JP4821291B2 - Vehicle obstacle detection device - Google Patents

Description

  The present invention relates to a vehicle obstacle detection device that controls a vehicle operating device in accordance with a detection state by an obstacle detection means.

  2. Description of the Related Art Conventionally, an obstacle for a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and an operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. Sensing devices are known.

For example, as in Patent Document 1, in a vehicle control device that detects an obstacle (preceding vehicle, road measurement object) in the course of the own vehicle by a millimeter wave radar and controls the operation of the vehicle according to the obstacle information, There is known one that changes an obstacle area to be subjected to operation control in accordance with a lane area in which the host vehicle travels. In this vehicle control device, it is possible to effectively prevent the erroneous detection of an obstacle outside the lane and effectively perform vehicle control on the obstacle.
JP 2004-136785 A

  However, even in the obstacle detection device for a vehicle as in Patent Document 1 described above, if the obstacle is in front of the vehicle in the lane, the obstacle can be easily avoided by a driving operation such as a steering operation by the occupant. There is a problem that an operation device (an alarm device, a brake, a seat belt pretensioner, etc.) of the vehicle is operated and is troublesome.

  The present invention has been made in view of the above points, and an object of the present invention is to prevent the operation device of the vehicle from being operated by an obstacle in a region that can be avoided by the driving operation of the occupant, and troublesome during driving. It is to make it possible to drive safely and smoothly.

  In order to achieve the above object, in the present invention, the front end of the obstacle detection area is cut obliquely.

Specifically, in the first invention, an obstacle detection means for detecting an obstacle ahead of the host vehicle, and an operation control means for controlling an operating device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. Target vehicle obstacle detection device equipped with
Obstacle detection area by the obstacle detecting means is set toward a predetermined distance forward from the vehicle front end, the front end portion, the rear side from the central portion leaving a predetermined width in the left and right from the center line of the vehicle are cut diagonally towards,
The working device is a brake means der shall applying a braking force to the vehicle.

That is, an obstacle in a region away from the front of the host vehicle can be easily avoided by a driving operation such as an occupant operating a steering wheel. However, according to the above configuration, the center of the front end portion of the obstacle detection region can be avoided. Since the vehicle is cut obliquely from the portion toward the rear side, the vehicle operating device does not operate due to an obstacle that can be easily avoided by such a driving operation. For this reason, the trouble of driving is eliminated .

In addition, by leaving a predetermined width to the left and right from the center line of the host vehicle , obstacles that cannot be avoided by false detection due to an axis misalignment or the like of the obstacle detection means are excluded from being controlled by the operating device. Is prevented.

Furthermore, by making the operating device a notification means for notifying the occupant of the dangerous state, the notification means does not operate due to an obstacle that can be easily avoided by driving operation, so unnecessary notification is not performed and troublesome during driving. There will be no more.

According to a second aspect of the invention, there is provided a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle, and an operation control means for controlling an operating device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. Target obstacle detection device
The obstacle detection area by the obstacle detection means is set forward a predetermined distance from the front end of the host vehicle, and the tip of the obstacle detection region extends from the center part left and right from the center line of the host vehicle to the rear side. It is cut diagonally toward
It is assumed that the operating device is a brake unit that applies a braking force to the vehicle.

According to the above configuration, the brake means does not operate due to an obstacle that can be easily avoided by driving operation, so unnecessary braking is not performed and troublesomeness during driving is eliminated.

According to a third aspect of the invention, there is provided a vehicle including an obstacle detection unit that detects an obstacle ahead of the host vehicle, and an operation control unit that controls an operation device of the vehicle according to an obstacle detection state by the obstacle detection unit. Target obstacle detection device
The obstacle detection area by the obstacle detection means is set forward a predetermined distance from the front end of the host vehicle, and the tip of the obstacle detection region extends from the center part left and right from the center line of the host vehicle to the rear side. It is cut diagonally toward
The operating device is a seat belt pretensioner that forcibly retracts the seat belt.

According to the above configuration, since the seat belt pretensioner does not operate due to an obstacle that can be easily avoided by driving operation, the seat belt is not pulled in unnecessarily and the occupant is not restrained.

In the fourth invention, the obstacle detection region is cut at a portion outside the vehicle width of the host vehicle.

  According to the above configuration, since obstacles outside the vehicle width of the host vehicle have a low possibility of collision, removing the obstacles from the obstacle detection area eliminates troublesomeness during driving.

In the fifth invention, the obstacle detection means is a millimeter wave radar.

  According to the above configuration, since the millimeter wave radar can directly measure the relative speed of the obstacle at the Doppler frequency, even when there are a plurality of obstacles, the obstacles are not mistaken.

  As described above, according to the first aspect of the present invention, the obstacle that can be easily avoided by driving operation by cutting the front end of the obstacle detection area by the obstacle detection means obliquely from the central portion toward the rear side. The vehicle operating device is prevented from operating by the object. For this reason, since the troublesomeness at the time of a driving | operation is eliminated, it can drive | operate safely and smoothly.

In addition, the front end of the obstacle detection area is cut obliquely leaving a predetermined width from the center line of the host vehicle to prevent inconvenience due to erroneous detection due to the axis deviation of the obstacle detection means. For this reason, it can drive | operate still more safely and smoothly.

Further, the operating device is a notification means for notifying the occupant of the dangerous state so that the notification means is not activated by an obstacle that can be easily avoided. For this reason, the troublesomeness at the time of driving | running can be prevented and it can drive | operate safely and smoothly.

According to the second aspect of the invention, the actuating device is the brake means for applying a braking force to the vehicle so that the braking force is not unnecessarily applied by an obstacle that can be easily avoided. For this reason, the troublesomeness at the time of driving | running can be prevented and it can drive | operate safely and smoothly.

According to the third aspect, the operating device is a seat belt pretensioner that forcibly pulls in the seat belt so that the seat belt is not unnecessarily caught by an obstacle that can be easily avoided. For this reason, the troublesomeness at the time of driving | running can be prevented and it can drive | operate safely and smoothly.

According to the fourth aspect of the present invention, the portion outside the vehicle width of the host vehicle is excluded from the obstacle detection area, thereby eliminating troublesomeness during driving. For this reason, it can drive | operate still more safely and smoothly.

According to the fifth aspect , the obstacle detection means is a millimeter wave radar. For this reason, even when there are a plurality of obstacles, the obstacles are not mistaken, so that erroneous detection of the obstacles can be prevented and the operation can be performed safely and smoothly.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings.

  FIG. 1 shows a vehicle 1 including a vehicle obstacle detection device 2 according to an embodiment of the present invention. The obstacle detection device 2 includes a millimeter wave radar 3 as an obstacle detection means for detecting an obstacle ahead of the host vehicle 1. Millimeter waves have features such as having sharp directivity, ensuring a wide band for high-speed communication, and miniaturizing and micro-parts. As indicated by a thick line in FIG. 3, the detection range of the millimeter wave radar 3 is radially extended within a distance of approximately 100 m. In the present embodiment, the millimeter wave radar 3 is arranged to be offset to the right side from the center in the width direction of the vehicle 1, but it is not always necessary to be offset. Further, the obstacle detection means may be constituted by an infrared laser or the like.

  As shown in FIG. 2, the obstacle detection device 2 includes driving operation state detection means 5 that detects a predetermined driving operation state of the vehicle 1 by an occupant. In the present embodiment, the predetermined driving operation state is a driving operation state in which the vehicle 1 bends in the traveling direction. Specifically, the vehicle 1 is operated by turning off the steering wheel 6 during a curve or a lane change. It means a driving operation state that bends.

  The obstacle detection device 2 includes a control unit 10 as an operation control means for controlling an operation device of the vehicle 1 to be described later according to an obstacle detection state by the millimeter wave radar 3. The control unit 10 has a role of operating the operating device based on information from various sensors such as the driving operation state detection means 5 and the collision sensor 11.

  The obstacle detection device 2 includes an operation timing switching unit 12 that switches the operation timing of the operating device from the detection result obtained by the driving operation state detection unit 5. In the present embodiment, the operating device is a notification unit that notifies a passenger of a dangerous state, and the notification unit includes an alarm device 13 such as a horn. Note that the notification means may be constituted by a warning lamp on the instrument panel, a warning display on the car navigation system, or the like.

  As shown in FIG. 3, the alarm device 13 includes a LONG alarm area A1 (obstacle detection area) as a first operation timing, and a SHORT alarm area as a second operation timing later than the first operation timing. It is configured to operate in A2 (obstacle detection area). The operation timing switching means 12 is configured to switch the LONG alarm area A1 to the SHORT alarm area A2. This LONG alarm area A1 has a wide area in which the obstacle 50 is detected by the millimeter wave radar 3, and the SHORT alarm area A2 is narrower than the LONG alarm area A1.

  The vehicle width direction areas of the LONG alarm area A1 and the SHORT alarm area A2 are limited to the same area as the vehicle width L. Further, the tip is a mountain-shaped region that leaves an area of ± 10% of the vehicle width L from the left and right center line and extends from there to the tip of the vehicle 1 that is cut so as to spread rearward. In other words, the LONG alarm area A1 is a line connecting a point P1 at an offset of 40% from the end in the vehicle width direction of the vehicle 1 and 2 seconds until the collision, and a point P4 at an offset of 0% and 0.8 seconds until the collision. Also the outside is cut. The SHORT alarm area A2 is based on a line connecting a point P2 at an offset of 40% from the end in the vehicle width direction of the vehicle 1 and 1.6 seconds until the collision, and a point P4 at an offset of 0% and 0.8 seconds until the collision. The outer region is also cut. The left and right corners on the front end side are cut in this way. Although it is difficult to avoid the obstacle 50 at a short distance from the host vehicle 1 by operating the steering 6 or the like, it is a long distance and on the left and right center side of the vehicle 1. This is because the obstacle 50 is easy to avoid by operating the steering 6 or the like.

  The obstacle detection device 2 includes an operation timing switching SW (not shown). When the driver dislikes that the alarm device 13 is frequently operated, the operation timing is always set to the SHORT alarm area A2 regardless of the operation of the operation timing switching means 12 by setting the operation timing switching SW to SHORT. It is set up.

  The vehicle 1 is also provided with a seat belt pretensioner 15 that takes up slack in the brake means 14 and the seat belt 16 that apply braking force to the vehicle 1 as an operating device, and increases the restraining force of the passenger. However, in this embodiment, the case where the operation timing of the brake means 14 and the seat belt pretensioner 15 is not switched by the operation timing switching means 12 is described.

  Specifically, when the millimeter wave radar 3 determines that the obstacle 50 has entered a region of a predetermined distance (a point P3 of 1.0 seconds until the collision), the control unit 10 sends a signal to the brake means 14. The primary brake that is sent and is relatively weak to alert the driver is activated. Furthermore, when the millimeter wave radar 3 determines that the obstacle 50 has further entered the region at a closer distance (point P5 of 0.6 seconds until the collision), the control unit 10 sends a signal to the brake means 14, A strong secondary brake is activated to avoid a collision. The primary brake and secondary brake detection areas A3 and A4 (obstacle detection areas) also leave an area of ± 10% of the vehicle width L from the center line on the left and right in the same way as the alarm areas A1 and A2, and from there It has been cut to spread. Specifically, the primary brake area A3 is outside the line connecting the point of steering avoidance time (not shown) with an offset of 10% and the point P3 with an offset of 40% and up to 1.0 seconds until the collision. It is a mountain-shaped region up to the tip of the cut vehicle 1. In the secondary brake area A4, the vehicle 1 whose outer side is cut from a line connecting a point of steering avoidance time (not shown) with an offset of 10% and a point P5 of 40% offset and 0.6 seconds until the collision is cut. It is a mountain-shaped area up to the tip. Further, the secondary brake area A4 includes a range up to 0.2 seconds 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 14 from being released after a collision.

  Although not shown, the operation timing of the primary brake may be switched between LONG (wide area) and SHORT (narrow area) by the operation timing switching means 12 in the same manner as the alarm device 13. Thus, if the detected driving operation is performed as it is, the braking force can be prevented from being applied unnecessarily when the obstacle 50 does not collide with the host vehicle 1.

  The seat belt pretensioner 15 is composed of a first seat belt pretensioner 15a and a second seat belt pretensioner 15b, and the millimeter wave radar 3 causes the obstacle 50 to move at a predetermined distance (0.4 seconds until the collision). When it is detected that the vehicle has approached P6), the seat belt 16 is pulled into the retractor (not shown) by the first seat belt pretensioner 15a to restrain the occupant with a predetermined tension (which does not affect the collision avoidance operation). It has become. When the collision sensor 11 detects that the vehicle has collided, the second seat belt pretensioner 15b further retracts the seat belt 16 to restrain the occupant with a strong restraining force. The first seat belt pretensioner 15a is configured to retract the seat belt 16 by an electric motor (not shown). The second seat belt pretensioner 15b is configured to retract the seat belt 16 by an inflator (not shown) such as gunpowder.

  Note that the operation timing of the first seat belt pretensioner 15a can be switched by the operation timing switching means 12, and a long detection area LONG (for example, the primary brake area A3 in FIG. 3) and a narrow detection as an obstacle detection area. The area SHORT (second brake 1 area A4 in the figure) may be set, and the seat belt 16 may be pulled weakly in the LONG area and pulled strongly in the SHORT area. Thus, if the detected driving operation is performed as it is, it is possible to prevent the seat belt 16 from being unnecessarily involved when the obstacle 50 does not collide with the host vehicle 1.

  In the present embodiment, the driving operation state detection means 5 detects the steering angle sensor 20 that detects the steering angle θf that indicates the steering angle of the steering 6, and the steering angular velocity dθf / dsec that indicates a change per unit time of the steering angle θf. Integral value per predetermined time of the steering angle θf indicating the steering angle of the steering angular velocity detecting means 21 that performs the acceleration, the lateral G sensor 22 that detects the lateral G relative to the direction in which the vehicle 1 travels, that is, the lateral G A steering angle integral value detecting means (in this embodiment, also serving as the control unit 10) is provided. The steering angle θf and the lateral G are input to the control unit 10 with the right side being positive and the left side being negative, for example. Further, turning radius detecting means 23 for detecting that the turning radius of the vehicle 1 is not more than a predetermined value is also provided. The turning radius detector 23 may be determined by receiving a signal from the GPS. The rudder angular velocity detection means 21 can also be used by the control unit 10.

  The driving operation state detection means 5 detects the steering angle θf, the steering angular speed dθf / dt, the integral value of the steering angle θf per predetermined time, the lateral G, and the turning radius R of the vehicle 1, all of which are detected. There is no need to detect, and only a part of it may be detected. Alternatively, the detection target of the driving operation state detection unit 5 may be switched according to the vehicle speed or the road condition, and the operation timing switching unit 12 may be operated when the detection target satisfies a condition. Specifically, the control unit 10 selects the detection signals from the plurality of driving operation state detection means 5 according to the speed of the vehicle 1 or the road state, and operates the operation timing switching means 12. Good. By doing in this way, since the optimal detection object can be selected according to a vehicle speed or a road state, the erroneous detection of the obstruction 50 can be prevented and it can drive | operate safely and smoothly.

  The obstacle detection device 2 includes obstacle position estimation means 24 for estimating and interpolating the position of the obstacle 50 when the obstacle 50 detected by the millimeter wave radar 3 is not detected for a predetermined time. ing. During the operation of the obstacle position estimation means 24, the PCS control described later of the obstacle detection device 2 is not performed to prevent malfunction.

-PCS control-
Next, PCS control (PRE CLASH SAFTY SYSYTEM) performed by the control unit 10 of the vehicle obstacle detection device 2 according to the present embodiment will be described with reference to FIG.

  First, in step S <b> 1, the control unit 10 receives an output from the millimeter wave radar 3 and performs calculation for estimating the target position and distance of the obstacle 50.

  Next, in step S2, it is determined whether or not the obstacle 50 is in the secondary brake area A4. If it is in the secondary brake area A4, the secondary brake is immediately executed in step S3, the brake means 14 is operated strongly, and the process proceeds to return.

  On the other hand, if it is not in the secondary brake area A4, it is determined in step S4 whether or not a brake pedal (not shown) is stepped on and whether or not the obstacle position estimating means 24 is interpolating. Determined. When the brake pedal 14 is depressed and the brake means 14 is operated or interpolation is performed, the process jumps to return. Conversely, if the brake is not depressed and no interpolation is performed, the process proceeds to step S5.

In step S5, the absolute value of the steering angle θf is greater than α1 (eg, 90 °) (| θf |> α1) by the operation timing switching means 12, or the absolute value of the steering angular velocity dθf / dt is α2 (eg, 50). (/ Dθf / dt |> α2) or the absolute value of the integral value per predetermined time of the steering angle θf is larger than α3 (for example, 90 °) (| Σθf |> α3) Either the absolute value of the lateral G is larger than α4 (for example, 6 m / sec ² ) (| lateral G |> α4) or the turning radius R of the vehicle 1 is smaller than 175 m (R <175). Determine if the condition is met. If not all are satisfied, the process proceeds to step S6, and if at least one of the conditions is satisfied, the process proceeds to step S7.

  In step S6, it is determined whether or not the operation timing setting SW is SHORT. If it is SHORT, the process proceeds to step S7. If it is not SHORT, that is, LONG, the process proceeds to step S8.

  In step S7, the operation timing is set to SHORT. If the setting SW is SHORT in step S6, SHORT is continued as it is in step S7.

  In step S8, it is determined whether or not the obstacle 50 is in the primary brake area A3. If it is within the range, the process proceeds to step S9, and if it is out of the range, the process proceeds to step S10.

  In step S9, a signal is sent to the brake means 14, the primary brake is executed, a light braking force is applied to the vehicle 1 by the brake means 14, and the process proceeds to return.

  In step S10, it is determined whether or not the obstacle 50 is in the alarm area (alarm areas A1, A2). If it is within the range, the process proceeds to step S11, and if it is out of the range, the process proceeds to return.

  In step S11, a signal is sent to the alarm device 13, an alarm is executed, and the driver is notified. Then proceed to return.

-Effect of the embodiment-
Therefore, according to the obstacle detection device 2 of the vehicle according to the present embodiment, the front ends of the obstacle detection areas A1 to A4 by the millimeter wave radar 3 are cut obliquely from the central portion toward the rear side, The obstacle 50 that can be easily avoided prevents the operating device of the vehicle from operating. For this reason, since the troublesomeness at the time of a driving | operation is eliminated, it can drive | operate safely and smoothly.

  In addition, the front end of the obstacle detection areas A1 to A4 is cut obliquely from the center line of the host vehicle to the left and right, leaving an area of ± 10% of the vehicle width L, and a malfunction due to misdetection due to the misalignment of the millimeter wave radar 3 Is preventing. For this reason, it can drive | operate still more safely and smoothly.

  Further, the obstacle detection areas A1 to A4 are excluded from the outside of the vehicle width L of the host vehicle, thereby eliminating troublesomeness during driving. For this reason, it can drive | operate still more safely and smoothly.

  Further, the obstacle detection means is a millimeter wave radar 3. For this reason, even when there are a plurality of obstacles 50, the obstacles 50 are not mistaken for each other, so that the erroneous detection of the obstacles 50 can be prevented and the operation can be performed safely and smoothly.

  In addition, the above embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, or a use.

  As described above, the present invention is a vehicle including obstacle detection means such as a millimeter wave radar, and an operation control means for controlling the operation equipment of the vehicle in accordance with an obstacle detection state by the obstacle detection means. This is useful for the obstacle detection apparatus.

It is a key map of vehicles provided with the obstacle detection device of vehicles concerning the embodiment of the present invention. It is a block diagram which shows the obstruction detection apparatus of a vehicle. It is a conceptual diagram which shows the detection range of a millimeter wave radar. It is a flowchart which shows PCS control.

DESCRIPTION OF SYMBOLS 1 Vehicle 2 Obstacle detection apparatus 3 Millimeter wave radar (obstacle detection means)
10 Control unit (operation control means)
12 Actuation timing switching means 13 Alarm device (actuation equipment, notification means)
14 Brake means 15 Seat belt pretensioner 50 Obstacle A1 LONG alarm area (obstacle detection area)
A2 SHORT warning area (obstacle detection area)
A3 Primary brake area (obstacle detection area)
A4 Secondary brake area (obstacle detection area)

Claims (5)

An obstacle detection device for a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle and operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. There,
Obstacle detection area by the obstacle detecting means is set toward a predetermined distance forward from the vehicle front end, the front end portion, the rear side from the central portion leaving a predetermined width in the left and right from the center line of the vehicle are cut diagonally towards,
The vehicle obstacle detection device , wherein the operating device is a notification means for notifying a passenger of a dangerous state . An obstacle detection device for a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle and operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. There,
The obstacle detection area by the obstacle detection means is set forward a predetermined distance from the front end of the host vehicle, and the tip of the obstacle detection region extends from the center part left and right from the center line of the host vehicle to the rear side. It is cut diagonally toward
The obstacle detection device for a vehicle, wherein the operating device is a brake means for applying a braking force to the vehicle. An obstacle detection device for a vehicle comprising obstacle detection means for detecting an obstacle ahead of the host vehicle and operation control means for controlling an operation device of the vehicle in accordance with an obstacle detection state by the obstacle detection means. There,
The obstacle detection area by the obstacle detection means is set forward a predetermined distance from the front end of the host vehicle, and the tip of the obstacle detection region extends from the center part left and right from the center line of the host vehicle to the rear side. It is cut diagonally toward
An obstacle detection device for a vehicle, wherein the operating device is a seat belt pretensioner that forcibly retracts a seat belt. In the obstacle detection device for vehicles according to any one of claims 1 to 3 ,
The obstacle detection device for a vehicle, wherein the obstacle detection region is cut at a portion outside the vehicle width of the host vehicle. In the obstacle detection device for vehicles according to any one of claims 1 to 4 ,
The obstacle detection device for a vehicle, wherein the obstacle detection means is a millimeter wave radar.

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