CN113173160A

CN113173160A - Collision avoidance device for vehicle and collision avoidance method for vehicle

Info

Publication number: CN113173160A
Application number: CN202110067804.3A
Authority: CN
Inventors: 矢田将大; 森考平; 小城户智能; 竹原成晃; 藤好宏树
Original assignee: Mitsubishi Electric Corp
Current assignee: Mitsubishi Electric Corp
Priority date: 2020-01-27
Filing date: 2021-01-19
Publication date: 2021-07-27
Anticipated expiration: 2041-01-19
Also published as: JP2021117725A; CN113173160B; JP7072591B2; DE102021200572A1

Abstract

The steering intention of the driver can be quickly judged to issue a collision warning with sufficient time to be able to avoid a collision. The collision preventing device for a vehicle of the present application includes: a blind spot obstacle detection unit (201) that detects an obstacle present in a blind spot around a vehicle, as viewed by a driver driving the vehicle; a steering state detection unit (203) that detects the steering state of the driver; a steering intention determination unit (208) that determines the driver's steering intention based on the steering state detected by the steering state detection unit (203); a collision possibility determination unit (210) that determines the possibility of collision between the obstacle and the vehicle on the basis of the results of the blind spot obstacle detection unit (201) and the steering intention determination unit (208); and a notification unit (211) that notifies the notification target of the possibility of collision when the collision possibility determination unit (210) determines that there is a possibility of collision between the obstacle and the vehicle.

Description

Collision avoidance device for vehicle and collision avoidance method for vehicle

Technical Field

The present application relates to a collision preventing device for a vehicle and a collision preventing method for a vehicle.

Background

As a conventional collision preventing device for a vehicle, patent document 1 discloses a collision preventing device for a vehicle, including: a video camera mounted to a vehicle and photographing a road behind the vehicle by a predetermined distance; a rear vehicle detection unit that detects a rear vehicle existing in a set monitoring area; a turn signal detection unit that detects an operation state of a turn signal; a determination unit that determines that the turn signal is operated in a direction of a lane on which the rear vehicle detected by the rear vehicle detection unit is traveling; and an alarm unit that issues an alarm when the determination unit determines that there is a rear vehicle on the lane in the operated direction of the turn signal.

Documents of the prior art

Patent document

Patent document 1: japanese patent No. 2641562

Disclosure of Invention

Technical problem to be solved by the invention

The collision avoidance device for a vehicle disclosed in patent document 1 does not issue a collision warning in a situation where the driver does not operate the direction indicator (turn signal lamp). However, the risk of collision is particularly high when an approaching object such as a rear vehicle cannot recognize the driver's steering intention in advance, such as when the driver turns without hitting a direction indicator. Therefore, there is a technical problem that it is necessary to determine the necessity of warning as early as possible to obtain sufficient time to avoid a collision even if the direction indicator is not operated.

The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a collision avoidance device for a vehicle, which can quickly determine a driver's steering intention without operating a direction indicator, and can issue a collision warning with a sufficient time to avoid a collision.

Technical scheme for solving technical problem

The anti-collision device for a vehicle disclosed in the present application includes: a blind spot obstacle detection unit that detects an obstacle existing in a blind spot around a vehicle, as viewed from a driver driving the vehicle; a steering state detection unit that detects a steering state of a driver; a steering intention determination unit that determines a steering intention of the driver based on the steering state detected by the steering state detection unit; a collision possibility determination unit that determines a possibility of collision between the obstacle and the vehicle based on results of the blind spot obstacle detection unit and the steering intention determination unit; and a notification unit that notifies the notification target of the possibility of collision when the collision possibility determination unit determines that there is a possibility of collision between the obstacle and the vehicle.

Effects of the invention

According to the collision avoidance device for a vehicle disclosed in the present application, since the driver's intention to turn can be determined based on the steering information without waiting for completion of the steering operation, the necessity of a collision warning can be determined as early as possible without operating the direction indicator. Thus, even if the direction indicator is not operated, the collision warning can be issued with sufficient time to avoid the collision.

Drawings

Fig. 1 is a diagram showing a traveling state of a vehicle to which a vehicle collision avoidance device according to embodiment 1 is attached.

Fig. 2 is a block diagram showing a functional configuration of the vehicle collision avoidance device according to embodiment 1.

Fig. 3 is a diagram showing an example of a flowchart for executing the collision avoidance processing operation in the vehicle collision avoidance device according to embodiment 1.

Detailed Description

Hereinafter, the structure and operation of an embodiment of a vehicle collision avoidance device and a vehicle collision avoidance method will be described with reference to the drawings.

Embodiment 1.

Fig. 1 shows a traveling state of a vehicle to which the collision avoidance device for a vehicle according to embodiment 1 is attached. In fig. 1, a vehicle (also referred to as a host vehicle) 101 including the vehicle collision avoidance device according to embodiment 1 is equipped with left and

right cameras

102 and 103 for detecting an obstacle on the rear side. The camera 102 and the camera 103 take an image of an image taking range 104 surrounded by

broken lines

104a and 104b and displayed in shadow, and an image taking range 105 surrounded by

broken lines

105a and 105b and displayed in shadow. Fig. 1 shows a state in which obstacles (for example, a two-wheeled vehicle or a car as another vehicle) 106 and 107 that may collide with the vehicle 101 travel in the

imaging ranges

104 and 105 of the

cameras

102 and 103.

Next, a functional configuration of the vehicle collision avoidance device according to the present embodiment will be described with reference to a block diagram of fig. 2, and operations of the functional blocks and a vehicle collision avoidance method will be collectively described with reference to a flowchart of fig. 3. The collision avoidance device 1000 for a vehicle shown in fig. 2 is mounted on a vehicle, and the configuration of each part will be described together with the description of the operation according to the flow shown in fig. 3.

First, when the ignition switch of the host vehicle 101 is turned on, the process proceeds to the collision avoidance processing loop start L301 in fig. 3, and the collision avoidance processing is started.

In step S301 in fig. 3, it is determined whether or not the host vehicle 101 is in a traveling state. When the own vehicle 101 is in the traveling state, the collision avoidance process is continued. When the own vehicle 101 is not in the traveling state, the collision avoidance processing loop is disengaged and the collision avoidance processing is ended. The determination as to whether or not the vehicle is in the running state is made, for example, by acquiring the vehicle speed of the vehicle by the vehicle state detection unit 205 in fig. 2, and determining that the vehicle is in the running state when the vehicle speed is equal to or higher than a certain speed.

In step S302, a rear-side obstacle is detected from images captured by the camera 102 and the camera 103 corresponding to the blind spot obstacle detecting unit 201 in fig. 2. The dead-angle obstacle detecting unit 201 detects an obstacle existing in a blind spot around the vehicle, which is seen from the driver who drives the host vehicle 101. As a method of detecting an obstacle, for example, the following method can be cited.

First, a plurality of patterns of positions and classifications (for example, other vehicles and pedestrians) of the images for learning and the obstacles are used as learning data, and a neural network is learned in advance. When the processing is executed, the camera 102 and the camera 103 capture an image of the rear side of the vehicle, and the object detection processing by the neural network is performed on the image. This makes it possible to know the position of the obstacle in the captured image. Then, the position of the obstacle in the real space can be detected based on the correspondence relationship between the captured image coordinates and the real space coordinates calculated in advance.

Further, the method of detecting an obstacle may not be mechanical learning by the camera. For example, an obstacle may be detected from optical flow on an image captured by a camera, or a three-dimensional object may be detected by LIDAR (Light Detection and Ranging) to be regarded as an obstacle.

In addition, the position where the obstacle is detected may not be the rear lateral side. For example, the blind spot may be a blind spot behind the vehicle or a blind spot generated by a pillar of the own vehicle.

In step S303, when one or more obstacles are detected, the process is continued. When one obstacle is not detected, the collision possibility determination unit 210 in fig. 2 determines that there is no possibility of collision, and returns the collision avoidance processing cycle end point L302 to the collision avoidance processing cycle start point L301.

In step S304, the steering angle, the steering angular velocity, and the steering torque of the steering wheel of the host vehicle are acquired by a power steering sensor corresponding to the steering state detection unit 203 in fig. 2.

In step S305, the driver' S steering intention is determined by the driver steering intention determining unit 208 based on the information acquired by the steering state detecting unit 203. As a method of determining the steering intention of the driver, for example, the following method can be cited.

If the steering angle is set to theta_i[deg]The steering angular velocity is ω_i[deg/s]The steering torque is set to T_i[N·m]The direction in which the driver wants to turn is set as

Then, the following equation (1) can be used to estimate

The index i indicates the value at the ith process step time, and the current process step number is set to n. In addition, α_i、β_i、γ_i、k_iIs a predetermined coefficient.

[ mathematical formula 1]

Furthermore, a predetermined threshold value delta deg is used]When is coming into contact with

The turning intention is judged as the right turning intention when

The steering intention is determined to be a left-turn intention at that time, and is determined to be a straight-ahead intention (no steering intention) in addition to the left-turn intention. That is, here, it is determined that there is a steering intention of the driver when the linear sum of the past and present steering wheel steering torques and steering wheel steering angular velocities and steering wheel steering angles of the own vehicle and the past steering intention angles exceeds a predetermined threshold value. This corresponds to at least using the linear sum of at least the steering angle, steering torque, and steering angular velocity of the vehicle for the driver's steering intention determination, or determining that the linear sum of the steering angle, steering torque, and steering angular velocity of the vehicle plus the linear sum of the past steering intention angle exceeds a predetermined threshold valueIt is concluded that there is a steering intention of the driver. In addition, it is equivalent to the method except for γ_nAll other coefficients a_i、β_i、γ_i、k_iIn the case of 0, it is determined that the driver's steering intention is present particularly when the steering torque of the steering wheel of the vehicle exceeds a predetermined threshold value, and it is equivalent to the case except for β_nAll other coefficients a_i、β_i、γ_i、k_iAnd 0, it is determined that there is a steering intention of the driver, particularly when the steering wheel steering angular velocity of the vehicle exceeds a predetermined threshold value.

Further, the above-described method may not be used as a method of determining the steering intention of the driver. For example, in the above formula (1), θ may be used_i、ω_i、T_iTime differential or time integral of_i、ω_i、T_iTo estimate

The coefficient α may be changed depending on the road environment such as a straight road, a curved road, a flat road, an inclined road, or the like_i、β_i、γ_i、k_iOr threshold δ. In this case, in order to distinguish the road environment, for example, a method of acquiring the map information and the position of the host vehicle by the road environment detecting unit 204 in fig. 2, a method of acquiring the temporal change of the steering torque or the yaw rate by the road environment detecting unit 204, or a method of detecting the road surface state or the presence or absence of the host vehicle by the road environment detecting unit 204 by analyzing the video in front of the host vehicle by using the front camera of the host vehicle can be used.

In step S305, the process is continued when the direction in which the obstacle exists is the same as the steering intention direction of the driver. If the collision possibility is the same, the collision possibility determination unit 210 determines that there is no possibility of collision and returns the collision avoidance processing cycle start L301 via the collision avoidance processing cycle end L302.

In step S306, the driver' S sight line is detected by the driver sight line detection portion 202 in fig. 2. As a method of detecting the line of sight of the driver, for example, the following method can be cited.

The camera arranged in the vehicle is used for shooting the face of the driver. The sight-line direction of the driver is estimated from the captured image.

In step S307, the process is continued when it is determined by the obstacle observation and determination unit 207 in fig. 2 that no obstacle is observed by the driver. When it is determined that the observation is being performed, the collision possibility determination unit 210 determines that the collision possibility is low, and returns the collision avoidance processing cycle start L301 via the collision avoidance processing cycle end L302. As a method of determining whether or not the driver is observing the obstacle, for example, the following method can be cited.

When an obstacle detected by the blind spot obstacle detecting unit 201 is present in the line of sight of the driver detected by the driver line of sight detecting unit 202, it is determined that the driver is observing the obstacle.

In step S308, the vehicle state detection unit 205 in fig. 2 acquires motion information as data indicating the direction of motion of the host vehicle, and the vehicle motion prediction unit 209 sequentially simulates the motion information to predict the trajectory of the position of the host vehicle from the present time to several seconds later, that is, the motion of the host vehicle. The data indicating the behavior of the vehicle here refers to, for example, the vehicle speed, acceleration, yaw rate, driving torque estimate, road surface friction coefficient estimate, road surface inclination (can), gradient estimate, estimated vehicle weight, and the like.

In step S309, the obstacle motion prediction unit 206 in fig. 2 sequentially simulates the position and the type of the obstacle obtained from the blind spot obstacle detection unit 201 and the time series data thereof, and predicts the trajectory of the position of the obstacle from the present to several seconds later, that is, the motion of the obstacle.

In step S310, the collision possibility determination unit 210 in fig. 2 determines that there is a possibility of collision when the predicted trajectory of the own vehicle and the predicted trajectory of the obstacle intersect each other several seconds after the present time, and continues the process. If the two trajectories do not intersect, the processing returns to the anti-collision processing loop start L301 via the anti-collision processing loop end L302.

In step S311, the notification unit 211 outputs a signal for notifying the driver of the host vehicle, which is the notification target, of the possibility of collision. In this case, the notification method or the notification content may be changed according to the details of the possibility of collision, such as the time until collision is predicted, whether there are obstacles on both the left and right sides of the host vehicle, or whether there are obstacles on only one side (i.e., whether the obstacles are detected by the

cameras

102 and 103 at the same time). As a method of notifying the driver of the possibility of collision, the present embodiment includes the following methods.

The sound output unit 212 generates sound in accordance with the possibility of collision, and the sound is emitted from the in-vehicle speaker 217. For example, a sound "the two-wheeled vehicle is approaching from behind in the steering direction" is generated and emitted. When the blind spot obstacle detecting unit 201 detects that there are obstacles on both sides of the own vehicle, the sound generated by the sound output unit 212 is changed to prevent the driver from excessively correcting the trajectory. For example, a sound "an obstacle is approaching from the left and right rear sides" is generated. The sound to be output may be not a sound but only a warning sound. In addition, the sound content, the size, the height, the tone, and the like of the sound may be changed according to the details of the possibility of collision.

Further, a screen configuration corresponding to the possibility of collision is generated by the display output unit 213, and a warning screen is displayed on the in-vehicle monitor 219 as a display device. Further, even if not the in-vehicle monitor, a lamp may be used. In addition, the screen configuration, the display message, the display image, and the like may be changed according to the details of the collision possibility.

Further, a vibration pattern corresponding to the possibility of collision is generated by the steering wheel vibration unit 214, and the steering wheel 220 is vibrated. Further, the intensity of the vibration, the number of times of the vibration, and the vibration mode may be changed according to the details of the collision possibility.

Further, a vibration mode corresponding to the possibility of collision is generated by the seat vibration unit 215, and the seat 221 is vibrated. Further, the intensity of the vibration, the number of times of the vibration, and the vibration mode may be changed according to the details of the collision possibility.

In steps S312 and S313, when the obstacle is an approaching pedestrian or another vehicle traveling, the sound output unit 212 generates a sound to alert the driver or pedestrian of another vehicle that is an approaching object and is a communication target, using the vehicle exterior speaker 218 attached to the outside of the host vehicle, for the purpose of anticipating avoidance action performed by the approaching obstacle (also referred to as an approaching object).

In addition to the above, as a method of giving a warning to the approaching object, a method of blinking a lamp of the own vehicle, a method of giving a notification by inter-vehicle wireless communication when the approaching object is another vehicle, or the like may be used.

In step S314, for the purpose of notifying a vehicle outside the imaging range of the camera 102 or the camera 103 that there is a possibility of collision between the vehicle and an obstacle and that both of them can take evasive action, a warning is transmitted from the collision warning transmitting unit 216 by using a wireless signal to the collision warning receiving unit 222 of the vehicle driving control 2000 that centrally manages the driving of a plurality of vehicles.

Thus, the collision avoidance device for a vehicle according to the present embodiment can determine the intention to steer without waiting for completion of the steering operation by the driver, even if the direction indicator is not operated. Further, the warning can be issued with sufficient time to be avoided for the driving manager.

The present application describes exemplary embodiments, but the various features, aspects, and functions described in the embodiments are not limited to the application to specific embodiments, and can be applied to the embodiments alone or in various combinations.

Therefore, it is considered that innumerable modifications that are not illustrated are also included in the technical scope disclosed in the present specification. For example, the case where at least one of the components is modified, added, or omitted is included.

Description of the reference symbols

201 dead angle obstacle detecting part

203 steering state detection unit

208 driver steering intention determining section

210 collision possibility determination unit

211 informing part

Claims

1. A collision preventing device for a vehicle, characterized by comprising:

a blind spot obstacle detection unit that detects an obstacle existing in a blind spot around a vehicle, as viewed from a driver driving the vehicle;

a steering state detection unit that detects a steering state of the driver;

a steering intention determination unit that determines a steering intention of the driver based on the steering state detected by the steering state detection unit;

a collision possibility determination unit that determines a possibility of collision between the obstacle and the vehicle based on results of the blind-corner obstacle detection unit and the steering intention determination unit; and

a notification unit that notifies a notification target of the possibility of collision when the collision possibility determination unit determines that there is a possibility of collision between the obstacle and the vehicle,

the collision preventing device for a vehicle is mounted to the vehicle.

2. The collision preventing device for a vehicle according to claim 1,

the blind spot obstacle detection unit detects a rear side of the vehicle as the blind spot.

3. The collision preventing device for a vehicle according to claim 1 or 2,

the steering state detection unit detects at least steering torque of a steering wheel of the vehicle.

4. The collision preventing device for a vehicle according to claim 3,

the steering intention determination section determines that there is a steering intention of the driver when a steering wheel steering torque of the vehicle exceeds a predetermined threshold value.

5. The collision preventing device for a vehicle according to claim 1 or 2,

the steering state detection unit detects at least a steering angular velocity of a steering wheel of the vehicle.

6. The collision preventing device for a vehicle according to claim 5,

the steering intention determination section determines that there is a steering intention of the driver when a steering wheel steering angular velocity of the vehicle exceeds a predetermined threshold value.

7. The collision preventing device for a vehicle according to claim 1 or 2,

the steering state detection unit detects a steering angle, a steering torque, and a steering angular velocity of the vehicle.

8. The collision preventing device for a vehicle according to claim 7,

the steering intention determination section uses at least a linear sum of a steering wheel steering angle, a steering wheel steering torque, and a steering wheel steering angular velocity of the vehicle for the driver's steering intention determination.

9. The collision preventing device for a vehicle according to claim 8,

the steering intention determination unit determines that the driver's steering intention is present when a value obtained by adding a linear sum of past steering intention angles to a linear sum of steering angle, steering torque, and steering angular velocity of the vehicle exceeds a predetermined threshold value.

10. A collision preventing device for a vehicle according to any one of claims 1 to 9, comprising:

a vehicle state detection unit that acquires motion information of the vehicle;

a vehicle motion prediction unit that predicts a motion of the vehicle based on the information obtained by the vehicle state detection unit; and

an obstacle motion prediction unit that predicts a motion of the obstacle based on the information obtained by the blind spot obstacle detection unit,

the collision possibility determination unit determines the possibility of collision based on information from the vehicle motion prediction unit and the obstacle motion prediction unit.

11. The collision avoidance device for a vehicle according to any one of claims 1 to 10,

the notification unit acquires whether the obstacle is present on both sides of the vehicle or only on one side of the vehicle from the blind spot obstacle detection unit, and changes a notification method according to the acquired information.

12. A collision preventing device for a vehicle according to any one of claims 1 to 11, comprising:

a driver sight line detection unit that detects a sight line of the driver;

an obstacle observation determination unit that determines whether or not the driver is observing the obstacle,

the collision possibility determination unit determines that the possibility of collision is low when the obstacle observation determination unit determines that the driver is observing the obstacle.

13. The collision avoidance device for a vehicle according to any one of claims 1 to 12,

the notification target of the notification unit is the driver of the vehicle.

14. The collision avoidance device for a vehicle according to any one of claims 1 to 12,

the notification unit is configured to notify the other vehicle driver or the pedestrian of the other vehicle.

15. The collision avoidance device for a vehicle according to any one of claims 1 to 12,

the notification unit is configured to control driving of a vehicle in which driving of a plurality of vehicles is managed.

16. The collision preventing device for a vehicle according to claim 13,

a steering wheel vibrating portion that notifies the driver of the possibility of collision by vibration of a steering wheel of the vehicle based on information from the notification portion is included.

17. The collision preventing device for a vehicle according to claim 13,

the vehicle includes a seat vibration unit that notifies the driver of the possibility of collision by vibration of a seat of the vehicle based on information from the notification unit.

18. The collision preventing device for a vehicle according to claim 13 or 14,

the vehicle-mounted information display device includes a sound output unit that notifies the notification target of the possibility of collision by sound based on information from the notification unit.

19. The collision preventing device for a vehicle according to claim 13 or 14,

a display output section is included that notifies the notification target of the possibility of collision through a display device based on information from the notification section.

20. The collision preventing device for a vehicle according to claim 15,

a collision warning transmitting portion that notifies the possibility of collision to the vehicle driving control by transmitting a wireless signal based on the information from the notifying portion is included.

21. A collision avoidance method for a vehicle, comprising:

a first step of detecting an obstacle existing in a blind spot around a vehicle, which is seen from a driver driving the vehicle;

a second step of detecting a steering state of the driver;

a third step of determining a steering intention of the driver based on the steering state detected in the second step;

a fourth step of determining a possibility of collision between the obstacle and the vehicle based on results of the first step and the third step; and

a fifth step of notifying a notification target of the possibility of collision when it is determined in the fourth step that there is a possibility of collision between the obstacle and the vehicle.