area where an area that the vehicle 1 may pass when turning right at the intersection and an area that may pass when the oncoming vehicle goes straight through the intersection (in FIG. 2). , Points P1, P2, P3 and P4) are set as collision areas. At this time, the collision area calculation unit 31 sets the collision area in association with the intersection information. Specifically, the collision area calculation unit 31 fixes the position of each of the points P1 to P4 at the intersection, such as coordinates indicating the road edge as an example of information related to the road edge included in the intersection information. The collision area is set by defining the fixed information related to the information as a reference (that is, in association).

  The collision area calculation unit 31 sets a collision area for each opposing lane when there are two or more opposing lanes.

  Based on the collision area set by the collision area calculation unit 31, the moving body information, and the own vehicle information, the TTC calculation unit (see FIG. 1) enters (arrives) the vehicle 1 turning right at the intersection. ) Is calculated as a TTC related to the vehicle 1, and a time until an oncoming vehicle that goes straight through the intersection enters (arrives) in the collision area is calculated as a TTC related to the oncoming vehicle.

  The determination unit 33 determines the collision between the vehicle 1 and the oncoming vehicle based on the TTC related to the vehicle 1 and the TTC related to the oncoming vehicle calculated by the TTC calculating unit 32. When it is determined that the vehicle 1 and the oncoming vehicle collide, the collision possibility determination unit 30 controls the braking device 4 provided in the vehicle 1 so as to stop before the vehicle 1 enters the collision area. The alarm device 40 is controlled so as to issue a warning related to the collision to the driver of the vehicle 1.

(Collision avoidance support process)
Next, the collision avoidance support process performed by the collision avoidance support system 100 configured as described above will be described with reference to the flowchart of FIG.

  When the right turn intention determination unit 21 determines that the driver of the vehicle 1 has a right turn intention (step S101), the collision possibility determination unit 30 determines whether an oncoming vehicle is recognized in the oncoming lane based on the moving body information. Is determined (step S102). If it is determined in step S102 that no oncoming vehicle has been recognized (step S102: No), there is no possibility of a collision, and the process shown in FIG. 3 is terminated. Thereafter, after a predetermined time (for example, several tens of milliseconds to several hundreds of milliseconds) elapses, the process of step S101 is performed again.

  If it is determined in step S102 that an oncoming vehicle is recognized (step S102: Yes), the collision area calculation unit 31 acquires intersection information (step S103) and sets a collision area (step S102). S104). Next, the TTC calculation unit 32 calculates the TTC related to the vehicle 1 and the TTC related to the oncoming vehicle based on the set collision area, the moving body information, and the own vehicle information (step S105).

  Next, the determination unit 33 obtains the possibility of collision between the vehicle 1 and the oncoming vehicle based on the TTC related to the vehicle 1 and the TTC related to the oncoming vehicle. And the determination part 33 performs collision determination with the vehicle 1 and an oncoming vehicle based on this calculated | required collision possibility (step S106). Here, the determination unit 33 determines that the vehicle 1 and the oncoming vehicle collide (that is, there is a possibility of collision) when the possibility of collision is higher than a predetermined threshold. On the other hand, the determination unit 33 determines that the vehicle 1 and the oncoming vehicle do not collide (that is, there is no possibility of collision) when the possibility of collision is lower than a predetermined threshold. When the collision possibility and the predetermined threshold value are “equal”, they may be included in either one.

  In the process of step S106, when it is determined that the vehicle 1 and the oncoming vehicle collide (step S106: Yes), the collision possibility determination unit 30 causes the vehicle 1 to stop before entering the collision area. Is controlled (step S107). At this time, the collision possibility determination unit 30 controls the warning device 40 so as to issue a warning related to the collision to the driver of the vehicle 1. Thereafter, after a predetermined time has elapsed, the process of step S101 is performed again.

  On the other hand, when it is determined in step S106 that the vehicle 1 and the oncoming vehicle do not collide (step S106: No), the process shown in FIG. 3 is terminated. Thereafter, after a predetermined time has elapsed, the process of step S101 is performed again.

(Technical effect)
In the collision avoidance support system 100, the collision area is set in association with the fixed information included in the intersection information. In the collision avoidance support system 100, since the collision area is set in association with the fixed information, for example, even if at least one of the vehicle 1 and the oncoming vehicle fluctuates, the position of the collision area does not change. In addition, in the collision avoidance support system 100, not based on the intersection of the course of the vehicle 1 and the course of the oncoming vehicle, but based on the time until the vehicle 1 and the oncoming vehicle each enter the collision area (the above-described TTC), A collision determination between the vehicle 1 and the oncoming vehicle is performed.

  For this reason, the accuracy of the collision determination between the vehicle 1 and the oncoming vehicle by the collision avoidance support system 100 is, for example, the apparatus according to the comparative example in which the collision determination is performed based on the intersection of the course of the vehicle 1 and the path of the oncoming vehicle. In comparison, it is less susceptible to vehicle wobble.

  Various aspects of the invention derived from the embodiments described above will be described below.

  The collision determination apparatus according to an aspect of the invention includes an intersection relating to the intersection including lane width information indicating a lane width and fixed information relating to a position fixed at the intersection when the host vehicle turns right at the intersection. Based on the acquisition means for acquiring information, the course when the host vehicle turns right at the intersection, and the lane width information, there is a possibility that the host vehicle passes when the vehicle turns right at the intersection. A calculation means for calculating a second area that is likely to pass when the oncoming vehicle of the host vehicle travels straight through the intersection based on the lane width information; Setting means for setting a collision area intersecting with the second area in association with the fixed information, and the time of reaching the collision area of each of the own vehicle and the oncoming vehicle, car Determining means for determining a collision, it is that comprising a.

  In the above-described embodiment, the external information processing unit 10 corresponds to an example of an acquisition unit, the collision area calculation unit 31 corresponds to an example of a calculation unit and a setting unit, and the determination unit 33 corresponds to an example of a determination unit. The collision area in the above-described embodiment corresponds to an example of a collision area.

  In the collision determination apparatus, the collision area is set in association with the fixed information. In addition, in the collision determination device, the collision determination between the host vehicle and the oncoming vehicle is performed based on the time required to reach the collision areas of the host vehicle and the oncoming vehicle. For this reason, compared with the case where a collision determination is performed based on the intersection of the course of the own vehicle and the path of an oncoming vehicle, for example, the collision determination according to the collision determination device is less affected by the fluctuation of the vehicle. Therefore, according to the collision determination apparatus, it is possible to suppress the influence of the vehicle wobbling on the collision determination.

  The present invention is not limited to the above-described embodiment, and can be appropriately changed without departing from the gist or concept of the invention that can be read from the claims and the entire specification. Is also included in the technical scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Vehicle, 2 ... External field sensor, 3 ... Internal field sensor, 4 ... Braking device, 10 ... External field information processing part, 20 ... Own vehicle information processing part, 21 ... Right turn intention determination part, 30 ... Collision possibility determination part, DESCRIPTION OF SYMBOLS 31 ... Collision area calculation part, 32 ... TTC calculation part, 33 ... Determination part, 40 ... Alarm apparatus, 100 ... Collision avoidance assistance system

Claims (1)

An acquisition means for acquiring intersection information relating to the intersection including lane width information indicating a lane width and fixed information relating to a position fixed at the intersection when the host vehicle turns right at the intersection;
Based on the route when the host vehicle turns right at the intersection and the lane width information, a first area that may pass when the host vehicle turns right at the intersection is calculated. Calculation means for calculating a second region that may pass when an oncoming vehicle of the host vehicle travels straight through the intersection based on width information;
Setting means for setting a collision area where the first area and the second area intersect in association with the fixed information;
Determination means for performing a collision determination between the host vehicle and the oncoming vehicle based on a time until the host vehicle and the oncoming vehicle reach the collision area;
A collision determination device comprising:

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