CN202294308U - Travel control device for vehicle - Google Patents
Travel control device for vehicle Download PDFInfo
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- CN202294308U CN202294308U CN2011204267827U CN201120426782U CN202294308U CN 202294308 U CN202294308 U CN 202294308U CN 2011204267827 U CN2011204267827 U CN 2011204267827U CN 201120426782 U CN201120426782 U CN 201120426782U CN 202294308 U CN202294308 U CN 202294308U
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- vehicle
- preceding vehicle
- acceleration
- recovery
- travel control
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- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Controls For Constant Speed Travelling (AREA)
Abstract
The utility model provides a travel control device for a vehicle. The travel control device comprises a solid object detection unit and a travel control unit, and continuously performs following travel control and does not stop under the condition that the recognition accuracy of a stereo camera and the like on a preceding vehicle is reduced due to the influence of rainy day, weak backlight and the like so as to achieve high travel control performance. After the preceding vehicle is lost in the following travel control, when recovery acceleration control starts to be performed to ensure that vehicle speed which is set by a driver during constant-speed traveling is reached, the common recovery acceleration control is performed on the basis of the value of a recovery mark F1 which is equal to zero, namely the recognition accuracy of an image shot by the stereo camera is normal. Moreover, when F1 is equal to 1, namely the recognition accuracy of the image is reduced, the recovery micro-acceleration control that the recovery acceleration is set to be a value which is smaller than a common value is performed. When the recognition accuracy of the image is reduced, acceleration is performed by mild recovery acceleration, so even under the condition that the preceding vehicle is detected suddenly during recovery, the spare vehicle distance can be kept, and high travel control performance can be achieved.
Description
Technical field
The utility model relates to a kind of vehicle travel controlling apparatus, and it is set at, and with corresponding through the accuracy of identification of the detected preceding vehicle of three-dimensional quality testing measurement unit, and makes the recovery acceleration/accel when follow running reverts to constant-speed traveling variable.
Background technology
Current; Known a kind of vehicle travel controlling apparatus; It carries radar installation or uses the CCD photographic camera on this vehicle three-dimensional quality testing measurement units such as stereocamera, this solid quality testing measurement unit has the regulation surveyed area, detects the three-dimensional thing that comprises preceding vehicle that is present in this vehicle front; Based on recognition result, control the moving velocity of this vehicle by the detected three-dimensional thing of this solid quality testing measurement unit.
In addition; Recent also known a kind of vehicle travel controlling apparatus, it has the follow running controllable function, promptly; When this vehicle carries out constant-speed traveling with the predefined speed of a motor vehicle; When three-dimensional quality testing measurement unit recognizes the preceding vehicle that goes with the speed of a motor vehicle slower than this speed of a motor vehicle, and the speed of a motor vehicle is correspondingly set and this preceding vehicle between the safety vehicle spacing, carry out follow running with the state of the fixing safety vehicle spacing that keeps setting with respect to preceding vehicle.
In this vehicle travel controlling apparatus; Under the situation that does not have preceding vehicle that should follow running; Perhaps owing to advance route change of preceding vehicle etc. is lost under the situation of preceding vehicle; Till returning to the predefined speed of a motor vehicle to restore that acceleration/accel quickens and with self speed of a motor vehicle, thereby recover constant-speed traveling, but the recovery acceleration/accel of this moment be as not can to chaufeur bring sense of discomfort level other, obtain fixed value through test etc. in advance and apply.
The utility model content
But; For example be equipped with in the vehicle of stereocamera as three-dimensional quality testing measurement unit; When the accuracy of identification of the image that photographs through stereocamera reduces owing to interference key elements such as rainfall at night, strong backlight; Can't accurately discern preceding vehicle, therefore, have fail safe (fail safe) function that ride control is temporarily stopped (time-out).
But, judging whether suspend in the condition of ride control, also include and might not suspend the interference that constant-speed traveling is controlled and follow running is controlled by needs.In the going etc. in the more weak backlight (weak inverse light) of for example rainfall between daytime, incident light, the slightly dark tunnel, preceding vehicle might not be discerned, follow running control can be proceeded.
But; Under the environment that the accuracy of identification of preceding vehicle reduces; Recover constant-speed traveling control if carry out with common recovery acceleration/accel from follow running control, then for example since advance route change and the preceding vehicle temporarily lost return once more under the situation in running route the place ahead of this vehicle, perhaps because doubling etc. and occurring under the situation of preceding vehicle in running route the place ahead of this vehicle; The identification that produces preceding vehicle postpones; Its result, deceleration-operation such as impel that chaufeur brakes makes chaufeur have to carry out numerous and diverse operation.
The utility model is exactly In view of the foregoing to propose; Its purpose is; A kind of vehicle travel controlling apparatus is provided; Though this vehicle travel controlling apparatus can discerned by the detected preceding vehicle of three-dimensional quality testing measurement unit but under the environment that its precision reduces, to restore acceleration/accel when follow running control returns to constant-speed traveling control, even preceding vehicle occurs at this vehicle front; Also can keep the spaces of vehicles of having more than needed, and can not make chaufeur have to carry out numerous and diverse operations such as deceleration-operation.
To achieve these goals, the 1st related vehicle travel controlling apparatus of the utility model has: three-dimensional quality testing measurement unit, and it detects the three-dimensional thing of this vehicle front; And ride control unit; It is being detected under the situation of preceding vehicle by above-mentioned three-dimensional quality testing measurement unit; Keeping the state of fixed vehicle spacing to carry out follow running, when in this follow running, losing preceding vehicle, accelerate to till the predefined speed of a motor vehicle and recover to constant-speed traveling to restore acceleration/accel with respect to this preceding vehicle; This vehicle travel controlling apparatus is characterised in that; In above-mentioned ride control unit, when the accuracy of identification that utilizes the detected preceding vehicle of above-mentioned three-dimensional quality testing measurement unit reduces, above-mentioned recovery acceleration/accel is set at common recovery acceleration/accel compares less value.
In said structure; Because under the regulation environment that the accuracy of identification of the detected preceding vehicle of the three-dimensional quality testing measurement unit that is detected by the three-dimensional thing to this vehicle front reduces; Recovery acceleration/accel that will be when follow running returns to constant-speed traveling; Be set at common recovery acceleration/accel and compare less value,, can in the scope of safety vehicle spacing, discern the preceding vehicle that in recovery, occurs so can return to constant-speed traveling lentamente with less acceleration/accel.
The 2nd vehicle travel controlling apparatus is characterised in that; In the 1st vehicle travel controlling apparatus; Above-mentioned three-dimensional quality testing measurement unit is a stereocamera; In above-mentioned ride control unit, the data that calculate according to the scenery based on this vehicle front that is photographed by above-mentioned stereocamera are judged the reduction of the accuracy of identification of above-mentioned preceding vehicle.
In said structure, the data that calculate according to the scenery based on this vehicle front that is photographed by stereocamera are judged the reduction of the accuracy of identification of preceding vehicle.
The 3rd vehicle travel controlling apparatus is characterised in that; In the 1st vehicle travel controlling apparatus; Above-mentioned three-dimensional quality testing measurement unit is a stereocamera; In above-mentioned ride control unit, the discrete value of the range data that calculates according to the scenery based on this vehicle front that is photographed by above-mentioned stereocamera, the peak value and the discrete value of brightness summation are judged the reduction of the accuracy of identification of above-mentioned preceding vehicle.
In said structure, the discrete value of the range data that calculates according to the scenery based on this vehicle front that is photographed by stereocamera, the peak value and the discrete value of brightness summation are judged the reduction of the accuracy of identification of preceding vehicle.
The effect of utility model
More than; According to illustrated the utility model; Though owing to can discern by the detected preceding vehicle of three-dimensional quality testing measurement unit but in the going under the environment that its precision reduces; Be set at common recovery acceleration/accel and compare less value restoring acceleration/accel, so, also can under the state of keeping the safety vehicle spacing, go even in restoring Acceleration Control, occur suddenly under the situation of preceding vehicle; And can not postpone to make chaufeur have to carry out numerous and diverse operations such as deceleration-operation because of identification, can obtain good ride control property.
Description of drawings
Fig. 1 is the integral structure figure of travel controlling system.
Fig. 2 is the front elevation that is equipped with the vehicle of three-dimensional quality testing measurement unit
Fig. 3 is the diagram of circuit that the key element testing process is disturbed in expression.
Fig. 4 is the diagram of circuit that the Acceleration Control process is restored in expression.
Fig. 5 is illustrated in the instruction diagram of having set the state of monitor area in the taken image of stereocamera.
Fig. 6 is the state of weak inverse light is injected in expression in stereocamera the instruction diagram of image.
Fig. 7 is the characteristic map that the relation between Acceleration Control and the control of recovery micro-acceleration is restored in expression.
The specific embodiment
Below, based on accompanying drawing, an embodiment of the utility model is described.The integral structure figure of travel controlling system shown in Fig. 1 is equipped with the front elevation of the vehicle of three-dimensional quality testing measurement unit shown in Fig. 2.The label 1 of Fig. 1 is vehicles such as automobile; The travel controlling system 2 that is equipped on this vehicle 1 mainly is made up of ride control unit 3, stereo optical system 4, graphics processing unit 5; Under the constant-speed traveling state of a control, carry out constant-speed traveling with the state that keeps the speed of a motor vehicle (the setting speed of a motor vehicle) that chaufeur sets, under the follow running state of a control; Target vehicle speed is set at the speed of a motor vehicle of preceding vehicle, to keep the state of fixed vehicle spacing to carry out follow running with respect to preceding vehicle.
Stereo optical system 4 works as the three-dimensional quality testing measurement unit that the three-dimensional thing to this vehicle front of the working direction that is present in this vehicle detects, by constituting as one group of stereocamera 4a, 4b such as CCD photographic camera about the camera system that the outer object of car is taken.About above-mentioned in one group of stereocamera 4a, the 4b institute bonded assembly graphics processing unit 5; Realize following function; Promptly; Based on the speed of this vehicle and the target setting spaces of vehicles, and to discerning, calculate the preceding vehicle that identifies and the speed of a motor vehicle (preceding vehicle speed) of spaces of vehicles between this vehicle and preceding vehicle by the detected preceding vehicle of three-dimensional quality testing measurement unit.Specifically, one group of stereo-picture group about being photographed by stereocamera 4a, 4b is handled, calculated the 3 dimension range distribution that spread all over integral image, according to this distance distribution information, 3 dimension positions of high speed detection road shape and a plurality of three-dimensional things.Then; The position of detected road shape and each three-dimensional thing is compared, discern the preceding vehicle in this vehicle dead ahead, based on passing through the car speed sensor 7 detected speed of a motor vehicle; Calculate spaces of vehicles and preceding vehicle speed between this vehicle and the preceding vehicle, and to 3 outputs of ride control unit.
Ride control unit 3 be connected with by be arranged on constant-speed traveling switch 6 that a plurality of Switch of turning to the bindings such as constant-speed traveling control lever on bulging sidepiece etc. constitute, car speed sensor 7, headlight switch 10, graphics processing unit 5 etc.; To realize following function; Promptly; Carry out constant-speed traveling control keeping the constant-speed traveling controllable function of the moving velocity of setting through the operation input of chaufeur, and the follow running controllable function of under the state of the spaces of vehicles between fixing this vehicle of maintenance and the preceding vehicle, going.
Constant-speed traveling switch 6 is made up of following switch etc.: the speed of a motor vehicle is provided with switch, the target vehicle speed when it sets constant-speed traveling; Slide (coast) switch, it is arranged on low speed side with the target velocity change; Restore switch, it is arranged on high-speed side with the target vehicle speed change, in addition, near this constant-speed traveling control lever, disposes the main switch (not shown) that opening/closing ride control function is selected.
If chaufeur is connected not shown main switch; And utilize the constant-speed traveling control lever that desired speed is set; Then the signal from constant-speed traveling switch 6 is transfused to ride control unit 3; The aperture that drives 8 pairs of flow regulating valve 9 of throttle actuator is carried out controlled reset, so that converge on the set setting speed of a motor vehicle of chaufeur by the car speed sensor 7 detected speed of a motor vehicle, thereby this vehicle is gone automatically with the constant speed state.
In addition; Ride control unit 3 has a function of chaufeur being carried out auxiliary (ADA) system of active driving of efficient aux. controls; When carrying out constant-speed traveling control; Utilize graphics processing unit 5 identification preceding vehicles, be less than or equal in the speed of preceding vehicle under the situation of the setting speed of a motor vehicle that sets of this vehicle, automatically switch to follow running control to keep the state of fixed vehicle spacing to go with respect to preceding vehicle.
If the ride control of vehicle recovers to follow running control; Then based on this vehicle of obtaining through graphics processing unit 5 and the spaces of vehicles between the preceding vehicle and preceding vehicle speed and through the car speed sensor 7 detected speed of a motor vehicle; Set the expected value of suitable spaces of vehicles; And to throttle actuator 8 output drive signals; Aperture to flow regulating valve 9 is carried out controlled reset, so that spaces of vehicles becomes expected value, thereby under the state that keeps the fixed vehicle spacing with respect to preceding vehicle, carries out follow running.
In addition; In the control unit 3 that goes; When carrying out follow running control; Be identified as because of the advance route change of this vehicle or preceding vehicle etc. by graphics processing unit 5 and lose under the situation of preceding vehicle, begin to utilize predefined recovery acceleration/accel to quicken to drive, return to the constant-speed traveling under the speed of setting by chaufeur (the setting speed of a motor vehicle).
In addition; Strong backlight, mist or wind and snow cause the visual field bad, because of weather such as rainfall at night make and can't normally carry out under the environment of image recognition, constant-speed traveling in (time-outs) ride control unit 3 is controlled and follow running is controlled according to temporarily stopping from the indication of graphics processing unit 5.
But; Only rain, weak inverse light, slightly go in the tunnel of love etc. might not normally carry out image recognition but since above-mentioned interference key element cause under the environment that the image recognition precision reduces; Promptly the range data at the preceding vehicle of obtaining based on the image that is photographed by stereocamera 4a, 4b is easy to generate under the environment of deviation, utilizes ride control unit 3 to carry out constant-speed traveling control and follow running control.In the case, from follow running control when constant-speed traveling control recovers, quicken to be set at the recovery micro-acceleration of comparing less value (in this embodiment for common recovery acceleration/accel 55%) with common recovery acceleration/accel.
For the judgement of the interference key element of in the control unit 3 that goes, handling and the setting of recovery acceleration/accel, specifically, carry out according to Fig. 3, diagram of circuit shown in Figure 4.
In interference key element testing process shown in Figure 3, at first, judge in step S1～S3 whether graphics processing unit 5 receives the signal that there is the interference key element that can carry out follow running control in expression.In this embodiment; An example of the interference key element of the degree that reduces as the accuracy of identification that makes the image that photographs by stereocamera 4a, 4b; Be set at rainy day, weak inverse light, slightly go in the tunnel of love; In step S1, judge whether rainfall, in step S2, take a decision as to whether weak inverse light, in step S3, take a decision as to whether through the tunnel.Above-mentioned interference key element is with making other of follow running control break disturb key element (strong backlight etc.) to be judged by graphics processing unit 5, and will be sent to ride control unit 3 to the signal that each key element is confirmed.
The judgement of the rainy day of being checked among the step S1 for example uses the flat 11-217903 number disclosed method of the special hope of the previously presented Japan of the inventor to carry out.Promptly; As shown in Figure 5; Be present at preceding vehicle under the situation of this vehicle front; Monitor area R1 is set in the higher image-region of the possibility that can photograph preceding vehicle, obtains the discrete value of this regional range data (being actually parallax), under the situation of this discrete value, be judged to be the rainy day more than or equal to fixed value.In addition, in the case, also can the on/off of rain brush switch be detected, when the rain brush switch connection, be judged to be rainy simply.
In addition, the judgement of the weak inverse light of being checked among the step S2 for example uses the flat 11-216915 number disclosed method of the special hope of the previously presented Japan of the inventor to carry out.That is, as shown in Figure 6, if weak inverse light is incident among stereocamera 4a, the 4b; Then in image, reflect the backlight circle, therefore, in graphics processing unit 5; Utilize the Luminance Distribution characteristic of predetermined image-region to judge whether in image, produce the backlight circle that forms by weak inverse light, thereby detect the backlight circle, in addition; Checked among the step S3 whether through the judgement in the tunnel, be that for example the phenomenon that sharply reduces of the average brightness through integral image is judged.At this moment, operating state that also can inspection vehicle headlight switch 10 combines with the connection action of switch and is judged to be through in the tunnel.
And, determining any one when disturbing key element that exists among step S1～S3 by graphics processing unit 5, the accuracy of identification that is judged to be the image that is photographed by stereocamera 4a, 4b reduces, and gets into step S4, and release mark F1 and interrupt procedure are set.In addition; In the interference key element shown in step S1～S3 all when negative; The accuracy of identification that is judged to be the preceding vehicle that is photographed by stereocamera 4a, 4b keeps normal, gets into step S5, judges in the value with release mark F1 from the state of emptying back (F1=0 → F1=1) whether passed through more than or equal to 2sec to be set; When process is not more than or equal to 2sec, direct interrupt procedure.
Step S5 is used to prevent to control fluctuation and is provided with, and prevents that the time of controlling fluctuation is not limited to 2sec, and corresponding with the driving performance of vehicle etc. and set.
In addition, after the value of release mark F1 is provided with from the state of emptying, when having passed through, get into step S6, empty release mark F1 and interrupt procedure more than or equal to 2sec.
The value of this release mark F1 is read in recovery Acceleration Control process shown in Figure 4.
This process makes when losing preceding vehicle etc. ride control be activated when constant-speed traveling control recovers from follow running; At first; In step S11 with reference to the value of release mark F1; The accuracy of identification that is judged to be the image that F1=0 promptly photographs by stereocamera 4a, 4b just often gets into step S12, carries out interrupt procedure after the common recovery Acceleration Control.
In addition, when the accuracy of identification of the image that in step S11, be judged to be F1=1, is promptly photographed by stereocamera 4a, 4b reduces, branch to step S13, carry out and restore little acceleration control back interrupt procedure.
As shown in Figure 7; The recovery micro-acceleration that is represented by dotted lines; In this embodiment, be set at 55% with respect to the common recovery acceleration/accel of representing with solid line; When the accuracy of identification of the image that is photographed by stereocamera 4a, 4b reduces, recover to the setting speed that chaufeur sets with mild acceleration/accel.
Therefore; Under the environment that the accuracy of identification of the image that is caused by interference key element such as rainy day, weak inverse light being photographed by stereocamera 4a, 4b reduces; In follow running because fare change of this vehicle or preceding vehicle etc. and from the field range of stereocamera 4a, 4b, lose under the situation of preceding vehicle; Quicken control lentamente through restoring micro-acceleration; Thus; Even come across under the situation of this vehicle front through doubling etc. at preceding vehicle, also can under the state that keeps the safety vehicle spacing, revert to follow running automatically, not can owing to graphics processing unit to numerous and diverse operations such as deceleration-operation such as the identification of preceding vehicle postpone to cause that chaufeur has to brake.
In addition; In this embodiment; Be set at strong backlight, mist or wind and snow cause the visual field bad, make and can't normally carry out under the environment of image recognition because of weather such as rainfalls at night; Temporarily stop constant-speed traveling control and follow running and control the two, only temporarily stop follow running control but also can be set at, and can carry out constant-speed traveling control.
In addition; The utility model is not limited to above-mentioned embodiment; For example cause interference key element that the accuracy of identification of preceding vehicle reduces except rainy day, weak inverse light, slightly go in the tunnel of love etc. the influence of external environment condition, also comprise the eyeglass of stereocamera or the influence that there are internal environments such as spot in front windshield.In addition; Three-dimensional quality testing measurement unit also is not limited to stereo optical system 4; Also can be single-lens, or use the radar installation etc. of laser, electric wave, sound wave, electromagnetic wave etc., in this case, judge that the condition of disturbing key element is corresponding with the characteristic of each detection key element and set.
Claims (3)
1. vehicle travel controlling apparatus, it has:
Three-dimensional quality testing measurement unit, it detects the three-dimensional thing of this vehicle front; And
The ride control unit; It is being detected under the situation of preceding vehicle by said three-dimensional quality testing measurement unit; To keep the state of fixed vehicle spacing to carry out follow running with respect to this preceding vehicle; When in this follow running, losing preceding vehicle, accelerate to till the predefined speed of a motor vehicle and recover to constant-speed traveling to restore acceleration/accel
This vehicle travel controlling apparatus is characterised in that,
In said ride control unit, when reducing, said recovery acceleration/accel is set at common recovery acceleration/accel compares less value by the accuracy of identification of the detected preceding vehicle of said three-dimensional quality testing measurement unit.
2. vehicle travel controlling apparatus according to claim 1 is characterized in that,
Said three-dimensional quality testing measurement unit is a stereocamera,
In said ride control unit, the data that calculate according to the scenery based on this vehicle front that is photographed by said stereocamera are judged the reduction of the accuracy of identification of said preceding vehicle.
3. vehicle travel controlling apparatus according to claim 1 is characterized in that,
Said three-dimensional quality testing measurement unit is a stereocamera,
In said ride control unit; The discrete value of the range data that calculates according to the scenery based on this vehicle front that is photographed by said stereocamera, the peak value and the discrete value of brightness summation are judged the reduction of the accuracy of identification of said preceding vehicle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204267827U CN202294308U (en) | 2011-10-31 | 2011-10-31 | Travel control device for vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204267827U CN202294308U (en) | 2011-10-31 | 2011-10-31 | Travel control device for vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202294308U true CN202294308U (en) | 2012-07-04 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011204267827U Expired - Fee Related CN202294308U (en) | 2011-10-31 | 2011-10-31 | Travel control device for vehicle |
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| Country | Link |
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| CN (1) | CN202294308U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107209268A (en) * | 2015-01-28 | 2017-09-26 | 夏普株式会社 | Obstacle detector, moving body, obstacle detection method and detection of obstacles program |
| CN111791796A (en) * | 2019-04-08 | 2020-10-20 | 丰田自动车株式会社 | Headlamp control device for vehicle |
-
2011
- 2011-10-31 CN CN2011204267827U patent/CN202294308U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107209268A (en) * | 2015-01-28 | 2017-09-26 | 夏普株式会社 | Obstacle detector, moving body, obstacle detection method and detection of obstacles program |
| CN111791796A (en) * | 2019-04-08 | 2020-10-20 | 丰田自动车株式会社 | Headlamp control device for vehicle |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: Tokyo, Japan Patentee after: Subaru Co. Address before: Tokyo, Japan Patentee before: Fuji Heavy Industries, Ltd. |
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| CP01 | Change in the name or title of a patent holder | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120704 Termination date: 20201031 |
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| CF01 | Termination of patent right due to non-payment of annual fee |