JP3214823B2 - Actuator control method for vehicle with contrast object recognition function - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control object recognition function in which one of control objects located in front of a vehicle is set as a specific control object and the operation of an actuator can be controlled based on data of the specific control object. The present invention relates to a vehicle with a handle, and more particularly to an improvement in a control method of an actuator thereof.

[0002]

2. Description of the Related Art Conventionally, such a vehicle with a contrast object recognizing function is already known, for example, from Japanese Patent Application Laid-Open No. 5-180933.

[0003]

However, there is a case where a reflective target (so-called cat's eye) is embedded in a road surface, and when traveling on such a road surface, there is a preceding moving target to be controlled. Due to the proximity of the cat's eye to a moving object such as a car, the preceding vehicle and the cat's eye may be grouped as the same object on the same label. When separated and recognized as an independent object, the cat's eye, which is a stationary object, is erroneously recognized as a moving object having a certain speed due to separation from the preceding vehicle, and the cat's eye is recognized as a moving object having a certain speed. The actuator may be controlled as a specific control object.

In order to solve such a problem, a cat's eye, which is a stopped object, is separated from a moving vehicle ahead, and a cat's eye, which is a cat's eye, changes in relative speed with respect to the own vehicle. The eye may be excluded from the selection of the specific control object, and the preceding vehicle moving ahead of the cat's eye may be selected again as the specific control object. However, in the conventional method, when the specific control object changes, the control of the actuator is temporarily stopped until the data of the new specific control object is stabilized, and the control of the new label is performed by reselecting the actuator. Becomes a specific control object, the control of the actuator is temporarily stopped even though the new specific control object is the preceding vehicle that was the target of the actuator control.

The present invention has been made in view of the above circumstances, and has an object to select a reflection target as a specific reference object due to fusion and separation of a reflection target, which is a stationary object, with a moving reference object. An object of the present invention is to provide a method of controlling an actuator in a vehicle with a contrast object recognition function, which avoids and prevents unnecessary stoppage of control of the actuator.

[0006]

In order to achieve the above object, according to the first aspect of the present invention, a contrast object detection sensor for detecting the position of a contrast object in front of a vehicle and a sensor obtained by the sensor. A control detection unit that collects control data of the same label as the same control by assigning the same label to the control data adjacent to each other based on the control data, and a control labeled by the control detection unit And a specific control object determination unit that selects one of the control objects existing on the estimated traveling trajectory of the own vehicle as the specific control object, wherein the operation of the actuator can be controlled based on the data of the specific control object. In a vehicle with a contrast object recognition function, the relative speed of the contrast object with respect to the own vehicle is obtained based on the amount of change in the position of the labeled contrast object by the contrast object detection unit, and the pair selected as the specific contrast object When the amount of change in the relative speed of the object exceeds a predetermined value, the control object is excluded from the selection of the specific control object, and another control object moving on the estimated traveling locus of the own vehicle is set as the specific control object. It is characterized in that the operation control of the actuator is continued based on the data of the specific control object that has been selected again and selected again.

According to the first aspect of the present invention, even if the reflected target is recognized as a moving object having a certain speed due to the fusion / separation of the stopped reflected target with the moving object, the reflected target cannot be moved with respect to the own vehicle. Reflective targets can be excluded from the selection of a specific control object based on a large change in relative speed, and another control object moving on the estimated traveling trajectory of the own vehicle is reselected as a specific control object. Thereby, the control object moving ahead of the own vehicle on the estimated traveling trajectory can be selected as the control target of the actuator. In addition, the specific control object that was selected again was the specific control object until the fusion / separation of the reflective target occurred, and the data of the specific control object was continuously obtained. If the control is continued without stopping, the stability of the control is not impaired.

According to the second aspect of the present invention, the control object moves when the control object speed based on the relative speed of the control object and the own vehicle speed exceeds a predetermined moving object determination speed. Thus, when the specific control object is selected again, the preceding moving object can be correctly selected as the specific control object.

[0009]

DESCRIPTION OF THE PREFERRED EMBODIMENTS The embodiments of the present invention will be described below based on one embodiment of the present invention shown in the accompanying drawings.

FIGS. 1 to 8 show an embodiment in which the present invention is applied to a vehicle adapted to follow a preceding vehicle at a constant distance. FIG.
FIG. 3 is a block diagram showing the main configuration of the electronic control unit.
FIG. 4 is a block diagram showing a configuration of a target determination unit, FIG. 5 is a flowchart showing a main routine of a determination process in the target determination unit, and FIG. 6 is a subroutine of a speed change monitoring process. 7 is a flowchart showing a subroutine of the target determination process, and FIG. 8 is a flowchart showing a subroutine of the lock-off prohibition determination process.

[0011] First, in FIG. 1, the left front wheel W _FL and the front right wheel W _FR of the front wheel drive vehicle disc brake B _FL and the right front wheel disc brake B _FR for the left front wheel is mounted, the left rear wheels W _RL and rear right The left rear wheel disc brake B _RL and the right rear wheel disc brake B _RR are mounted on the wheel W _RR .

An oil passage 2 connected to an output port 1 of a master cylinder M for outputting a braking oil pressure in accordance with a depression operation of a brake pedal P, and respective disk brakes B _FL , B _FR , B _RL ,
A brake actuator A ₁ is provided between the oil passages 3 _FL , 3 _FR , 3 _RL , and 3 _RR individually connected to the B _RR .
When the brake actuator A ₁ is not operated, the brake actuator A _{1 communicates} between the oil passage 2 and the oil passages 3 _FL , 3 _FR , 3 _RL , 3 _RR to apply the braking oil pressure from the master cylinder M to each of the disk brakes B _FL , B _FR , B _RL and B _RR and the oil pressure output from the brake actuator A ₁ while the oil passage 2 and the oil passages 3 _FL , 3 _FR , 3 _RL , and 3 _RR are shut off during operation, and the hydraulic pressure output by the brake actuator A ₁ is applied to each disc brake B _FL. , B _FR , B _RL , and B _RR can be switched.

A throttle valve 5 provided in an intake passage 4 of an engine (not shown) has a throttle actuator A _2.
Is connected to the throttle actuator A ₂
Controls the opening of the throttle valve 4, that is, the output of the engine.

At the front of the vehicle, it is possible to transmit a signal forward from the own vehicle and to receive a reflected signal from a contrasting object located in front of the own vehicle. A contrast object detection sensor 6 such as a laser radar capable of calculating the position of the contrast object with respect to the own vehicle based on time is mounted. The contrast object detection sensor 6 scans in the vehicle width direction to scan the vehicle width direction. The position of the control object with respect to the own vehicle in a certain range can be detected.

The left and right rear wheels which are driven wheels have wheel speed sensors 7 _RL , 7 _RR for individually detecting their wheel speeds.
Are respectively attached. Thus, the control object detection sensor 6,
Wheel speed sensors 7 _RL , 7 _RR and vehicle yaw rate Y
From the yaw rate sensor 8 for detecting the brake actuator A ₁ and the throttle actuator A based on the signals from the sensors 6, 7 _RL , 7 _RR , 8. _Two
Controls the operation of.

In FIG. 2, the electronic control unit C includes a vehicle speed calculating means 10, a control object detecting unit 11, a target determining unit 12, a lock-on processing unit 1
3 and an inter-vehicle control unit 14.

The own vehicle speed calculating means 10 calculates the own vehicle speed V based on the detected values of the wheel speed sensors 7 _RL and 7 _RR for detecting the driven wheel speed.

In the object detection unit 11, the position of the object based on the signal from the object detection sensor 6 is set at the origin (X = 0, Y = 0) as shown in FIG. The labels are developed on the X- and Y-coordinates and the labels of the reference data that are close to each other on the coordinates are, for example, NO. 4,
8, 15,..., And the reference data close to each other are collected as the same reference having the same label. Thus, the contrast object detection unit 11 obtains the position P of the contrast object for each label by calculating the position of the center of gravity of each label, and calculates the temporal change amount of the position P of the contrast object for each label. Relative speed Δ of the reference object for each label with respect to the vehicle
V will be obtained.

The target determination unit 12 includes the own vehicle speed V obtained by the own vehicle speed calculating means 10 and the yaw rate sensor 8.
, The label L, the position P, and the relative speed ΔV of each control object obtained by the control object detection unit 11 are input. Thus, the target determination unit 12 determines a specific control target, that is, a target to be followed by the own vehicle based on the input values, and as shown in FIG.
Speed change monitoring means 15 for executing a speed change process based on the relative speed ΔV of the control object obtained in step 1, the own vehicle speed V obtained by the own vehicle speed calculation means 10, the yaw rate Y obtained by the yaw rate sensor 8, Target determining means 16 for determining a specific control object as a target based on the label L, position P and relative speed ΔV of each control object obtained by the object detection unit 11 and the result of monitoring by the speed change monitoring means 15
And lock-off prohibition judging means 17 for judging whether to stop the control of both actuators A ₁ and A ₂ based on the result of monitoring by speed change monitoring means 15 and the result of determination by target determining means 16. Is done.

In FIG. 5, a target determination unit 1
In step 2, the speed change process by the speed change monitoring unit 15 in step S1, the target determination process by the target determination unit 16 in step S2, and the lock-off prohibition determination process by the lock-off prohibition determination unit 17 in step S3. The speed change processing in step S1, the target determination processing in step S2, and the lock-off prohibition determination processing in step S3 are sequentially performed for each contrast object of each label, as shown in FIGS. 6, 7, and 8, respectively. It is executed according to a subroutine.

In the speed change monitoring process shown in FIG. 6, in step S11, it is determined whether or not the absolute value of the difference between the previous relative speed and the current relative speed exceeds a limit value. This limit value is set in advance in consideration of a margin value to a physically possible value. For example, 2G determined that acceleration and deceleration of 1G is possible for both the own vehicle and the preceding moving object.
The limit value is set to, for example, 6 G as a value that allows for a margin value in a sum of the sum of the relative speed calculation accuracy of the reference object detection unit 11 and 3.1 G.

When it is determined in step S11 that the absolute value of the relative speed change exceeds the limit value, in step S12, it is determined that the control object is a stop object separated after being merged with the moving control object, and the limit out flag is set. Is set to “1”, and when it is determined that the absolute value of the change amount of the relative speed is equal to or less than the limit value, in step S13, the control object is determined to be a moving object and the limit out flag is set to “0”.

In the target determination process shown in FIG. 7, in step S21, the label NO. Is set to "0", and in the next step S22, it is determined whether or not the limit out flag is set, that is, whether or not the limit out flag is "1". In step S23, the process proceeds to step S23, where the control object is excluded from the selection of the target, that is, the specific control object. "1" is added to the code i of. Then, in step S25,
Label NO. And comparing the code i with N, which is the maximum value of
If i <N, the process returns to step S22, where i = N
Ends, the target determination process ends.

When it is determined in step S22 that the limit out flag is "0", the flow proceeds to step S2.
From 2, the process proceeds to step S <b> 26, and it is determined whether the control object is a stationary object. In determining whether or not the object is a stationary object, the speed of the object based on the relative speed ΔV of the object and the vehicle speed V is determined by a predetermined moving object determination speed, for example, 2
0 km / h or less. When the speed of the control object is lower than the moving object determination speed, it is determined that the control object is a stationary object, and the process proceeds from step S26 to step S23. If the speed exceeds the moving object determination speed, it is determined that the control object is a moving object in step S
Proceed to 27. In this way, when selecting the specific control object, the preceding moving object can be correctly selected as the specific control object.

In step S27, assuming that the own vehicle makes a constant velocity circular motion, it is determined whether or not the control object exists on an estimated traveling locus estimated, for example, 100 m ahead from the own vehicle speed V and the yaw rate Y. Is determined, the process proceeds to step S23 when there is none, and to step S28 when there is one.

In this step S28, it is determined whether or not the control object moving on the estimated traveling trajectory is located at the shortest distance from the own vehicle.
3 and if the distance is the shortest, step S
28, the process proceeds to step S29, and the control object is determined as a target, that is, a specific control object.
It will go to 24.

In the lock-off prohibition judging process shown in FIG. 8, in step S31, it is judged whether or not the target object determined this time is the same as the previous target. defines a lock-off prohibition flag F _L to "0" as not prohibit lock-off in step S32. When it is determined that they are not the same, it is determined in step S33 whether or not the limit-out flag is set to “1” with respect to the control object determined as the target this time. Step S3
The process proceeds to 2, when the limit out flag is "1", determined in step S34, the lock-off prohibition flag F _L as prohibiting lock-off to "1".

Referring again to FIG. 2, the target determination unit 12 outputs the target determination means 1 of the unit 12.
Target label L _T in accordance with the determination result in 6,
The relative speed ΔV _{T of} the target with respect to the own vehicle and the distance _DT to the target are output, and the lock-off prohibition determining means 17 outputs the lock-off prohibition flag _{FL, which} is provided to the lock-on processing unit 13.

In the lock-on processing unit 13, when the lock-off prohibition flag _FL is "1", the control processing of the two actuators A ₁ and A ₂ is temporarily stopped. A signal for temporarily stopping the control by the unit 14 is provided from the lock-on processing unit 13 to the following distance control unit 14, but otherwise, the relative speed Δ of the target to the own vehicle is used.
The _VT and the distance _DT are provided from the lock-on processing unit 13 to the headway control unit 14.

The inter-vehicle control unit 14 includes, in addition to the signal from the lock-on processing unit 13, the own vehicle speed calculating means 1.
0 and vehicle speed V are input obtained in the brake actuator A ₁ so as to maintain the distance between the vehicle and the target at a constant distance and the throttle actuator A
Control signal for controlling the _second actuation is given from the vehicle control unit 14 to both the actuator A _1, A _2.

Next, the operation of this embodiment will be described. When traveling on a road on which a cat's eye (reflective target) is embedded, a moving object such as a preceding vehicle passes a position close to the reflective target. When the moving control object and the cat's eye are combined on the same label as the same control and then the cat's eye comes to be recognized as an independent control separated from the preceding vehicle due to the movement of the preceding vehicle, the control is performed. The object detection unit 11 may recognize a cat's eye, which is a stationary object, as a moving object having a certain speed due to separation from the preceding vehicle. However, the cat's eye is a stationary object, and the relative speed of the cat's eye with respect to the own vehicle greatly changes due to the separation from the moving object. In the target determination unit 12, the absolute value of the amount of change in the relative speed is limited. When the value exceeds the value, the limit out flag is set to “1”, and the control object is excluded from targets to be selected as a stop object separated after the fusion with the moving control object. Therefore, a cat's eye, which is a stationary object, is not selected as a control target of the actuators A ₁ and A ₂ .

After it is determined that the specific control object set as the target is a stationary object such as a cat's eye, the other control object moving on the estimated vehicle trajectory and located at the shortest distance is set as the target. The selected reference should have been the specific reference until the fusion / separation of the reflective target occurred, and the data for the specific reference was obtained continuously. So that
Without stopping the control of the actuators, the actuators A ₁ ,
By continuing the control of the A _2, continuously it can perform stable control without unnecessarily stopping the control of the actuator A _1, A _2.

In the above embodiment, the case where the present invention is applied to a vehicle in which the running control following a target object set as a target is applied has been described. The present invention is also applicable to a vehicle that applies an automatic brake when the value becomes equal to or less than the value or issues an alarm that alerts a vehicle driver.

[0034]

As described above, according to the first aspect of the present invention, even if the reflected target is recognized as a moving object having a certain speed by fusion / separation of the stopped reflecting target with the moving reference object. In addition, the reflection target can be excluded from the selection control of the specific control object, and the other target moving on the estimated traveling trajectory of the own vehicle is selected again as the specific control object, thereby moving in front of the own vehicle. The selected control object can be selected as an object to be controlled by the actuator, and stable control can be continuously performed without stopping control of the actuator.

According to the second aspect of the present invention, when the specific control object is selected again, the preceding moving object can be correctly selected as the specific control object.

[Brief description of the drawings]

FIG. 1 is a diagram showing an overall configuration.

FIG. 2 is a block diagram illustrating a main configuration of an electronic control unit.

FIG. 3 is a coordinate development diagram of control object detection data.

FIG. 4 is a block diagram illustrating a configuration of a target determination unit.

FIG. 5 is a flowchart illustrating a main routine of a determination process in a target determination unit.

FIG. 6 is a flowchart illustrating a subroutine of a speed change monitoring process.

FIG. 7 is a flowchart illustrating a subroutine of a target determination process.

FIG. 8 is a flowchart illustrating a subroutine of lock-off prohibition determination processing.

[Explanation of symbols]

6 ... counterpart detection sensor 11 ... counterparts target determination unit A ₁ ... brake actuator A ₂ ... throttle actuator as the detecting unit 12 ... specific control object determination unit

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-9-91595 (JP, A) JP-A-9-178849 (JP, A) JP-A-6-150200 (JP, A) JP-A-6-150200 59033 (JP, A) JP-A-8-220220 (JP, A) JP-A-8-339500 (JP, A) JP-A-62-67610 (JP, A) JP-A 64-105 (JP, U) (58) Field surveyed (Int.Cl. ⁷ , DB name) G05D 1/02 B60R 21/00 624 B60R 21/00 627 G08G 1/16

Claims (2)

(57) [Claims] An object detection sensor (6) for detecting the position of an object in front of a vehicle, and object data adjacent to each other based on object data obtained by the sensor (6). A control object detection unit (11) that collects the control data of the same label as the same control by attaching the same label.
And one of the control objects that are present on the estimated traveling trajectory of the vehicle among the control objects labeled by the control object detection unit (11).
A specific control object determination unit (12) for selecting one of the two as a specific control object, and a vehicle with a control object recognition function capable of controlling the operation of the actuators (A ₁ , A ₂ ) based on the data of the specific control object. , Contrast object detection unit (1
The relative speed of the control object with respect to the vehicle is calculated based on the change amount of the position of the control object labeled in 1), and the change amount of the relative speed of the control object selected as the specific control object exceeds a predetermined value. Sometimes, the control object is excluded from the selection of the specific control object, and another control object moving on the estimated traveling trajectory of the vehicle is re-selected as the specific control object, based on the data of the re-selected specific control object. A method for controlling an actuator in a vehicle with a contrast object recognizing function, wherein the operation control of the actuator (A ₁ , A ₂ ) is continued. 2. The method according to claim 1, wherein the control object is determined to be moving when the speed of the control object based on the relative speed of the control object and the speed of the vehicle exceeds a predetermined moving object determination speed. Item 7. A method for controlling an actuator in a vehicle with a contrast object recognition function according to Item 1.