CN105228864B - Avoid contact with and use servicing unit - Google Patents
Avoid contact with and use servicing unit Download PDFInfo
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- CN105228864B CN105228864B CN201380076784.XA CN201380076784A CN105228864B CN 105228864 B CN105228864 B CN 105228864B CN 201380076784 A CN201380076784 A CN 201380076784A CN 105228864 B CN105228864 B CN 105228864B
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- 230000007246 mechanism Effects 0.000 claims description 52
- 238000012360 testing method Methods 0.000 claims description 13
- 230000008520 organization Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 abstract description 75
- 238000004891 communication Methods 0.000 abstract description 24
- 238000010586 diagram Methods 0.000 description 15
- 230000009471 action Effects 0.000 description 14
- 238000000034 method Methods 0.000 description 14
- 230000008859 change Effects 0.000 description 11
- 230000033001 locomotion Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 10
- 238000009434 installation Methods 0.000 description 8
- 238000001310 location test Methods 0.000 description 7
- 238000013500 data storage Methods 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 230000001133 acceleration Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 4
- 238000002485 combustion reaction Methods 0.000 description 3
- 238000009432 framing Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 2
- 230000000007 visual effect Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000000284 resting effect Effects 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/09—Taking automatic action to avoid collision, e.g. braking and steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
- B60W30/095—Predicting travel path or likelihood of collision
- B60W30/0956—Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/025—Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation
- B62D15/0265—Automatic obstacle avoidance by steering
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2552/00—Input parameters relating to infrastructure
- B60W2552/05—Type of road, e.g. motorways, local streets, paved or unpaved roads
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
- B60W2555/60—Traffic rules, e.g. speed limits or right of way
- B60W2555/80—Country specific, e.g. driver age limits or right hand drive
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/20—Steering systems
- B60W2710/207—Steering angle of wheels
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Traffic Control Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
Of the invention avoiding contact with has with servicing unit (10)：Thing portion (61) is surveyed, it is detected to being present in the object around vehicle (1)；Operating member (70), it is directed to the avoiding contact with for object execution vehicle (1) detected by survey thing portion (61) and uses control；Passing rules detection unit (64), the left and right passing rules of its travel to vehicle (1) keep left or keep to the right and judge.When the left and right rule of communication determined by passing rules detection unit (64) is when keeping left and changing between keeping to the right, operating member (70) changes the control content avoided contact with control according to the changing content of left and right passing rules.
Description
Technical field
Avoided contact with the present invention relates to one kind and use servicing unit.
Background technology
In the prior art, a kind of following deviation decision maker known in people, i.e. the deviation decision maker root
Whether the angle formed according to the travel track from vehicle and the travel track to always car is to from vehicle or inclined to always car
Judged from appropriate traveling road, the suitably traveling road refers to, when along the road driving, from vehicle with to always
Car being capable of appropriate meeting (will not collide) (for example, referring to patent document 1).
In addition, following a kind of light distribution control known in people, i.e. the light distribution control according to from vehicle with to always
The left and right passing rules of the travel from vehicle are kept left or right by the relative position of car situation over time
Side is current to be judged, according to result of determination, from being respectively dedicated of pre-setting keep left and keep to the right with light-operated
Select to perform corresponding distribution controls in system (for example, referring to patent document 2).
【Patent document 1】Japanese invention Patent Publication No 2006-143052
【Patent document 2】Japanese invention Patent Publication No 2012-232685
In the deviation decision maker involved by above-mentioned prior art, when vehicle is led to by the left and right on travel
During the national boundaries that line discipline switches between keep left and keep to the right, such as when Britain is crossed in the straits between vehicle passes through Great Britain and France
During national boundaries between (keeping left) and French (keeping to the right), before and after vehicle passes through national boundaries, it is desirable to suitably enter
Runway bias determining and avoid contact with and use control.Furthermore, in order that carrying out being only limitted to what is kept left or keep to the right
The device of control copes with the switching of left and right passing rules, can as the light distribution control involved by above-mentioned prior art that
Sample, respectively setting is exclusively used in the control for keeping left and keeping to the right, and now, control process can be caused to become tediously long and complexity.
The content of the invention
In view of the foregoing, it is proposed that the present invention, avoided contact with it is an object of the invention to provide one kind and use servicing unit,
Travel left and right passing rules by keep left (rule) switch to and keep to the right (rule) or cut by keeping to the right
Keep left front and rear is changed to, this is avoided contact with can carry out appropriate control with servicing unit by simple process.
The purpose of above-mentioned problem is solved to reach, present invention employs following technical scheme.
(1) of the invention avoiding contact with has with servicing unit：Ce Wu mechanisms, it enters to the object for being present in vehicle periphery
Row detection；Controlling organization, it is directed to the object detected by the Ce Wu mechanisms and the vehicle is carried out to avoid contact with use
Control；Decision mechanism, the left and right passing rules of its travel to the vehicle keep left or keep to the right and carry out
Judge, when the left and right passing rules determined by the decision mechanism it is described keep left and it is described keep to the right between
When changing (be changed into keeping to the right from keeping left, or be changed into keeping left from keeping to the right), the controlling organization root
The control content avoided contact with control is changed according to the changing content of the left and right passing rules.
(2) avoiding contact with described in above-mentioned technical proposal (1) can also have testing agency (to correspond to real with servicing unit
Apply the sensor in mode), the testing agency has left and right attribute, and the controlling organization is according to the left and right passing rules
Changing content change it is described avoid contact with during with the control content for controlling, make what the output signal of the testing agency had
Left and right attribute is overturned, and overturns the left and right attribute having with the controlled quentity controlled variable of control that avoids contact with.
(3) in avoiding contact with servicing unit, when the decision mechanism described in above-mentioned technical proposal (1) or (2)
When not determining the left and right passing rules and keeping left or keep to the right, the controlling organization can suppress described and keep away
The execution of contact-free control.
(4) avoiding contact with described in any one can also have with servicing unit in above-mentioned technical proposal (1)~(3)：
Identification mechanism, it is to traveling is carried out to always car in opposite directions with the vehicle in the object that is detected by the Ce Wu mechanisms
Identification；Mechanism is obtained, it obtains the vehicle and is closed by the relative position to always car that the identification mechanism is recognized
System, the decision mechanism closes according to the vehicle and the relative position to always car that are got by the acquisition mechanism
System, the left and right passing rules of the travel of the vehicle are kept left or kept to the right to be judged.
(5) avoiding contact with described in any one can also have with servicing unit in above-mentioned technical proposal (1)~(3)：
Identification mechanism, its in the object that is detected by the Ce Wu mechanisms with the vehicle in opposite directions traveling to always car and row
The preceding vehicle in front of the direct of travel of the vehicle is sailed to be identified；Mechanism is obtained, its acquisition is known by the identification mechanism
What is be clipped to is described to always car and the relative position relation of the preceding vehicle, and the decision mechanism is according to by the acquisition mechanism
What is got is described to always car and the relative position relation of the preceding vehicle, and the left and right to the travel of the vehicle leads to
Line discipline keeps left or keeps to the right and judged.
(6) in above-mentioned technical proposal (1)~(3) described in any one avoiding contact with servicing unit can also have obtain
Take mechanism, the acquisition mechanism obtains the information of the travel of the vehicle from external device (ED), the decision mechanism according to by
The information for obtaining the travel that mechanism gets, the left and right passing rules to the travel of the vehicle are left
Current still the keeping to the right in side is judged.
(7) in above-mentioned technical proposal (1)~(3) described in any one avoiding contact with servicing unit can also have obtain
Mechanism is taken, the acquisition mechanism obtains the information related to the travel of the vehicle, the decision mechanism from other vehicles
According to the information related to the travel got by the acquisition mechanism, to the left and right of the travel of the vehicle
Passing rules keep left or keep to the right and judged.
When using servicing unit using avoiding contact with described in above-mentioned technical proposal (1), because basis is judged by decision mechanism
The changing content change of the left and right rule of communication that goes out avoids contact with the control content with control, thus, pre-set with switching
It is respectively dedicated keeps left and compared with the situation of the control kept to the right, being prevented from control process becomes tediously long and complexity,
And can suitably carry out deviation judgement and avoid contact with to use control.
When further, using above-mentioned technical proposal (2), only by making the output signal of testing agency there is left and right attribute to run
Simple process just can carry out the appropriate deviation corresponding with the change of left and right rule of communication judge (namely it is decided that
Whether can make vehicle and appropriate traveling road to always car appropriate meeting) if be deviate from from vehicle or to always car.Further,
Only by make to avoid contact with have with the controlled quentity controlled variable of control the simple process that left and right attribute is overturned just can carry out it is appropriate with
Control is used in corresponding the avoiding contact with of change of left and right rule of communication.
In addition, during using above-mentioned technical proposal (3), left and right rule of communication not being kept left or being kept to the right
When being judged, it is prevented from unsuitable the avoiding contact with of execution and uses control.
When further, using above-mentioned technical proposal (4), suitably left and right rule of communication can be kept left or right side
It is current to be judged.
In addition, during using above-mentioned technical proposal (5), and based on vehicle and the relative position relation situation phase to always car
Than that can be kept left to left and right rule of communication earlier or kept to the right and suitably judged.
When further, using above-mentioned technical proposal (6), though vehicle periphery do not exist to always car and preceding vehicle etc. its
During his vehicle, it is also possible to which left and right rule of communication is kept left or kept to the right exactly judges.
In addition, during using above-mentioned technical proposal (7), the much information that can be got from other vehicles can be based on, it is right
Left and right rule of communication keeps left or keeps to the right and suitably judged.
Brief description of the drawings
Fig. 1 is avoiding contact with the structural representation of servicing unit involved by embodiments of the present invention.
Fig. 2 is to represent avoiding contact with the passage situation detection unit institute of servicing unit involved by embodiments of the present invention
Vehicle when keeping left and keeping to the right and the schematic diagram of the relative position to always car for determining.
Fig. 3 is to represent avoiding contact with the passage situation detection unit institute of servicing unit involved by embodiments of the present invention
Vehicle when keeping left and keeping to the right and the schematic diagram of multiple relative positions to always car for determining.
Fig. 4 is to represent avoiding contact with the passage situation detection unit institute of servicing unit involved by embodiments of the present invention
The front vehicles of vehicle front when keeping left and keeping to the right for determining and the schematic diagram of the relative position to always car.
Fig. 5 is to represent avoiding contact with the passage situation detection unit institute of servicing unit involved by embodiments of the present invention
The front vehicles of vehicle front when keeping left and keeping to the right for determining are shown with multiple relative positions to always car
It is intended to.
Fig. 6 is that avoiding contact with as involved by keeping left and keep to the right and represent embodiments of the present invention is filled with auxiliary
The schematic diagram of the deviation state to always car that the passage situation detection unit put is determined.
Fig. 7 is that avoiding contact with as involved by keeping left and keep to the right and represent embodiments of the present invention is filled with auxiliary
The schematic diagram of the deviation state of the vehicle that the passage situation detection unit put is determined.
Fig. 8 is to represent the flow chart avoided contact with the action of servicing unit involved by embodiments of the present invention.
Specific embodiment
Below, of the invention avoiding contact with is illustrated with an implementation method of servicing unit referring to the drawings.
As shown in figure 1, avoiding contact with involved by present embodiment is arranged on vehicle 1 with servicing unit 10, the vehicle 1
The driving force of internal combustion engine (ENG) 11 is passed to by driving wheel W by speed changer (T/M) 12.The vehicle 1 have filming apparatus 13,
Radar installations 14, guider 15, control device 16, brake actuator 17, alarm device 18 and EPS actuators 19.
For example with camera 13a and image processing part 13b, camera 13a can utilize visible ray to filming apparatus 13
Shot with infrared ray.The camera 13a positions of side and configuration near inside rear-view mirror for example in the compartment of front window
Deng on, shot to being set at the detection object region outside vehicle 1 through front window.Image processing part 13a is to by imaging
Head 13a shoots the image procossing that the image that obtains is specified, generates view data, and the view data that will be generated export to
Control device 16.
Radar installations 14 has the radar 14a and radar control portion 14b using electromagnetic waves such as laser and millimeter waves.Setting
Detection object region outside vehicle 1 is divided into multiple angular regions, and radar 14a sends electromagnetic wave to each angular regions
Transmission signal is being scanned.Radar 14a is received because of the back wave that each transmission signal is generated by the object reflection outside vehicle 1
Reflected signal.Radar control portion 14b generates the detection signal corresponding with transmission signal and reflected signal, for example, filled with radar
14 are put to the distance of outside object and because of the speed relative with the object of outside of radar installations 14 obtained from Doppler effect
The related detection signal such as degree, the detection signal that the radar control portion 14b will be generated is exported to control device 16.
Guider 15 has current location test section 21, map data storage part 22, navigation processing unit 23, input unit 24
And display part 25.
Current location test section 21 has positioning signal reception portion 31, and the positioning signal reception portion 31 is received and defended using artificial
Star determines the alignment system of the position of vehicle 1 (for example, Global Positioning System：GPS or Global
Navigation Satellite System：GNSS etc.) framing signal.Current location test section 21 has gyro sensors
Device 32 and vehicle speed sensor 33, wherein, gyro sensor 32 detects that the direction of vehicle 1 and vehicle 1 are with vertical in horizontal plane
Angle of inclination centered on axis on direction is (for example, in the horizontal plane, the axis on the fore-and-aft direction of vehicle 1 is with vertical side
The rotational angle of angle of inclination and vehicle centered on upward axis centered on the axis on the above-below direction by center of gravity,
That is yaw angle etc.) and angle of inclination variable quantity (for example, yaw rate etc.)；Vehicle speed sensor 33 detects vehicle 1
Speed (speed).Current location test section 21 is using the framing signal received by positioning signal reception portion 31 or passes through
Vehicle 1 is calculated using the calculating treatment of the self-discipline boat method of the information detected by gyro sensor 32 and vehicle speed sensor 33
Position (current location).
Map data storage part 22 be for example stored with the current location based on vehicle 1 map match treatment and path of navigation
The treatment such as calculating needed for road-map-data (for example, node, link, link cost, road shape, category of roads and
The information such as left and right passing rules).Node is by the latitude and longitude structure of the required location on the roads such as crossroad and bifurcation mouth
Into coordinate points.Link is the line for connecting each node, and to connect the road interval in each place.Link cost is expression and link
Information of the distance or vehicle 1 of corresponding road interval in the time required for road interval movement.Left and right passing rules
To represent the information of appointed passing rules (keep left and keep to the right) on road.
The road-map-data that navigation processing unit 23 is for example stored using map data storage part 22 is by the present bit of vehicle 1
Put and matched (map match treatment) with map, wherein, the current location of vehicle 1 is utilized by current location test section 21 and positioned
Acquired in the calculating treatment both approaches or a wherein method of signal and self-discipline boat method.Navigation processing unit 23 will be according to by ground
The current location of vehicle 1 that the correction of figure matching treatment is obtained or operator are to the vehicle set by the input operation of input unit 24
Exported to display part 25 together with the road-map-data that 1 position stores with map data storage part 22.
In addition, navigation processing unit 23 performs the treatment such as route searching and Route guiding of vehicle 1, vehicle 1 is arrived into destination
Routing information and the road-map-data that is stored with map data storage part 22 of various additional informations together with export to display part
25。
Control device 16 have travel control unit 41, engine control portion 42, speed Control portion 43, brake control section 44 and
EPS control units 46.By each signal of the outputs such as steering angle sensor 51, steering torque sensor 52 and acceleration transducer 53
It is input to control device 16.Steering angle sensor 51 is detected when operating steering wheel (diagram is omitted) by the driver of vehicle 1
Steering angle direction and size, output represent testing result signal.Steering torque sensor 52 is detected by vehicle 1
Driver's operation steering wheel (diagram omit) when steering moment, output represents the signal of testing result.Acceleration transducer
53 acceleration for detecting vehicle 1 are (for example, vehicle fore-aft acceleration in the longitudinal direction and vehicle are in transverse direction (right and left
To) on transverse acceleration etc.), output represents the signal of testing result.
Travel control unit 41 have the thing portion 61, vehicle identification portion 62 of surveying, information acquiring section 63, passing rules detection unit 64,
Trajectory predictions portion 65, from track of vehicle calculating part 66, transversal discrepancy calculating part (lateral separation calculating part) 67, deviation judge
Portion 68, contact prediction section 69 and operating member 70.
The detection signal that thing portion 61 exports according to the view data exported by filming apparatus 13 or by radar installations 14 is surveyed,
It is in each detection object region of camera 13a or radar 14a to being present in around vehicle 1, comprising resting and movement
Body is detected in interior object.
Vehicle identification portion 62 is for example by based on the view data or defeated by radar installations 14 exported by filming apparatus 13
Template matches treatment or shape recognition treatment of the detection signal for going out etc., in the object that is detected by survey thing portion 61 and car
The front vehicles (preceding vehicle) advanced to always car and before the front direction of vehicle 1 of 1 opposite traveling are identified.
Information acquiring section 63 receives playing electric wave, (being illustrated and saved by the roadside communication on road for FM multiplex broadcastings etc.
The signal for slightly) being communicated between the road vehicle for sending, the channel radio sent by inter-vehicular communication by other vehicles (diagram is omitted)
Letter signal and the wireless communication signals by transmissions such as base stations etc., by each signal acquisition and the travel road of vehicle 1 that receive
The related information in road.
For example, information acquiring section 63 can according between the road vehicle received from roadside communication communicate signal,
Come the information that the left and right passing rules for obtaining the travel for representing vehicle 1 keep left or keep to the right.
For example, information acquiring section 63 can according to from other vehicle receivers to inter-vehicular communication wireless communication signals,
Left and right passing rules and expression vehicle that other vehicles on the travel of vehicle 1 are determined are travelled on to obtain over
Information of steering wheel set location of other vehicles around 1 etc..
Passing rules detection unit 64 keeps left or keeps to the right to the left and right passing rules of the travel of vehicle 1
Judged.
For example, passing rules detection unit 64 can be according to being identified by vehicle identification portion 62 to always car and vehicle 1
Relative position relation, the left and right passing rules of the travel of vehicle 1 are kept left or kept to the right to be judged.
In more detail, such as (A) in Fig. 2, shown in (B), passing rules detection unit 64 vehicle 1 with to always car P reality
During meeting, the detection signal exported according to the view data exported by filming apparatus 13 or by radar installations 14, to always
Car P is detected by the right side of vehicle 1 or the left side of vehicle 1 near the border of detection object region D.For example, such as
In Fig. 2 shown in (A), when to always car P by vehicle 1 right side area R when, be judged to that the left and right of the travel of vehicle 1 leads to
Line discipline is to keep left.In addition, as shown in (B) in Fig. 2, when to always car P by vehicle 1 left field L when, be judged to
The left and right passing rules of the travel of vehicle 1 are to keep to the right.
In addition, such as (A) in Fig. 3, shown in (B), when there are it is multiple advance in the same direction to always car P (for example, 2
Platform is to always car P1, P2) when, passing rules detection unit 64 is filled according to the view data exported by filming apparatus 13 or by radar
The detection signal of 14 outputs is put, the right side by vehicle 1 is intended to always car P (P1, P2) to the multiple in the D of detection object region
The left side of side or vehicle 1 is estimated.For example, in Fig. 3 shown in (A), when presumption result for multiple is beaten always car (P1, P2)
Calculate (predetermined) by vehicle 1 right side area R when, be judged to vehicle 1 travel left and right passing rules be keep left.
In addition, as shown in (B) in Fig. 3, when presumption result is intended by the left field L of vehicle 1 always car (P1, P2) for multiple
When, it is judged to the left and right passing rules of travel of vehicle 1 to keep to the right.
In addition, for example, passing rules detection unit 64 can be according to being recognized to always car and preceding by vehicle identification portion 62
The relative position relation of square vehicle, the left and right passing rules of the travel of vehicle 1 are kept left or are kept to the right into
Row judges.
In more detail, such as (A) in Fig. 4, shown in (B), when front vehicles Q is with meeting actual to always car P, passes through and advise
The detection signal that then detection unit 64 is exported according to the view data exported by filming apparatus 13 or by radar installations 14, to detection
In subject area D detected by the left of the right side of front vehicles Q or front vehicles Q to always car P.For example,
As shown in (A) in Fig. 4, when to always car P by front vehicles Q right side area R when, be judged to the travel of vehicle 1
Left and right passing rules are to keep left.In addition, as shown in (B) in Fig. 4, when to always car P by front vehicles Q left field
During L, it is judged to the left and right passing rules of travel of vehicle 1 to keep to the right.
In addition, such as (A) in Fig. 5, shown in (B), when there are it is multiple travel in the same direction to always car P (for example, 2
Platform is to always car P1, P2) when, passing rules detection unit 64 is filled according to the view data exported by filming apparatus 13 or by radar
The detection signal of 14 outputs is put, the multiple in the D of detection object region is intended to by front vehicles Q to always car P (P1, P2)
Right side or front vehicles Q on the left of estimated.For example, in Fig. 5 shown in (A), when presumption result for multiple to always car
When (P1, P2) intends the right side area R by front vehicles Q, the left and right passing rules for being judged to the travel of vehicle 1 are a left side
Pass through side.In addition, as shown in (B) in Fig. 5, when presumption result is intended by front vehicles Q's always car (P1, P2) for multiple
During left field L, it is judged to the left and right passing rules of travel of vehicle 1 to keep to the right.
In addition, for example, passing rules detection unit 64 can be according to the travel road with the vehicle 1 obtained by information acquiring section 63
The related information in road, the left and right passing rules of the travel of vehicle 1 are kept left or kept to the right to be judged.
In more detail, when the road vehicle received from roadside communication (diagram is omitted) according to information acquiring section 63
Between communication (road inter-vehicle communication) signal acquisition represent vehicle 1 travel left and right passing rules information when, pass through rule
Then according to the information, left and right passing rules are kept left or kept to the right to be judged detection unit 64.
In addition, when information acquiring section 63 according to from other vehicle receivers to inter-vehicular communication wireless signal obtain represent
When travelling on the information of the left and right passing rules that other vehicles on the travel of vehicle 1 are determined in the past, passing rules
Detection unit 64 can be according to the information, and left and right passing rules are kept left or kept to the right to be judged.
Also, when information acquiring section 63 according to from other vehicle receivers to inter-vehicular communication wireless communication signals obtain
Represent vehicle 1 around other vehicles steering wheel position information when, passing rules detection unit 64 can according to the information,
When the steering wheel of other vehicles is on right side, then it is judged to left and right passing rules to keep left, when the steering wheel of other vehicles
At left side, then it is judged to left and right passing rules to keep to the right.
In addition, for example, what passing rules detection unit 64 can be stored according to the map data storage part 22 of guider 15
The information of the expression left and right passing rules included in road-map-data, to the left and right passing rules of the travel of vehicle 1
Keep left or keep to the right and judged.
Trajectory predictions portion 65 is same with reference to the information of the expression left and right passing rules determined by passing rules detection unit 64
When, always car and front vehicles are changed with time with the relative position of vehicle 1 according to being recognized by vehicle identification portion 62
Situation predicts the travel track to always car and front vehicles.
From track of vehicle calculating part 66 with reference to the letter for representing left and right passing rules determined by passing rules detection unit 64
While breath, situation that the current location according to the vehicle 1 detected by current location test section 21 changes over time or by
The yaw rate and speed of the vehicle 1 that gyro sensor 32 and vehicle speed sensor 33 are detected, calculate the traveling rail of vehicle 1
Mark.
Information of the transversal discrepancy calculating part 67 with reference to the expression left and right passing rules determined by passing rules detection unit 64
While, calculate to always car relative to the travel track difference in the horizontal of vehicle 1, i.e. on to the transverse direction of always car
The distance between the travel track of vehicle 1 and the position to always car.
When the left and right passing rules determined by passing rules detection unit 64 occur between keeping left and keeping to the right
During change, trajectory predictions portion 65, various calculation process are used in from track of vehicle calculating part 66 and transversal discrepancy calculating part 67
Various sensor signals in have left and right attribute sensor signal left and right attribute overturn.
Sensor signal with left and right attribute be, for example, by survey thing portion 61 detect it is relative with vehicle 1 to always car
Position, the yawrate of the vehicle 1 detected by gyro sensor 32, the steering angle detected by steering angle sensor 51
And the signal such as the steering torque detected by steering torque sensor 52.
For example, in original state, the left and right passing rules determined by passing rules detection unit 64 are the shape for keeping left
State, afterwards, is changed into keeping to the right from the left and right passing rules that passing rules detection unit 64 is determined from keeping left, now, rail
Mark prediction section 65, make from track of vehicle calculating part 66 and transversal discrepancy calculating part 67 sensor signal left and right attribute overturn.
Afterwards, when the left and right passing rules determined by passing rules detection unit 64 are keeping left and changing between keeping to the right
When, trajectory predictions portion 65, set that time before the change from track of vehicle calculating part 66 and transversal discrepancy calculating part 67
The left and right attribute of set sensor signal is overturned in fixed.
Deviation detection unit 68 whether vehicle 1 deviate from can make vehicle 1 with to the appropriate of the appropriate meeting of always car
Traveling road judged, or, judge whether deviate from the appropriate traveling road to always car." suitably advance
Road " means that vehicle 1 can suitably carry out meeting with to always car if being advanced along the road (without colliding).
For example, deviation detection unit 68 can be according to the travel track to always car calculated by trajectory predictions portion 65
With travel track (line) institute angle degree of the vehicle 1 by being calculated from track of vehicle calculating part 66, to vehicle 1 or to always
Whether car deviate from appropriate traveling road is judged.In more detail, deviation detection unit 68 is using collision time TTC
(time when meeting ,=relative distance/relative velocity) and vehicle 1 and the respective travel track of always car is estimated
Vehicle 1 and the position (closest to position) closest to always car, wherein, by by vehicle 1 and to always car it is relative away from
Collision time TTC is obtained from divided by relative velocity.Then, presumption is located nearest to the vehicle 1 of position and to the respective of always car
Motion vector A, B, such as on the basis of the motion vector A of vehicle 1, calculate to the motion vector B of always car relative to car
1 motion vector A angulations θ.Then, whether appropriate traveling deviate to vehicle 1 or to always car according to angle, θ
Road is judged.
In addition, for example, deviation detection unit 68 can according to the transversal discrepancy calculated by transversal discrepancy calculating part 67,
Whether appropriate traveling road is deviate to vehicle 1 or to always car to judge.In more detail, for example with opposite track
(reverse track) side for transversal discrepancy forward direction, according to transversal discrepancy towards zero change when transversal discrepancy sign change and transverse direction
Whether the change of the time rate of change of difference, deviate from appropriate traveling road and judge to vehicle 1 or to always car, its
In, the opposite track side is on the basis of the travel track by the vehicle 1 calculated from track of vehicle calculating part 66.
Contact prediction section 69 is according to the result of determination of deviation detection unit 68, vehicle 1 and the relative distance to always car
With relative velocity and vehicle 1 and to respective travel track of always car etc., the possibility come in contact to vehicle 1 and to always car
Property (contact possibility) is predicted.What contact prediction section 69 was carried out judges that the premise that the judgement of contact possibility is processed is,
The left and right passing rules for determining the travel of vehicle 1 keep left or keep to the right.
For example, the treatment that contact prediction section 69 carries out premised on following situation, i.e. the situation is, trajectory predictions portion 65,
It is directed to from track of vehicle calculating part 66 and transversal discrepancy calculating part 67 initial set by the judgement of passing rules detection unit 64
The left and right passing rules of state, the e.g. travel of vehicle 1 are to keep left.So as to deviate appropriate row to always car
When entering road, for example, as shown in (A) in Fig. 6, when have determined that on the right side of the direct of travel of vehicle 1 to always car from right side
To the left during side shifting, it is judged to that contact possibility is higher.
Here, when the left and right passing rules of the travel of vehicle 1 are to keep left, the left and right of various sensor signals
Attribute is original intrinsic state (that is, unturned state), the position and movement direction actual to always car, with according to various
Position and movement direction to always car that sensor signal is obtained or so is consistent.Therefore, when to always car it is actual for instance in
During state (that is, keep left and contact possibility state higher) in Fig. 6 shown in (A), contact prediction section 69 is according to various
Sensor signal, obtain with actual conditions identical state-detection result, be judged to contact possibility it is higher.
In addition, when the left and right passing rules of the travel of vehicle 1 are to keep to the right, the left and right of various sensor signals
Attribute is overturned from original intrinsic state, also, the actual position and movement direction of always car is believed with according to various sensors
Number position and movement direction to always car for obtaining is reversed left to right.Therefore, when actual for instance in (B) in Fig. 6 to always car
Shown state (that is, from left side to the right the state of side shifting, keep to the right and contact possibility state higher) when, contact is pre-
Survey portion 69 according to left and right attribute overturn sensor signal, obtain the left and right attribute testing result opposite with actual conditions (that is, this
Result represents state in Fig. 6 shown in (A), keeps left and contacts possibility state higher, but with actual conditions phase
Instead), it is judged to that contact possibility is higher.
Operating member 70 controls engine control portion 42, speed Control portion 43, braking according to the result of determination of contact prediction section 69
The action of control unit 44, EPS control units 46 and alarm device 18.
Engine control portion 42 controls the state of internal combustion engine 11.Speed Control portion 43 controls the gear shifting operation of speed changer 12.System
The brake force of trailing wheel of the dynamic control unit 44 by the control action of brake actuator 17 in the front-wheel of left and right and left and right.EPS
(Electric Power Steering) control unit 46 is controlled relative to by steering torque sensor 52 by EPS actuators 19
The output of the reaction torque or auxiliary torque of the steering torque for detecting.
Alarm device 18 has haptic alerts device, visual alarm device and audible alarm device.Haptic alerts device
Export what the steering wheel vibration as caused by EPS actuators 19 and driver were carried out by seat belt apparatus (diagram is omitted)
The haptic alerts such as tightening action.The visual alarms such as the display in audible alarm device output meter disk (diagram is omitted).The sense of hearing is warned
Reporting device is by audible alarms such as output voice or the alarm songs such as the loudspeaker (diagram is omitted) in instrument board (diagram is omitted).
When being judged to have contact possibility by contact prediction section 69, operating member 70 is with reference to expression by passing rules detection unit
While the information of the 64 left and right passing rules for determining, setting makes at least one of alarm device 18 and EPS actuators 19
The controlled quentity controlled variable of generation action, and performed according to the controlled quentity controlled variable and avoid contact with and use control.Operating member 70 set controlled quentity controlled variable when, no
The size of controlled quentity controlled variable is only set, direction initialization is carried out also directed to the controlled quentity controlled variable with direction attribute.
For example, being advised for current with trajectory predictions portion 65, from track of vehicle calculating part 66 and transversal discrepancy calculating part 67
Original state then set by the judgement of detection unit 64 is identical, the left side also to be determined by passing rules detection unit 64 of operating member 70
Right passing rules are that the state for keeping left is original state.Then, sentenced by passing rules detection unit 64 in the initial condition
When the left and right passing rules made are changed into keeping to the right from keeping left, make to avoid contact with the left side having with the controlled quentity controlled variable of control
Right attribute is overturned.Afterwards, when the left and right passing rules that passing rules detection unit 64 is determined are keeping left and keeping to the right it
Between when changing, overturn the left and right attribute having with the controlled quentity controlled variable of control that avoids contact with for setting before the change.
Avoiding contact with left and right attribute is included with the controlled quentity controlled variable of control：As the rotation of the motor of EPS actuators 19
Direction, the steering direction of the front wheels and rear wheels obtained by EPS actuators 19, the front wheels and rear wheels that are obtained by brake actuator 17
Braking sendout and moment of torsion sendout of left and right etc..
On the basis of operating member 70 is for example the original state for keeping left by the left and right passing rules of the travel of vehicle 1
The left and right attribute having with the controlled quentity controlled variable of control is avoided contact with to set.So as to for example as shown in (A) in Fig. 7, for because of car
1 deviates appropriate traveling road and contacts the situation that prediction section 69 is judged to have contact possibility, used as keeping away under keeping left
Contact-free is controlled, and it is mobile (deviateing appropriate traveling road) to direct of travel right side that operating member 70 suppresses vehicle 1.
Also, when the left and right passing rules determined from passing rules detection unit 64 are changed into keeping to the right from keeping left
When, operating member 70 makes to avoid contact with the left and right attribute having with the controlled quentity controlled variable of control and overturns.So as to for example such as (B) institute in Fig. 7
Show, the situation that prediction section 69 is judged to have contact possibility is contacted for because vehicle 1 deviates appropriate traveling road, as right side
Avoiding contact with passing rules uses control, and operating member 70 suppresses vehicle 1 and (deviates appropriate traveling road to direct of travel left side is mobile
Road).
In addition, operating member 70 is after the controlled quentity controlled variable for avoiding contact with and using and control is set, perform corresponding with the controlled quentity controlled variable
Avoid contact with control when, because of feedback control etc. the need for when with reference to various sensor signals, the left and right of sensor signal
Attribute is still original intrinsic state.That is, the left and right passing rules of the travel according to vehicle 1 are the shape kept to the right
State, the possibility of contact is judged based on the sensor signal that left and right attribute is overturned, and, although make to avoid contact with the control with control
The left and right attribute of amount processed is overturned, but, the equipment (for example, EPS actuators 19 etc.) with left and right attribute is made according to controlled quentity controlled variable
The sensor signal used during action, its left and right attribute is not overturned, and is still original intrinsic state.
In addition, when passing rules detection unit 64 does not determine left and right passing rules and keeps left or keep to the right
(that is, during the result of determination for keeping left or keeping to the right without 64 pairs or so passing rules of passing rules detection unit), moves
Make portion 70 to suppress to avoid contact with the execution with control.For example, operating member 70 can be set for determining whether to allow alarm device
The threshold value of 18 actions, is set as that alarm device 18 is not easy the value of action by the threshold value.For example, operating member 70 can forbid for
The brake actuator 17 for avoiding contact with is braked and is forbidden EPS actuators 19 to be turned to.For example, operating member 70 can be only
For being avoided contact with to always car for predetermined region (for example, the front surface region etc.) being present on the direct of travel of vehicle 1
With control.For example, operating member 70 can be forbidden performing uses control using the avoiding contact with for controlled quentity controlled variable with left and right attribute.
For example, being sentenced when being kept left or being kept to the right by 64 pairs or so passing rules of passing rules detection unit
Regularly, as described in Table 1, operating member 70 is according to collision time TTC (for example, T1 ＞ T2 ＞ T3 ＞ T4), to steering and
Brakes performs regulation control.
For example, in table 1 below, when collision time TTC is the 1st time T1, brakes is not controlled, and it is right
Steering sent by steering wheel vibration the control of alarm.When collision time TTC is the 2nd time T2, to steering
It is controlled, to make the steering that alarm is sent by way of instrument board is using sound and display, and output is turned to and turned round
The auxiliary torque of square, also, brakes is controlled, so that the brakes utilizes sound or display by instrument board
Mode send alarm.When collision time is the 3rd time T3, steering is controlled, so that the steering passes through
The treatment that is avoided contact with of steering, and being controlled to brakes so that the control system carry out it is lighter as body
Feel the braking of alarm action.When collision time TTC is T4, steering is not controlled, and brakes is controlled
System so that the brakes carried out by deceleration it is stronger as the braking for avoiding contact with action.
[table 1]
In addition, sentencing when passing rules detection unit 64 does not keep left or keep to the right to left and right passing rules
Regularly, for example shown in figure table 2 below, operating member 70 makes holding for the control that may be frequently executed during mistake judgement left and right passing rules
Row time retardation.For example, by execution time from the 1st time of the control of alarm to being sent by steering wheel vibration in operating system
T1 is changed to the 2nd time T2, by the control of the alarm to being sent by way of instrument board is using sound and display in brakes
The execution time of system is changed to the 3rd time T3 from the 2nd time T2.
[table 2]
In addition, as shown in Table 3 below or table 4, being when passing rules detection unit 64 does not determine left and right passing rules
When keeping left or keeping to the right, operating member 70 can be forbidden performing the control that may cause the driver behavior of driver interference
System, only performs the control for being not easy that interference is caused to the driver behavior of driver.For example, in Table 3 below, forbidding execution to make to turn
To the auxiliary torque of system output steering torque and by turning to the control for avoid contact with action.For example, in table 4 below
In, forbidding performing makes steering pass through to turn to the control for avoid contact with action, and forbids the execution to lead to brakes
Cross to slow down and avoid contact with the control of action.
[table 3]
| TTC | Steering | Brakes |
| T1 | Steering wheel vibration alarm | It is not controlled |
| T2 | Instrument board alarm (sound, display) | Instrument board alarm (sound, display) |
| T3 | It is not controlled | Lighter braking (body-sensing alarm) |
| T4 | It is not controlled | Stronger braking (deceleration) |
[table 4]
Avoiding contact with involved by present embodiment has said structure with servicing unit 10, next, avoiding connecing to this
Touch with the action of servicing unit 10, especially make the left and right attribute of sensor signal and avoid contact with the left side with the controlled quentity controlled variable for controlling
The reverse treatment of right attribute is illustrated.
In addition, performing following treatment repeatedly specified period etc. is interior.
First, in the step S01 shown in Fig. 8, in the object that is detected by survey thing portion 61 with the traveling in opposite directions of vehicle 1
Always car is identified.
Then, in step S02, according to being recognized by vehicle identification portion 62 to always car and the relative position of vehicle 1
Relation or by vehicle identification portion 62 recognize to always car and the relative position relation of front vehicles, to the traveling of vehicle 1
The left and right passing rules of road keep left or keep to the right and judged.
Furthermore, in step S03, to whether being judged to that the left and right passing rules of travel of vehicle 1 are to keep to the right
Judged.
When the result of determination is "No", into aftermentioned step S05.
In addition, when the result of determination is "Yes", into step S04, in step S047, making with left and right attribute
The left and right attribute of sensor signal is overturned, afterwards into step S05.
Furthermore, in step S05, result of determination, vehicle 1 according to deviation detection unit 68 and to the relative of always car
Whether distance and relative velocity, vehicle 1 and to respective travel track of always car etc., have contact to vehicle 1 and to always car
Possibility (contact possibility) is predicted.
Then, in step S06, to whether thering is contact possibility to judge.
When the result of determination is "No", end treatment.
In addition, when the result of determination is "Yes", being such as judged to there is contact because vehicle 1 deviates appropriate traveling road
During possibility etc., into step S07.
Furthermore, in step S07, calculate the steering volume in order that needed for vehicle 1 returns to appropriate traveling road.
Then, in step S08, to whether being judged to that the left and right passing rules of travel of vehicle 1 are to keep to the right
Judged.
When the result of determination is "No", into aftermentioned step S10.
In addition, when the result of determination is "Yes", into step S09, in step S09, making to belong to as with left and right
Property avoid contact with control controlled quentity controlled variable steering volume left and right attribute overturn, afterwards into step S10.
Then, in step slo, according to the steering volume corresponding with left and right attribute being set at this moment, steering is performed
Control, terminates treatment afterwards.
As described above, using avoiding contact with during with servicing unit 10 involved by present embodiment, sentencing when by passing rules
Left and right passing rules that portion 64 determines are determined when keeping left and changing between keeping to the right, and only just can by simple process
Appropriate deviation is carried out to judge, contact the judgement of possibility and avoid contact with and use control, wherein, the simple process is：
Make various sensor signals and avoid contact with to be overturned with the left and right attribute of the controlled quentity controlled variable of control.So as to be pre-set with switching
It is respectively dedicated keeps left and compared with the situation of the control kept to the right, being prevented from control process becomes tediously long and complexity.
Further, passing rules detection unit 64 can be by using being right side or vehicle 1 by vehicle 1 to always car
Left and right passing rules are suitably judged by the testing result in left side.Especially, by using the side of detection object region D
Testing result near boundary, it is possible to increase judgement precision.
In addition, passing rules detection unit 64 always car is being travelled in the multiple for being judged as advancing in the same direction it is suitable
After on traveling road, multiple is intended to always car and is estimated by the right side of vehicle 1 or the left side of vehicle 1,
Even if when before to always car and the meeting of vehicle 1, can also be fitted to left and right passing rules using the presumption result
Locality judges.
Also, with using to always car be by vehicle 1 right side or the left side of vehicle 1 testing result when situation phase
Than, passing rules detection unit 64 by using being detection by the right side of front vehicles 1 or the left side of vehicle 1 to always car
As a result, it is possible to suitably be judged left and right passing rules earlier.
In addition, passing rules detection unit 64 always car is being travelled in the multiple for being judged as advancing in the same direction it is suitable
After on traveling road, multiple is intended to always car and still should by the right side of the front vehicles positioned at the front of vehicle 1
Estimated on the left of front vehicles, even if when before to always car and front vehicles meeting, using the presumption result
Also left and right passing rules can suitably be judged.
Even if also, when not existing other vehicles around vehicle 1, passing rules detection unit 64 is by using map number
The information of the expression left and right passing rules that the road-map-data stored according to storage part 22 is included or from road side communicator
The information of the expression left and right passing rules that the signal communicated between the road vehicle for receiving is included, it is also possible to left and right passing rules
Suitably judged.
In addition, passing rules detection unit 64 can according to the much information obtained from other vehicles by inter-vehicular communication,
Left and right passing rules are suitably judged.
Further, sentence when passing rules detection unit 64 does not keep left or keep to the right to left and right passing rules
Regularly, operating member 70 suppresses to avoid contact with the execution with control, thus, it is possible to prevent from performing unsuitable avoiding contact with control
System.
For example, operating member 70 pushes away the execution time of the control that may be frequently executed during mistake judgement left and right passing rules
Late, thus, it is possible to prevent from using control with unnecessary frequency unsuitable the avoiding contact with of execution.
In addition, for example, operating member 70 forbid perform may to the driver behavior of driver cause interference control, thus,
It is prevented from performing and uses control with avoiding contact with of disagreing of the intention of driver, and is prevented from causing not relax to driver
The sensation of clothes.
Also, for example, operating member 70 only in the front surface region being present on the direct of travel of vehicle 1 to always car
Execution is avoided contact with uses control, thus, it is possible to prevent from performing it is unsuitable using the controlled quentity controlled variable with left and right attribute avoid connect
Tactile control.
In addition, in the above-described embodiment, it is to avoid contact servicing unit 10 is arranged on internal combustion engine (ENG) 11 as power
On the vehicle 1 in source, but, it is not limited to this, it is with motor for example, avoiding contact with and can also be arranged on servicing unit 10
On the electric vehicle and motor vehicle driven by mixed power in power source etc..In addition, during for motor as power source etc., it is also possible to omit
Speed changer (T/M) 12.
In addition, in the above-described embodiment, vehicle 1 has guider 15, but, it is not limited to this, it is possible to use
The information terminals such as the mobile terminal entrained by the occupant of vehicle 1 (diagram is omitted) realize the guider instead of guider 15
15 function.Now, information terminal is connected with control device 16 by limited or radio communication.Furthermore, information terminal is only
Structure with current location test section 21, input unit 24 and display part 25 equivalent to guider 15, guider 15
Other functions can also be realized with the server unit (diagram is omitted) of information terminal radio communication by outside.
Present embodiment stated above is only to implement an example of the invention, the invention is not limited in above-mentioned reality
Apply mode.
【Industrial applicibility】
Using the present invention, using the teaching of the invention it is possible to provide one kind is avoided contact with uses servicing unit, and this is avoided contact with can be led to servicing unit
Cross left and right passing rules of the simple process on travel is carried out suitably before and after switching between keeping left and keeping to the right
Control.
【Description of reference numerals】
10：Avoid contact with and use servicing unit；13：Filming apparatus；14：Radar installations；16：Control device；17：Braking is performed
Device；18：Alarm device；19：EPS actuators；61：Survey thing portion；62：Vehicle identification portion；63：Information acquiring section；64：Passing rules
Detection unit；65：Trajectory predictions portion；66：From track of vehicle calculating part；67：Transversal discrepancy calculating part；68：Deviation detection unit；
69：Contact prediction section；70：Operating member.
Claims (6)
1. one kind is avoided contact with and uses servicing unit, it is characterised in that had：
Ce Wu mechanisms, it is detected to the object for being present in vehicle periphery；
Controlling organization, it is directed to the object detected by the Ce Wu mechanisms and the vehicle is carried out to avoid contact with control
System；
Decision mechanism, the left and right passing rules of its travel to the vehicle keep left or keep to the right and sentence
It is fixed；
Testing agency, it has left and right attribute,
When the left and right passing rules determined by the decision mechanism it is described keep left and it is described keep to the right between
When changing, the controlling organization changed according to the changing content of the left and right passing rules described in avoid contact with and use control
Control content, now, the controlling organization overturns the left and right attribute that the output signal of the testing agency has, it
Afterwards, the controlled quentity controlled variable avoided contact with control is calculated, the left and right attribute that then making the controlled quentity controlled variable has is overturned.
2. according to claim 1 avoiding contact with uses servicing unit, it is characterised in that
When the decision mechanism does not determine the left and right passing rules to keep left or keep to the right, the control
Mechanism is avoided contact with the execution for controlling described in suppressing.
3. according to claim 1 and 2 avoiding contact with uses servicing unit, it is characterised in that
Also have：Identification mechanism, its in the object that is detected by the Ce Wu mechanisms with vehicle traveling in opposite directions
Always car is identified；
Mechanism is obtained, it obtains the vehicle and is closed by the relative position to always car that the identification mechanism is recognized
System,
The decision mechanism closes according to the vehicle and the relative position to always car that are got by the acquisition mechanism
System, the left and right passing rules of the travel of the vehicle are kept left or kept to the right to be judged.
4. according to claim 1 and 2 avoiding contact with uses servicing unit, it is characterised in that
Also have：
Identification mechanism, its in the object that is detected by the Ce Wu mechanisms with the vehicle in opposite directions traveling to always car
It is identified with the preceding vehicle in front of the direct of travel for travelling on the vehicle；
Obtain mechanism, its obtain by the identification mechanism recognize it is described to always car and the relative position of the preceding vehicle
Relation,
The decision mechanism is described to always car and the relative position of the preceding vehicle according to what is got by the acquisition mechanism
Relation is put, the left and right passing rules of the travel of the vehicle are kept left or kept to the right to be judged.
5. according to claim 1 and 2 avoiding contact with uses servicing unit, it is characterised in that
Also have and obtain mechanism, the acquisition mechanism obtains the information of the travel of the vehicle from external device (ED),
The decision mechanism according to the information of the travel got by the acquisition mechanism, to the traveling of the vehicle
The left and right passing rules of road keep left or keep to the right and judged.
6. according to claim 1 and 2 avoiding contact with uses servicing unit, it is characterised in that
Also have and obtain mechanism, the acquisition mechanism obtains the information related to the travel of the vehicle from other vehicles,
The decision mechanism obtains the information related to the travel that mechanism gets according to by described, to the vehicle
The left and right passing rules of travel keep left or keep to the right and judged.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2013/065674 WO2014196049A1 (en) | 2013-06-06 | 2013-06-06 | Contact avoidance assist device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105228864A CN105228864A (en) | 2016-01-06 |
| CN105228864B true CN105228864B (en) | 2017-05-31 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380076784.XA Active CN105228864B (en) | 2013-06-06 | 2013-06-06 | Avoid contact with and use servicing unit |
Country Status (3)
| Country | Link |
|---|---|
| CN (1) | CN105228864B (en) |
| GB (1) | GB2529340A (en) |
| WO (1) | WO2014196049A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11167752B2 (en) * | 2016-08-22 | 2021-11-09 | Sony Corporation | Driving assistant apparatus, driving assistant method, moving object, and program |
| JP6574407B2 (en) * | 2016-11-17 | 2019-09-11 | 株式会社デンソー | Vehicle control apparatus and vehicle control method |
| JP6600878B2 (en) * | 2017-12-21 | 2019-11-06 | 本田技研工業株式会社 | Vehicle control device, vehicle control method, and program |
| JP2021105909A (en) * | 2019-12-27 | 2021-07-26 | マツダ株式会社 | Vehicle control device |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19637053C2 (en) * | 1996-09-12 | 2000-03-09 | Bosch Gmbh Robert | Method and device for automatic detection of right-hand or left-hand traffic |
| JP3293508B2 (en) * | 1997-02-20 | 2002-06-17 | トヨタ自動車株式会社 | Vehicle information providing device and vehicle information providing system |
| JP3986682B2 (en) * | 1998-08-25 | 2007-10-03 | 本田技研工業株式会社 | Vehicle travel safety device |
| US6269308B1 (en) * | 1998-08-20 | 2001-07-31 | Honda Giken Kogyo Kabushiki Kaisha | Safety running system for vehicle |
| DE102006028016A1 (en) * | 2006-06-19 | 2007-12-20 | Robert Bosch Gmbh | Driver assistance system and method for its control |
| JP2010190673A (en) * | 2009-02-17 | 2010-09-02 | Toyota Motor Corp | Apparatus for change of specification for vehicle |
| JP2012232685A (en) * | 2011-05-02 | 2012-11-29 | Denso Corp | Light distribution control device |
| CN102602431A (en) * | 2012-03-29 | 2012-07-25 | 王大伟 | Method for preventing rear-ending and collision of transportation tools (railway and highway motor vehicles) |
-
2013
- 2013-06-06 GB GB1520253.4A patent/GB2529340A/en not_active Withdrawn
- 2013-06-06 CN CN201380076784.XA patent/CN105228864B/en active Active
- 2013-06-06 WO PCT/JP2013/065674 patent/WO2014196049A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2014196049A1 (en) | 2014-12-11 |
| GB2529340A (en) | 2016-02-17 |
| GB201520253D0 (en) | 2015-12-30 |
| CN105228864A (en) | 2016-01-06 |
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