JP7344077B2 - Collision determination device - Google Patents

Description

The present invention relates to a collision determination device.

2. Description of the Related Art Conventionally, there has been known a device that detects objects around a host vehicle and predicts a collision between the detected object and the host vehicle (for example, Patent Document 1). This device detects objects around the vehicle based on ultrasonic waves transmitted and received from a radar sensor installed at the front end of the vehicle.

Japanese Patent Application Publication No. 2004-230947

Existing collision detection devices detect the possibility of a collision between the own vehicle and the other vehicle based on the position of the own vehicle and the path of the other vehicle when detecting other vehicles around the own vehicle as objects around the own vehicle. Determine. In this case, if the other vehicle's course is determined at the center position in the width direction of the other vehicle, there is a concern that the collision distance required for the other vehicle to collide with the own vehicle may not be accurately determined.

In other words, when another vehicle approaches from diagonally ahead in the direction of travel of the own vehicle, the collision distance of the other vehicle with respect to the own vehicle is different at the center position in the width direction, the left end position in the width direction, and the right end position in the width direction of the other vehicle. There is a concern that this may affect the accuracy of collision determination.

The present invention has been made in view of the above circumstances, and an object thereof is to provide a collision determination device that can appropriately calculate the collision distance required for another vehicle to collide with the own vehicle.

A means for solving the above problem is a collision determination device that determines the possibility of a collision between the own vehicle and another vehicle based on the position of the own vehicle and the travel path of other vehicles surrounding the own vehicle. an extension line creation unit that creates an extension line that extends linearly from the front of the own vehicle in the width direction of the own vehicle; A left course along the left side of the other vehicle as seen from the vehicle and a right course along the right side of the vehicle are determined, and the intersections of these left and right courses with the extension line are calculated as a first intersection and a second intersection, respectively. and an intersection calculation unit, when the corner on the side closer to the other vehicle among the left and right corners of the front surface of the own vehicle in the traveling direction is located between the first intersection point and the second intersection point, a collision point calculation unit that calculates the shortest collision point of the own vehicle as the closest collision point to the other vehicle, and the other vehicle determines whether the other vehicle a collision distance calculation unit that calculates a collision distance required until the vehicle collides with the vehicle.

In determining a collision between the own vehicle and another vehicle, the possibility of a collision is determined based on the position of the own vehicle while the vehicle is running and the path of the other vehicle. In this case, if the other vehicle's course is determined at the center position in the width direction of the other vehicle, there is a concern that the collision distance required for the other vehicle to collide with the own vehicle may not be accurately determined. In other words, when another vehicle approaches from diagonally ahead in the direction of travel of the own vehicle, the collision distance of the other vehicle with respect to the own vehicle is different at the center position in the width direction, the left end position in the width direction, and the right end position in the width direction of the other vehicle. There is a concern that this may affect the accuracy of collision determination.

In this regard, in the above configuration, an extension line is created that extends straight from the front of the own vehicle in the direction of travel in the width direction of the own vehicle, and the intersections of the left course and right course of other vehicles with the extension line are the first intersections. , is calculated as the second intersection point. If the corner on the side closer to another vehicle is located between the first intersection point and the second intersection point among the left and right corners of the front surface of the own vehicle in the direction of travel, Calculated as the shortest collision point closest to the vehicle. Then, based on the shortest collision point and the position of the other vehicle, the collision distance required for the other vehicle to collide with the host vehicle is calculated. Thereby, even when another vehicle approaches from diagonally ahead in the direction of travel of the host vehicle, it is possible to appropriately calculate the collision distance between the host vehicle and the other vehicle. As a result, it is possible to appropriately determine a collision between the own vehicle and another vehicle.

The overall configuration diagram of the driving support system. 5 is a flowchart showing the procedure of distance calculation processing. FIG. 3 is an explanatory diagram showing the positional relationship between the host vehicle and other vehicles.

(Embodiment)
Hereinafter, an embodiment in which a control device according to the present invention is applied to an on-vehicle driving support system 100 will be described with reference to the drawings.

As shown in FIG. 1, the driving support system 100 according to the present embodiment includes a camera 11, a sonar device 12, an image processing ECU 21, a vehicle ECU 22, and a safety device 30.

The camera 11 is, for example, a monocular camera. The cameras 11 are attached to the front end, the rear end, and both sides of the own vehicle, and take images of the surroundings of the own vehicle. The camera 11 transmits image information of the captured image to the image processing ECU 21. Note that in this embodiment, the camera 11 corresponds to an "imaging device."

The sonar device 12 is, for example, an ultrasonic sensor that uses ultrasonic waves as a transmission wave, or a radar device that uses a high-frequency signal in the millimeter wave band as a transmission wave. The sonar devices 12 are mounted on the front end, rear end, and both sides of the host vehicle, and measure distances to objects around the host vehicle. Specifically, a probe wave is transmitted at a predetermined period, and reflected waves are received by a plurality of antennas. A plurality of detection points on the object are detected based on the transmission time of the exploration wave and the reception time of the reflected wave, and the distance to the object is thereby measured. In addition, the direction of the object is calculated based on the phase difference between the reflected waves received by multiple antennas. If the distance to the object and the direction of the object can be calculated, the position information of the object relative to the own vehicle can be specified.

Furthermore, the sonar device 12 calculates the moving speed of the object based on the frequency of the reflected wave reflected by the object, which has changed due to the Doppler effect. As a result, objects existing around the host vehicle are detected as stationary objects. Specifically, when the sum of the moving speed of the object and the vehicle speed of the host vehicle becomes zero, the object is detected as a stationary object. The sonar device 12 transmits detection information of stationary objects around the host vehicle to the vehicle ECU 22. Note that the stationary object detection information includes information on the position of the stationary object with respect to the own vehicle.

The ECUs 21 and 22 are control devices equipped with well-known microcomputers including a CPU, ROM, RAM, flash memory, and the like. The ECUs 21 and 22 acquire various signals and perform various controls based on the acquired information.

Specifically, the image processing ECU 21 detects moving objects around the host vehicle based on images captured by the camera 11. Specifically, the image processing ECU 21 calculates the position of each object appearing in the captured image of the camera 11 with respect to the own vehicle. Furthermore, the image processing ECU 21 calculates the moving speed of each object based on this position. The image processing ECU 21 calculates the optical flow of the object based on the image information transmitted from the camera 11 at predetermined intervals, and calculates the moving speed of the object based on the calculated optical flow. Here, the optical flow is a method in which a plurality of boundary points are detected as points that construct a boundary line whose brightness has changed in an image, and the detected plurality of boundary points are expressed as a motion vector. As a result, moving objects existing around the host vehicle are detected.

The image processing ECU 21 then calculates the moving path of the moving object based on the position and moving speed. That is, the image processing ECU 21 calculates the moving path of the moving object based on the captured image of the camera 11. The image processing ECU 21 transmits moving object detection information to the vehicle ECU 22. Note that the detection information includes information on the position of the detected moving object with respect to the own vehicle, the moving speed, and the moving route.

Vehicle ECU 22 operates safety device 30 based on detection information of moving objects around the vehicle transmitted from image processing ECU 21 . The safety device 30 is a device that avoids a collision between the host vehicle and an object or reduces collision damage, and includes a brake device 31, a seat belt device 32, and a warning device 33. Note that in this embodiment, the vehicle ECU 22 corresponds to a "collision determination device."

The brake device 31 decelerates the own vehicle based on a collision avoidance signal output from the vehicle ECU 22. The seatbelt device 32 winds up the seatbelt based on a collision avoidance signal output from the vehicle ECU 22 to tighten the seatbelt. The warning device 33 is a device that notifies the driver of the possibility of a collision based on a collision avoidance signal output from the vehicle ECU 22, and is, for example, an audible device such as a speaker or a buzzer installed in the passenger compartment of the own vehicle. There are devices that provide notification and devices that provide visual notification, such as displays.

A yaw rate sensor 13, a steering angle sensor 14, and a vehicle speed sensor 15 are connected to the vehicle ECU 22. The yaw rate sensor 13 is provided, for example, at the center of the host vehicle, and outputs a yaw rate signal to the vehicle ECU 22 in accordance with the rate of change in the steering amount of the host vehicle. The steering angle sensor 14 is attached to, for example, a steering rod of the vehicle, and outputs a steering angle signal to the vehicle ECU 22 in response to changes in the steering angle of the steering wheel caused by operations by the driver. The vehicle speed sensor 15 is attached to, for example, a wheel portion of the own vehicle, and detects the rotation direction of the wheel, and outputs a vehicle speed signal corresponding to the wheel speed to the vehicle ECU 22. The vehicle ECU 22 calculates the own vehicle course, which is the traveling course of the own vehicle, based on the yaw rate signal, the steering angle signal, and the vehicle speed signal.

By the way, when other vehicles around the own vehicle are detected as objects around the own vehicle, the distance between the own vehicle and the other vehicle is determined based on the position of the own vehicle and the other vehicle's path W, which is the movement path (driving path) of the other vehicle. Determine the possibility of collision. Here, the other vehicle course W is, for example, a center course WA at the center position of the other vehicle in the width direction, and is calculated, for example, as moving object detection information in the image processing ECU 21. In this case, if the other vehicle's course W is determined at the center position in the width direction of the other vehicle, there is a concern that the collision distance DX required for the other vehicle to collide with the own vehicle may not be accurately determined.

In other words, when another vehicle approaches from diagonally ahead in the direction of travel of the own vehicle, the collision distance DX of the other vehicle with respect to the own vehicle is different at the center position in the width direction, the left end position in the width direction, and the right end position in the width direction of the other vehicle. There is a concern that this may affect the accuracy of collision determination.

Therefore, in this embodiment, collision avoidance processing is performed. In the collision avoidance process, an extension line LX extending linearly from the front in the direction of travel of the host vehicle in the width direction of the host vehicle is created, and the intersections of the left course WB and right course WC of the other vehicle with respect to the extension line LX are determined as respective points. The first intersection point P1 and the second intersection point P2 are calculated. If the corner on the side closer to the other vehicle is located between the first intersection P1 and the second intersection P2 among the left and right corners of the front surface of the own vehicle in the traveling direction, that corner is calculated as the shortest collision point PX closest to the other vehicle. Then, based on the shortest collision point PX and the position of the other vehicle, the collision distance DX required for the other vehicle to collide with the host vehicle is calculated.

FIG. 2 shows a flowchart of collision avoidance processing performed based on another vehicle CB existing in front of the own vehicle CA in the traveling direction. The vehicle ECU 22 repeatedly performs distance calculation processing at predetermined intervals when the own vehicle is traveling. Moreover, FIGS. 3(a) and 3(b) are explanatory diagrams showing the positional relationship between the host vehicle CA and the other vehicle CB.

When the collision avoidance process is started, first in step S11, it is determined whether or not another vehicle CB exists in front of the host vehicle CA in the traveling direction based on the detection information of the other vehicle CB received from the image processing ECU 21. If a negative determination is made in step S11, the collision avoidance process ends. On the other hand, if an affirmative determination is made in step S11, the process advances to subsequent step S12.

In step S12, the center course WA at the center in the width direction of the other vehicle CB is acquired as the other vehicle course W, which is the travel course of the other vehicle CB.In the subsequent step S13, the center course WA of the other vehicle CB is A left course WB along the left side of another vehicle as seen from the vehicle CA and a right course WC along the right side of the other vehicle are set.

Note that if the other vehicle detection information received from the image processing ECU 21 includes the other vehicle's left course WB and right course WC in addition to the other vehicle's center course WA, the process of step S13 is unnecessary. It is.

In FIGS. 3(a) and 3(b), another vehicle CB is approaching from the left front of the host vehicle CA, and the vehicle ECU 22 determines the center course WA, left course WB, and right course WC for the other vehicle CB, respectively. .

In the subsequent step S14, an extension line LX is created that extends linearly from the front of the host vehicle CA in the traveling direction in the width direction of the host vehicle CA. The extension line LX is created, for example, by linearly approximating a cross section of the front surface of the host vehicle CA at a predetermined height in the traveling direction. The extension line LX includes both left and right corners of the front of the host vehicle CA in the traveling direction. In this embodiment, the process of step S14 corresponds to the "extension line creation section".

In step S15, the intersections of the left course WB and right course WC of the other vehicle CB with the extension line LX are calculated as the first intersection P1 and the second intersection P2, respectively. In the following step S16, it is determined whether or not the corner on the side closer to the other vehicle CB is located between the first intersection P1 and the second intersection P2 among the left and right corners of the front surface of the own vehicle CA in the traveling direction. judge. Note that in this embodiment, the process of step S15 corresponds to the "intersection point calculation unit".

Speaking of FIGS. 3(a) and (b), in FIG. 3(a), the left corner of the front surface in the traveling direction of the own vehicle CA is the corner on the side closer to the other vehicle CB, and that corner is the first corner. It is located between the intersection point P1 and the second intersection point P2. In this case, an affirmative determination is made in step S16, and the process proceeds to step S17. On the other hand, in FIG. 3(b), the left corner (the corner on the side closer to the other vehicle CB) of the front of the own vehicle CA in the traveling direction is located between the first intersection P1 and the second intersection P2. Not yet. In this case, a negative determination is made in step S16, and the process proceeds to step S20.

In step S17, the corner of the front surface of the host vehicle CA in the direction of travel that is closer to the other vehicle CB is calculated as the shortest collision point PX of the host vehicle CA that is closest to the other vehicle CB. At this time, when the other vehicle CB approaches the own vehicle CA from diagonally in front of the left, the shortest collision point PX is the left corner of the front of the own vehicle CA in the direction of travel, and the other vehicle CB approaches the right side of the own vehicle CA. When approaching diagonally from the front, the shortest collision point PX is the right corner of the front of the host vehicle CA in the direction of travel. In addition, in this embodiment, the process of step S17 corresponds to a "collision point calculation unit".

In subsequent steps S18 and S19, the collision distance DX required for the other vehicle CB to collide with the host vehicle CA is calculated based on the shortest collision point PX and the position of the other vehicle CB. Calculation of the collision distance DX will be specifically explained using FIG. 3(a). First, in step S18, the distance to the first intersection P1 on the left course WB of the other vehicle CB is calculated as the reference distance D1.

In the following step S19, the intersection angle θ where the left course WB of the other vehicle CB and the extension line LX intersect, and the separation distance D2 between the shortest collision point PX and the first intersection P1 are determined with respect to the reference distance D1 calculated in step S18. An offset distance D3 is calculated based on. Then, the collision distance DX is calculated by adding the offset distance D3 to the reference distance D1. That is, the collision distance DX is calculated by performing offset correction on the reference distance D1 based on the intersection angle θ and the separation distance D2. The offset distance D3 is expressed as in (Equation 1) using the intersection angle θ and the separation distance D2.

D3=D2×cosθ...(Formula 1)
Although not shown, the collision distance DX may be calculated using the distance on the right course WC of the other vehicle CB. In this case, the distance to the second intersection P2 on the right course WC of the other vehicle CB is calculated as the reference distance D1, and the intersection where the right course WC of the other vehicle CB and the extension line LX intersect with respect to the reference distance D1. An offset distance D3 is calculated based on the angle θ and the separation distance D2 between the shortest collision point PX and the second intersection P2. Then, the collision distance DX is calculated by subtracting the offset distance D3 from the reference distance D1.

On the other hand, in step S20, one of the first intersection P1 and the second intersection P2 that is closer to the other vehicle CB is calculated as the shortest collision point PX. In FIG. 3(b), the first intersection P1 is an intersection close to the other vehicle CB, and the first intersection P1 is calculated as the shortest collision point PX. In subsequent step S18, the distance to the first intersection P1 on the left course WB of the other vehicle CB is calculated as a reference distance D1. In addition, in this embodiment, the processing of steps S18 and S21 corresponds to a "reference distance calculation section". Note that in this embodiment, the processes in steps S19 and S22 correspond to a "collision distance calculation section".

In steps S16 to S22, when the path W of another vehicle intersects diagonally with respect to the own vehicle CA, the corner on the side closer to the other vehicle CB in the front direction of the own vehicle CA in the traveling direction is located between P1 and P2. For example, the reference distance D1 from the other vehicle CB to the first intersection P1 (or the second intersection P2) is different from the collision distance DX required for the other vehicle CB to collide with the own vehicle CA. Therefore, the collision distance DX is calculated by offset-correcting the reference distance D1. On the other hand, if the same corner is not located between P1 and P2, the reference distance D1 from the other vehicle CB to the first intersection P1 (or second intersection P2) and the distance between the other vehicle CB and the own vehicle CA. The collision distance DX required until the collision coincides. Therefore, the reference distance D1 is set as the collision distance DX without being offset corrected.

Thereafter, in step S23, based on the collision distance DX calculated in steps S19 and S22, collision avoidance control for avoiding a collision with another vehicle CB is performed, and the collision avoidance process is ended.

According to this embodiment described in detail above, the following effects can be obtained.

- In this embodiment, an extension line LX is created that extends linearly in the width direction of the own vehicle from the front in the traveling direction of the own vehicle, and the intersections of the left course WB and right course WC of other vehicles with respect to the extension line LX are respectively The first intersection point P1 and the second intersection point P2 are calculated. If the corner on the side closer to the other vehicle is located between the first intersection P1 and the second intersection P2 among the left and right corners of the front surface of the own vehicle in the traveling direction, that corner is calculated as the shortest collision point PX closest to the other vehicle. Then, based on the shortest collision point PX and the position of the other vehicle, the collision distance DX required for the other vehicle to collide with the host vehicle is calculated. Thereby, even when another vehicle approaches from diagonally ahead in the direction of travel of the host vehicle, the collision distance DX between the host vehicle and the other vehicle can be appropriately calculated. As a result, it is possible to appropriately determine a collision between the own vehicle and another vehicle.

- In the present embodiment, a reference distance D1 from another vehicle to the first intersection P1 (or second intersection P2) in the direction in which the left course WB (or right course WC) extends is calculated, and with respect to the reference distance D1, Offset correction is performed based on the intersection angle θ where the left course WB (or right course WC) and the extension line LX intersect, and the separation distance D2 between the shortest collision point PX and the first intersection P1 (or second intersection P2). Then, the collision distance DX was calculated. In this case, the collision distance DX can be appropriately calculated for the other vehicle while taking into consideration the intersection angle θ with respect to the own vehicle and the offset amount in the width direction of the own vehicle.

- In the present embodiment, when the path W of another vehicle intersects diagonally with respect to the own vehicle CA, the corner on the side closer to the other vehicle CB at the front of the own vehicle CA in the traveling direction must be located between P1 and P2. For example, the reference distance D1 from the other vehicle CB to the first intersection P1 (or the second intersection P2) is different from the collision distance DX required for the other vehicle CB to collide with the own vehicle CA. Therefore, the collision distance DX is calculated by offset-correcting the reference distance D1. On the other hand, if the same corner is not located between P1 and P2, the reference distance D1 from the other vehicle CB to the first intersection P1 (or second intersection P2) and the distance between the other vehicle CB and the own vehicle CA. The collision distance DX required until the collision coincides. Therefore, the reference distance D1 is set as the collision distance DX without being offset corrected. In this case, the collision distance DX can be appropriately calculated while taking into account the approaching direction and position of the other vehicle CB with respect to the host vehicle CA.

(Other embodiments)
Note that each of the above embodiments may be modified and implemented as follows.

- The camera 11 is not limited to a monocular camera, and may be a stereo camera, for example.

- In the above embodiment, when selecting the corner on the side closer to the other vehicle CB among the left and right corners of the front surface of the own vehicle CA in the traveling direction, the left course WB (or right course WC) and the extension line LX are selected. The same corner portions may be selected based on the intersection angle θ.

Also, based on the moving direction of the other vehicle in the width direction of the own vehicle, the corner on the side closer to the other vehicle CB may be selected from both the left and right corners of the front surface of the own vehicle CA in the traveling direction. Specifically, when the other vehicle is moving from the left side to the right side in the width direction of the host vehicle, the left corner portion may be selected as the corner portion on the side closer to the other vehicle CB. Further, in the width direction of the own vehicle, when the other vehicle is moving from the right side to the left side, the right corner portion may be selected as the corner portion on the side closer to the other vehicle CB.

- Although the above-mentioned embodiment showed the example where vehicle ECU22 corresponds to a control device, it is not restricted to this, and what combined image processing ECU21 and vehicle ECU22 may correspond to a control device. That is, the control device may generate detection information of moving objects around the host vehicle based on images captured by the imaging device.

22...Vehicle ECU, DX...Collision distance, LX...Extension line, P1...First intersection, P2...Second intersection, PX...Shortest collision point, W...Other vehicle course, WB...Left course, WC...Right course.

Claims (3)

A collision determination device (22) that determines the possibility of a collision between the own vehicle and another vehicle based on the position of the own vehicle and the other vehicle path (W) that is the traveling route of other vehicles around the own vehicle, ,
an extension line creation unit that creates an extension line (LX) extending linearly from the front of the host vehicle in the width direction of the host vehicle;
As the other vehicle course of another vehicle existing in front of the own vehicle in the traveling direction, a left course (WB) along the left side of the other vehicle as seen from the own vehicle and a right course (WC) along the right side of the other vehicle are determined, and an intersection calculation unit that calculates the intersections of the left course and the right course with the extension line as a first intersection (P1) and a second intersection (P2), respectively;
If the corner of the left and right corners of the front surface of the own vehicle in the direction of travel, which is closer to the other vehicle, is located between the first intersection point and the second intersection point, that corner is It is calculated as the shortest collision point (PX) closest to the other vehicle, and if the corner is not located between the first intersection and the second intersection, a collision point calculation unit that calculates an intersection closer to the other vehicle as the shortest collision point ;
a collision distance calculation unit that calculates a collision distance (DX) required for another vehicle to collide with the host vehicle based on the shortest collision point calculated by the collision point calculation unit and the position of the other vehicle;
A collision determination device comprising: comprising a reference distance calculation unit that calculates a distance from the other vehicle to the first intersection point or the second intersection point as a reference distance (D1) in the direction in which the other vehicle path extends;
The collision distance calculation unit calculates, with respect to the reference distance, an intersection angle (θ) at which the other vehicle's path intersects with the extension line, and a separation distance between the shortest collision point and the first intersection point or the second intersection point. The collision determination device according to claim 1, wherein the collision distance is calculated by performing offset correction based on (D3). The collision distance calculation unit offset-corrects the reference distance if a corner of the front of the own vehicle in the traveling direction on the side closer to the other vehicle is located between the first intersection point and the second intersection point. 3. The collision distance is calculated, and if the corner is not located between the first intersection point and the second intersection point, the reference distance is set as the collision distance without offset correction. Collision determination device.

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