JP5582310B2 - Vehicle driving support device - Google Patents

Description

  The present invention relates to a driving support device for a vehicle, and more particularly, to control for assisting driving by determining wobbling of a pedestrian or a bicycle.

In motorcycles, particularly bicycles, an accident may occur that touches the vehicle running on the roadway by causing it to fluctuate in the left-right direction during running at the beginning of a run or uphill, and then toppling over.
For this reason, image information of a two-wheeled vehicle traveling in front of the vehicle is acquired by an imaging unit configured with a CCD camera or the like in front of the vehicle, and an electronic control unit (hereinafter referred to as ECU) is used from the image information. Performs image processing, obtains information such as the wobbling width and height of a motorcycle traveling in front, calculates the safe distance that does not contact the motorcycle from the information, and drives the vehicle based on the safe distance A driving support device has been developed for performing control and avoiding contact between a motorcycle and the vehicle in advance (Patent Document 1).

JP 2010-70061 A

  Such a technique for avoiding the two-wheeled vehicle based on the wobbling width of the two-wheeled vehicle in the driving support device of Patent Document 1 is described in the case where an object such as a pedestrian or a bicycle enters the course of the own vehicle. When applied to a driving support device for a vehicle that alerts a person or assists a driving operation, for example, even if the object has a small wobbling width and a fast wobbling speed, the wobbling width is small. It may be determined that there is no possibility of entering the course, and the driver's warning or driving assistance that avoids the object may not be performed.

In addition, even if the target object behaves as described above, it often enters the course of the host vehicle, and the driver's warning and driving operation support that avoids the target object are not performed. This is not preferable because the vehicle contacts with the vehicle.
The present invention has been made to solve such a problem, and the object of the present invention is to determine the behavior of an object and reliably support the driver to prevent contact with the object. An object of the present invention is to provide a vehicle driving support device that can handle such a situation.

In order to achieve the above object, in the driving support apparatus for a vehicle according to claim 1, behavior detecting means for detecting the behavior of an object ahead and side of the vehicle, and driving for supporting the driving of the driver of the vehicle. Based on the behavior of the object detected by the person support means and the behavior detection means, the fluctuation frequency of the fluctuation that is the number of fluctuations of the object in a predetermined time and the moving speed of the object in the lateral direction Control means for calculating a certain lateral movement speed and controlling the driver support means based on the wobbling repetition frequency and the lateral movement speed, and the control means is calculated based on the behavior of the object. The flickering repetition frequency and the lateral movement speed that are determined are equal to or higher than the driver assistance threshold obtained from the flickering repetition frequency and the lateral movement speed set in advance in the fluctuation determination map. , And wherein the actuating said driver assist means

Also, in the driving support apparatus according to claim 2 vehicles, according to claim 1, wherein the driver assistance means is a warning means for prompting a warning to the driver, the driver assistance threshold, the alarm unit It is an alarm activation threshold value to be activated.

According to a third aspect of the present invention, there is provided a driving support device for a vehicle according to the first aspect , wherein the driver support means is a driving operation support means for supporting the driving operation of the vehicle by the driver, and the driver support threshold value. Is an operation support operation threshold value for operating the driving operation support means.
According to a fourth aspect of the present invention, there is provided a driving support apparatus for a vehicle according to the first aspect , wherein the driver support means includes an alarm means for prompting the driver to give an alarm, and a driving operation for supporting the driving operation of the driver by the driver. The driver assistance threshold is an alarm activation threshold for activating the alarm means, and the driving operation assistance in a region where the wobbling repetition frequency and the lateral movement speed are higher than the alarm activation threshold. It is an operation support operation threshold value for operating the means.

According to a fifth aspect of the present invention, there is provided a driving support apparatus for a vehicle according to the first aspect , wherein the driver support means includes an alarm means for urging the driver to give an alarm, and a driving operation for supporting the driver's driving operation of the vehicle. The driver support threshold is an alarm activation threshold for operating the alarm means, and the driving operation support means in a region where the wobbling repetition frequency and the lateral movement speed are higher than the alarm activation threshold. sequence by the operation support operating threshold for actuating the said control means, based on the behavior of the object, a first fluctuation width of the object within a predetermined time is the number of fluctuation of more than the first predetermined width A wobbling repetition frequency and a horizontal moving speed that is a moving speed of the object in the horizontal direction are calculated, and the first wobbling repetition frequency and the horizontal moving speed are set as a predetermined wobbling determination. The alarm means is activated when the alarm activation threshold is not less than the alarm activation threshold obtained from the fluctuation frequency and the lateral movement speed set in the top, and the fluctuation width of the object within a predetermined time is the first predetermined width. A second wobbling repetition frequency, which is the number of wobbling times greater than a second predetermined width, and the lateral movement speed are calculated, and the second wobbling repetition frequency and the lateral movement speed are set in the wobbling determination map. The driving operation support means is operated when the operation support operation threshold value obtained from the wobbling repetition frequency and the lateral movement speed is equal to or higher.

  According to the invention of claim 1, based on the behavior of the object, calculate the wobbling repetition frequency that is the number of wobbling of the object within a predetermined time and the lateral movement speed that is the moving speed of the object in the lateral direction, Since the driver support means is controlled and operated based on the fluctuation frequency and the lateral movement speed, for example, when the lateral movement speed is slow and the fluctuation frequency is high, such as a bicycle (object) when climbing, If the wobbling speed is high and the wobbling frequency is low, the object may enter the front of the host vehicle. The driving support means can be activated.

As described above, since the operation of the driving support means is controlled using both the wobbling repetition frequency and the lateral movement speed, the driver can be surely supported, and the driver's assistance can be prevented more than necessary. Can be planned.
Moreover , since the driving support means is operated when the wobbling repetition frequency and the lateral movement speed calculated based on the behavior of the object are equal to or higher than the driving support threshold of the wobbling determination map set in advance, It is possible to reliably control the operation of the driver support means based on the wobbling repetition frequency and the lateral movement speed.

According to a second aspect of the present invention, the alarm means is activated to issue an alarm when the repetition frequency and the lateral movement speed are equal to or higher than the alarm activation threshold on the fluctuation determination map. Since an alarm can be urged to approach the vehicle ahead of the vehicle, contact with the object can be prevented.
According to the invention of claim 3 , the driving operation support means is operated to support the driving of the driver when the wobbling repetition frequency and the lateral movement speed are equal to or higher than the operation supporting operation threshold on the wobbling determination map. In addition, even when the target object enters the front of the host vehicle, driving can be assisted so as to avoid the target object, so that contact with the target object can be prevented.

According to the invention of claim 4 , the alarm operation threshold value for operating the alarm means, and the operation support operation threshold value for operating the driving operation support means in a region where the wobbling repetition frequency and the lateral movement speed are high with respect to the alarm operation threshold value . And the alarm means or the driving operation support means is operated according to the frequency of the object's wobbling repetition and the lateral movement speed, and the approaching state of the object in front of the host vehicle is determined, and the approaching state is determined. In addition, an alarm can be notified to the driver, or driving assistance can be performed, so that contact with the object can be reliably prevented.

According to the invention of claim 5 , the first wobbling repetition frequency in which the wobbling width of the object within a predetermined time is the number of wobblings greater than or equal to the first predetermined width and the moving speed of the object in the lateral direction. A certain lateral movement speed is calculated, the alarm means is activated when the first wobbling repetition frequency and the lateral movement speed are equal to or greater than the alarm activation threshold of the wobbling determination map, and the wobbling width of the object within a predetermined time is A second wobbling repetition frequency that is the number of wobblings greater than or equal to a predetermined width of 2, and when the second wobbling repetition frequency and the lateral movement speed are equal to or higher than the operation supporting operation threshold value of the wobbling determination map, It is designed to be operated, and it is possible to alert the driver and provide driving assistance according to the fluctuation width of the object, so that contact with the object can be prevented more reliably. It is possible.

1 is a schematic configuration diagram of a vehicle driving support apparatus according to a first embodiment of the present invention. It is a flowchart which shows the control routine of the driving assistance control of the driving assistance device of the vehicle which concerns on 1st Example of this invention. It is a wobble determination map of the vehicle driving support device according to the first embodiment of the present invention. It is a schematic block diagram of the driving assistance device of the vehicle which concerns on 2nd Example of this invention. It is a flowchart which shows the control routine of the driving assistance control of the driving assistance device of the vehicle which concerns on 2nd Example of this invention.

A first embodiment of the present invention will be described below with reference to the drawings.
[First embodiment]
FIG. 1 is a schematic configuration diagram of a vehicle driving support apparatus according to a first embodiment of the present invention. The hatched portion in the figure indicates the detection range of the object. The configuration of the vehicle driving support device will be described below.
As shown in FIG. 1, a vehicle driving support apparatus 1 according to a first embodiment of the present invention includes a millimeter wave radar 2 (behavior detecting means) that detects the behavior of an object such as a pedestrian or a bicycle, and an alarm device. A warning light (alarm means) 3 that prompts an alarm by lighting, a speaker (alarm means) 4 that prompts an alarm by emitting an alarm sound, and a steering assist (driving) that assists the driver's steering operation as a driver assistance device An operation support means) 5 and a brake operation assist (drive operation support means) 6 for assisting a driver's brake operation, and a control device for comprehensively controlling the vehicle, including an input / output device and a storage device (ROM) , RAM, nonvolatile RAM, etc.) and a central processing unit (CPU), etc., and an electronic control unit (hereinafter referred to as ECU) (control means) 7.

The millimeter wave radar 2 is connected to the input side of the ECU 7, and detection information from the millimeter wave radar 2 is input.
On the other hand, the warning light 3, the speaker 4, the steering assist 5 and the brake operation assist 6 are connected to the output side of the ECU 7.
Based on the detection information of the behavior of the object 10 from the millimeter wave radar 2, the ECU 7 performs the fluctuation repetition frequency, which is the number of times the fluctuation width of the object 10 is a predetermined value or more in a predetermined time, and the horizontal direction of the object 10. Measure the moving speed. Then, the ECU 7 notifies the driver of an alarm based on the repetition frequency and the lateral movement speed, or assists the driving operation of the driver, and the warning light 3 and the speaker 4 or the steering assist 5 and the brake. The operation assist 6 is controlled.

Hereinafter, the driving assistance control procedure in the ECU 7 according to the first embodiment of the present invention configured as described above will be described.
FIG. 2 is a flowchart showing a control routine for driving support control according to the first embodiment of the present invention, and FIG. 3 is a wobbling determination map of the driving support device for a vehicle, and a solid line in the drawing indicates a region where an alarm is executed. Indicates an alarm operation region (alarm operation threshold), and a broken line indicates an operation support operation region (operation support operation threshold) for assisting driving operation.

As shown in FIG. 2, in step S <b> 10, the lateral movement speed of the target object 10 is measured based on the detection information of the target object 10 from the millimeter wave radar 2. Then, the process proceeds to step S12.
In step S12, based on the detection information of the object 10 from the millimeter wave radar 2, the fluctuation repetition frequency, which is the number of times that the fluctuation width of the object 10 exceeds the predetermined value shown in FIG. Then, the process proceeds to step S14.

  In step S14, whether or not the wobbling repetition frequency and the lateral movement speed of the target object 10 are within the warning operation region of the wobbling determination map shown in FIG. 3, that is, the target object 10 may enter the front of the host vehicle. It is determined whether or not there is. If the determination result is true (Yes), the wobbling repetition frequency and the lateral movement speed are within the alarm operating range, and there is a possibility that the object 10 enters the front of the host vehicle, the process proceeds to step S16, and the determination result is false ( If the wobbling repetition frequency and the lateral movement speed are not within the alarm operation region and there is no possibility that the object 10 will enter the front of the host vehicle, the routine is returned.

  In step S16, whether the repetition frequency and the lateral movement speed of the object 10 are within the operation support operation area, which is an area where the repetition repetition frequency and the lateral movement speed are higher than the alarm operation area of the fluctuation determination map shown in FIG. Whether or not there is a possibility that the object 10 enters the front of the host vehicle and comes into contact with the host vehicle. If the determination result is true (Yes), the wobbling repetition frequency and the lateral movement speed are within the operation support operation area, and there is a possibility that the object 10 enters the front of the host vehicle and comes into contact with the host vehicle, the process proceeds to step S18. Then, the steering assist 5 and the brake operation assist are actuated so as to avoid the object 10, and this routine is returned. Further, if the determination result is false (No), the wobbling repetition frequency and the lateral movement speed are not in the operation support operation area, and there is no possibility that the object 10 enters the front of the host vehicle and comes into contact with the host vehicle, step S18. Then, the warning lamp 3 and the speaker 4 are operated so as to urge the driver to warn that the object 10 may enter the front of the host vehicle, and the routine returns.

  As described above, in the vehicle driving support device 1 according to the first embodiment of the present invention, based on the detection information of the object 10 from the millimeter wave radar 2, the object 10 moves within the predetermined time and the lateral movement speed. The wobbling repetition frequency, which is the number of times that the wobbling width of 10 exceeds the predetermined value, is measured, and if the wobbling repetition frequency and the lateral movement speed of the object 10 are within the warning operation area of the wobbling determination map, the object 10 is The warning light 3 and the speaker 4 are activated to notify the driver that there is a possibility that the vehicle will enter the front of the vehicle, and the repetition frequency and the lateral movement speed of the object 10 are more and more unstable than the alarm activation region of the fluctuation determination map. If the object 10 is in the operation support operation region, which is a region where the frequency and the lateral movement speed are high, the object 10 may enter the front of the host vehicle and come into contact with the host vehicle. It actuates the door 5 and the brake operation assistant so that to avoid the object 10.

Therefore, based on whether or not it is within the alarm activation region or the operation support operation region based on the wobbling repetition frequency and the lateral movement speed, the approach situation of the object 10 ahead of the host vehicle is discriminated and matched to the approach situation. Since the driver can be alerted or the driving operation can be supported, the driver can be urged to respond step by step to reliably prevent contact with the object. In particular, the driving support for warning and avoidance is controlled using both the wobble repetition frequency and the lateral movement speed, so that the driver can be supported with certainty and more than necessary Support can also be prevented.
[Second Embodiment]
Hereinafter, a vehicle driving support apparatus 1 'according to a second embodiment of the present invention will be described.

The second embodiment is different from the first embodiment in the measurement of the frequency of repeated wobbling of the object 10 by the ECU 7 ′ and the determination method for operating the alarm device or the driving support device. Below, the driving assistance control point in ECU7 'is demonstrated.
FIG. 4 is a schematic configuration diagram of a vehicle driving support apparatus 1 ′ according to the second embodiment of the present invention. The hatched portion in the figure indicates the detection range of the object. FIG. 5 is a flowchart showing a control routine for driving support control according to the second embodiment of the present invention.

As shown in FIG. 5, in step S <b> 10, the lateral movement speed of the target object 10 is measured based on the detection information of the target object 10 from the millimeter wave radar 2. Then, the process proceeds to step S12 ′.
In step S12 ′, based on the detection information of the object 10 from the millimeter wave radar 2, the first fluctuation is the number of times that the fluctuation width of the object 10 exceeds the first predetermined width shown in FIG. Measure the repetition frequency. Then, the process proceeds to step S13 ′.

In step S13 ′, based on the detection information of the object 10 from the millimeter wave radar 2, the fluctuation width of the object 10 exceeds a second predetermined width wider than the first predetermined width shown in FIG. 4 within a predetermined time. The second wobbling repetition frequency which is the number of times is measured. Then, the process proceeds to step S14 ′.
In step S14 ′, whether or not the first wobbling repetition frequency and the lateral movement speed of the object 10 are within the alarm operating region (above the alarm operating threshold) of the wobbling determination map shown in FIG. It is determined whether or not there is a possibility of entering the front of the host vehicle. If the determination result is true (Yes), the first wobbling repetition frequency and the lateral movement speed are within the alarm operation area, and there is a possibility that the object 10 enters the front of the host vehicle, the process proceeds to step S15 ′, and the determination is made. If the result is false (No), the first wobbling repetition frequency and the lateral movement speed are not in the alarm operating region, and there is no possibility that the object 10 enters the front of the host vehicle, the routine is returned.

In step S15 ′, the warning light 3 and the speaker 4 are operated so as to alert the driver that the object 10 may enter the front of the host vehicle. Then, the process proceeds to step S16 ′.
In step S16 ′, the operation support operation area in which the second wobbling repetition frequency and the lateral movement speed of the object 10 are areas where the wobbling repetition frequency and the lateral movement speed are higher than the alarm operation area of the wobbling determination map shown in FIG. It is determined whether it is within (operation support operation threshold or more), that is, whether or not the object 10 may enter the front of the host vehicle and come into contact with the host vehicle. If the determination result is true (Yes), the second wobbling repetition frequency and the lateral movement speed are in the operation support operation area, and there is a possibility that the object 10 enters the front of the host vehicle and comes into contact with the host vehicle, the step Proceeding to S18, the steering assist 5 and the brake operation assist are operated so as to avoid the object 10, and this routine is returned. Further, if the determination result is false (No), the second wobbling repetition frequency and the lateral movement speed are not in the operation support operation area, and there is no possibility that the object 10 enters the front of the host vehicle and contacts the host vehicle. Return this routine.

  As described above, in the vehicle driving support device 1 ′ according to the second embodiment of the present invention, the object 10 is detected within the predetermined time and the lateral movement speed of the object 10 based on the detection information of the object 10 from the millimeter wave radar 2. The first wobbling repetition frequency, which is the number of times that the wobbling width of the object 10 exceeds the first predetermined width, is measured, and the first wobbling repetition frequency and the lateral movement speed of the object 10 are in the warning operation area of the wobbling determination map. If there is, there is a possibility that the object 10 may enter the front of the host vehicle, the warning light 3 and the speaker 4 are operated to notify the driver of the alarm, and the wobbling width of the object 10 exceeds the second predetermined width. If the second wobbling repetition frequency and the lateral movement speed, which are the same number of times, are in the operation support operation area where the wobbling repetition frequency and the lateral movement speed are higher than the warning operation area of the wobbling determination map, the object 10 is As enters the front of the vehicle may come into contact with the vehicle, so that to avoid the object 10 operates the steering assist 5 and the brake operation assistant.

Accordingly, it is determined whether the object 10 is in the alarm operation region or the operation support operation region based on the fluctuation width of the object 10, and it is possible to notify the driver of the alarm or to support the driving operation. Contact with the object can be prevented.
This is the end of the description of the embodiment of the present invention. However, the embodiment of the present invention is not limited to the above embodiment.

In the above embodiment, the millimeter wave radar 2 that detects the behavior of the object is used. However, the present invention is not limited to this. For example, there is no problem even if the behavior is detected by a camera or the like. Needless to say, the same effect can be obtained.
In addition, the alarm device and the operation support device are provided, but the invention is not limited to this, and only the alarm device may be provided. In this case, while suppressing an increase in cost, Contact with the object 10 can be prevented.

1,1 'Driving support device 2 Millimeter wave radar (behavior detection means)
3 warning lights (alarm means)
4 Speaker (alarm means)
5 Steering assist (driving operation support means)
6 Brake operation assist (Driving operation support means)
7, 7 'ECU (control means)
10 Object

Claims (5)

Behavior detecting means for detecting the behavior of an object in front and side of the vehicle;
Driver support means for supporting the driving of the driver of the vehicle;
Based on the behavior of the object detected by the behavior detecting means, a wobbling repetition frequency that is the number of wobbling of the object within a predetermined time, and a lateral movement speed that is a moving speed of the object in the lateral direction, Control means for controlling the driver assistance means based on the wobbling repetition frequency and the lateral movement speed ,
The control means is a driver assistance threshold in which the wobbling repetition frequency and the lateral movement speed calculated based on the behavior of the object are obtained from the wobbling repetition frequency and the lateral movement speed set in advance in the wobbling determination map. When it is above, the driver assistance means is operated , The driving assistance device of vehicles characterized by things. The driver support means is an alarm means for urging the driver to issue an alarm,
The vehicle driver assistance device according to claim 1 , wherein the driver assistance threshold is an alarm activation threshold for activating the alarm means. The driver support means is a driving operation support means for supporting the driving operation of the vehicle by the driver,
2. The vehicle driving support apparatus according to claim 1 , wherein the driver assistance threshold is an operation assistance operation threshold for activating the driving operation assistance means. The driver support means includes alarm means for urging the driver to alarm, and driving operation support means for supporting the driver's driving operation of the vehicle,
The driver support threshold includes an alarm operation threshold for operating the alarm unit, and an operation support operation for operating the driving operation support unit in a region where the wobbling repetition frequency and the lateral movement speed are high with respect to the alarm operation threshold. The vehicle driving support device according to claim 1 , wherein the driving assistance device is a threshold value . The driver support means includes alarm means for urging the driver to give an alarm, and driving operation support means for supporting the driver's driving operation of the vehicle,
The driver support threshold includes an alarm operation threshold for operating the alarm unit, and an operation support operation for operating the driving operation support unit in a region where the wobbling repetition frequency and the lateral movement speed are high with respect to the alarm operation threshold. A threshold ,
Based on the behavior of the object, the control means has a first wobbling repetition frequency in which the wobbling width of the object within a predetermined time is the number of wobblings greater than or equal to a first predetermined width, and the horizontal direction of the object. The alarm operation is calculated such that the first wobbling repetition frequency and the horizontal moving speed are calculated from the wobbling repetition frequency and the horizontal moving speed set in a preset wobbling judgment map. Activating the alarm means if it is above a threshold,
Further, the second fluctuation repetition frequency and the lateral movement speed, which are the number of fluctuations of the second predetermined width or more, in which the fluctuation width of the object within a predetermined time is larger than the first predetermined width, are calculated, The driving operation support means is activated when the wobbling repetition frequency of 2 and the lateral movement speed are equal to or greater than the operation support operation threshold obtained from the wobbling repetition frequency and lateral movement speed set in the wobbling determination map. The vehicle driving support device according to claim 1 .

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