JP2003030799A - Obstacle information display device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an obstacle information display device which always performs an appropriate display processing on an object and allows a driver to perform an avoiding operation on the safe side. SOLUTION: When a preceding vehicle exists between a present vehicle and the obstacle and it is judged that there is danger that the present vehicle hits the preceding vehicle (Yes in step S24) while display on the front obstacle is performed (step S16 and 26), display on the preceding vehicle important for the present vehicle is performed instead of display on the obstacle (step S28). The driver is urged to perform a brake operation.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a case where an obstacle exists ahead of an obstacle based on information about a road shape and an obstacle provided from an information providing system (hereinafter referred to as road infrastructure) installed on the road. The present invention relates to an obstacle information presentation device that issues an alarm.

[0002]

Related Background Art In recent years, for the purpose of reducing the burden on the driver, improving safety, etc., obstacles present on the road ahead are presented to the driver to perform avoidance operations such as braking and steering. An obstacle information presentation device for prompting has been proposed. In this type of presentation device, in addition to the detection information from the vehicle-mounted sensor, for example, obstacle information behind the blind corner that cannot be detected by the vehicle-mounted sensor is received from the road infrastructure, and the presentation processing is performed based on this information. ing.

The road infrastructure is composed of a camera device and a roadside antenna device. For example, in the case of a blind corner, the camera device is installed in the back of the corner where the driver's forward vision is limited, and the roadside is in front of the corner. An antenna device is installed. Based on the image captured by the camera device, when there is an obstacle behind the corner, the roadside antenna device transmits information about the obstacle, and on the vehicle side, a predetermined section around the roadside antenna apparatus (hereinafter referred to as a communicable section). Information is received while the vehicle is traveling inside, and based on the information, display processing regarding an obstacle is performed by a display or the like. As a result, the driver can recognize the existence of the obstacle before reaching the blind corner, and can deal with the brake operation and the like with a margin.

[0004]

By the way, the positional relationship between the host vehicle and surrounding vehicles changes momentarily due to acceleration / deceleration, lane changes, etc. There may be a case in which a surrounding vehicle interrupts as a preceding vehicle between the object and the object. At this time, the preceding vehicle inevitably decelerates to avoid the obstacle in front of it, and as a result, the own vehicle requires a faster deceleration in order to avoid a rear-end collision with the preceding vehicle considerably in front of the obstacle. Will be done.

However, in the conventional obstacle information presenting apparatus, since the presenting regarding the obstacle is continued without assuming such a situation, the driver's brake operation is delayed, and the preceding vehicle is allowed with a margin. There was a possibility that it could not be avoided. An object of the present invention is to provide an obstacle information presenting apparatus that can always perform an appropriate presenting process regarding an object and allow a driver to perform an avoidance operation with a margin.

[0006]

In order to achieve the above object, in the invention of claim 1, the inter-vehicle distance detecting means for detecting the inter-vehicle distance between the own vehicle and the preceding vehicle and the inter-vehicle communication are present on the road. When the information on the obstacle is detected, an alarm presenting means for issuing an alarm according to the obstacle information and the running state of the own vehicle is provided, and the alert presenting means is based on the detection result of the inter-vehicle distance detecting means and the own vehicle. When it is determined that a preceding vehicle is present between the obstacle and the obstacle, the warning regarding the preceding vehicle is given priority over the warning regarding the obstacle.

Therefore, when there is no preceding vehicle between the own vehicle and the obstacle, the alarm presenting means issues an alarm about the obstacle according to the obstacle information obtained by the road-to-vehicle communication and the running state of the own vehicle. On the other hand, when there is a preceding vehicle between the host vehicle and the obstacle, the warning presenting means switches the warning about the obstacle to the warning about the preceding vehicle, for example.
Give priority to the warning of the preceding vehicle.

That is, when the preceding vehicle cuts in between the own vehicle and the obstacle and suddenly decelerates to avoid the obstacle in front, the warning can be switched to the warning about the preceding vehicle, which is more important for the own vehicle. According to the warning, the driver can quickly operate the brake. Further, in the invention of claim 2, there is a risk that the alarm presenting means may collide with a preceding vehicle based on the detection result of the inter-vehicle distance detecting means after passing through the section where obstacle information can be detected by road-to-vehicle communication. When the judgment is made, the warning based on the preceding vehicle is given priority over the warning based on the obstacle.

Therefore, there is a risk of a rear-end collision with the preceding vehicle based on the detection result of the inter-vehicle distance detecting means not only in the section where the obstacle information can be detected by the road-vehicle communication but also after the section where the obstacle information is lost. When it is determined that there is a warning, the warning regarding the preceding vehicle is given priority. In other words, as long as there is a preceding vehicle at risk of a rear-end collision, the warning regarding the preceding vehicle is always issued, so that sudden deceleration of the preceding vehicle can always be dealt with reliably.

Further, according to the invention of claim 3, there is further provided an inter-vehicle distance control means for controlling the traveling state of the own vehicle on the basis of the inter-vehicle distance detected by the inter-vehicle distance detecting means, and the inter-vehicle distance control means controls the inter-vehicle distance. The inter-vehicle distance control is stopped when obstacle information is detected by the alarm presenting means. In the inter-vehicle distance control, the inter-vehicle distance corresponding to driving by a normal driver is controlled at a target value, and when the inter-vehicle distance control is stopped due to the detection of obstacle information, the driver operates the accelerator. Therefore, the inter-vehicle distance to the preceding vehicle is increased, and when the driver subsequently operates the brake to avoid a rear-end collision, the preceding vehicle can be avoided with a sufficient margin.

[0011]

BEST MODE FOR CARRYING OUT THE INVENTION An embodiment in which the present invention is embodied in a driving support device will be described below. FIG. 1 is an overall configuration diagram showing a driving support device of the present embodiment. The driving support device of the present embodiment is intended to provide comprehensive support for the driver's driving operation, and has functions such as inter-vehicle distance control, lane departure prevention, and rear side monitoring, as well as obstacle information according to the present invention. It has the presentation function of.

E for executing the overall control of the driving support device
The CU (electronic control unit) 1 is installed in the vehicle compartment, and has an input / output device (not shown) and a storage device (ROM,
RAM, etc.), a central processing unit (CPU), a timer counter, etc. On the input side of the ECU 1, an input unit 2 for operating the driving support device, a navigation device 3 including a database of map information and a GPS (Global Positioning System), a vehicle speed, an accelerator opening, a steering angle, a brake pressure. , Various sensors 4 for detecting turn signals, radars 5 for detecting a preceding vehicle, a front camera for capturing a white line in front of the vehicle and a rear side for capturing surrounding vehicles behind the vehicle. A camera 6 such as a camera, a receiver 7 for receiving information transmitted from a road infrastructure (information providing device installed on the road), and the like are connected.
On the output side of the ECU 1, a liquid crystal type display 11 and a speaker 1 installed on the instrument panel.
2, a throttle actuator 13 for operating the throttle of the engine, a brake actuator 14 for operating the brake of the vehicle, a steering actuator 15 for applying torque to the steering system of the vehicle, etc. are connected.

The ECU 1 is the navigation device 3
Map information and location information from sensors 4 and radars 5
Various controls for assisting the driving operation are executed based on the detection information from the camera, the image information from the cameras 6 and the like. For example, an inter-vehicle distance control (adaptive distance control) that drives a preceding vehicle while maintaining a predetermined inter-vehicle distance by operating a throttle and a brake based on the inter-vehicle distance and relative speed between the own vehicle and the preceding vehicle.
Cruise control (hereinafter abbreviated as ACC), lane departure prevention that generates a weak steering torque in a direction that prevents lane departure of the own vehicle based on the white line image of the own vehicle lane, peripheral vehicles based on images of surrounding vehicles When a lane change that interferes with the lane change is performed, rear side-to-side monitoring that generates a weak steering torque in the direction to prevent the lane change and issues an alarm,
When there is an obstacle ahead, various controls such as presentation of obstacles and presentation of obstacle information to be recognized by the driver are executed.

On the other hand, as shown in FIG. 2, the road infrastructure comprises a camera device 23 and a roadside antenna device 24. For example, when the road infrastructure is provided in a blind corner, the camera device 23 is located in front of the driver. The roadside antenna device 24 is installed in the back of the corner where the field of view is limited, and the roadside antenna device 24 is installed in front of the corner. The image inside the corner taken by the camera device 23 is analyzed to determine the presence or absence of the obstacle Z, and the obstacle information is transmitted from the roadside antenna device 24. On the side of the own vehicle R, obstacle information is received while traveling in the communicable section E around the roadside antenna device 24, and presentation processing regarding the obstacle Z is performed by the display 11 and the speaker 12 based on the received information to drive the vehicle. The person is made aware of the existence of the obstacle Z in advance.

The details of the obstacle information presentation processing will be described below. The ECU 1 executes the obstacle information presentation routine shown in FIGS. 3 and 4 at a predetermined control interval. First, the ECU 1 determines in step S2 that the own vehicle R can communicate with the section E.
It is determined whether or not the vehicle is traveling inside, and if YES (affirmative), the process proceeds to step S4. In step S4, the information received from the road infrastructure is fetched. Specifically, obstacle Z
As the information on the information, the distance to the obstacle Z, the lane position where the obstacle Z exists, the moving speed of the obstacle Z, and the like are taken in, and, although not described in detail, information on the road shape around the road infrastructure is also taken in.

Then, in step S6, the vehicle information, that is,
Various information from the sensors 4, the radars 5, and the cameras 6 is taken in, and then, in step S8, it is determined whether or not an obstacle Z exists based on the obstacle information described above.
If NO (no), the routine ends. If the determination in step S8 is YES and the obstacle Z exists, the process proceeds to step S10 to determine whether or not the ACC is currently in progress, and if NO, the process proceeds to step S14.

When the determination in step S10 is YES, the ACC is released in step S12 and the ACC
After the cancellation is presented to the driver through the display 11 and the speaker 12 to prompt the accelerator operation, the process proceeds to step S14. In ACC, the inter-vehicle distance equivalent to driving by a normal driver is controlled at a target value.
When the vehicle is returned to the manual operation by releasing C, the driver does not operate the accelerator, and the inter-vehicle distance with the preceding vehicle M naturally increases.

In step S14, it is determined whether or not the preceding vehicle M exists between the own vehicle R and the obstacle Z, as shown in FIG. 2, based on the information from the radars 5 and the cameras 6 ( If the preceding vehicle M does not exist and the determination is NO, the normal presentation process is executed in step S16. For example, in this normal presentation process, the presentation to the driver is performed in two stages. First, as shown in FIG. 5, the obstacle Z is presented on the display 11 so that the driver recognizes the presence of the obstacle Z. After that, when the presentation timing corresponding to the deceleration distance (timing at which the vehicle can be stopped before the obstacle Z at a predetermined deceleration) is reached, the obstacle Z is displayed on the display 11 as shown in FIG. While blinking the distance, the speaker 12 announces the distance to the obstacle Z together with an intermittent warning sound, prompting the driver to perform a brake operation.

After that, the ECU 1 proceeds to step S18 and determines whether or not the presentation end condition is satisfied. As the presentation end condition, a driver's avoidance operation (brake or steering), stop of the vehicle, passage of a point of the obstacle Z, etc. are set, and if any of them is established, a YES determination is made in step S18, and the step S20 Then, the presentation process by the display 11 and the speaker 12 is stopped, and the routine ends.

On the other hand, when the determination in step S14 is YES because the preceding vehicle M is present, the required deceleration Arc of the own vehicle R required to avoid a rear-end collision with the preceding vehicle M in the current traveling state in step S22. Is calculated according to the following equation (1). Here, when the preceding vehicle M is decelerating in order to avoid the obstacle Z ahead, the required deceleration A calculated
rc will inevitably increase rapidly.

[0021]

[Equation 1]

Here, D is the inter-vehicle distance detected by the radars 5, Tm is the inter-vehicle time (constant), Vr is the own vehicle speed detected by the sensors 4, Vf is the preceding vehicle speed, and Af is the preceding vehicle deceleration. is there. In a succeeding step S24, it is determined whether or not there is a danger of a rear-end collision with the preceding vehicle M. Specifically, step S
The required deceleration Arc obtained in 22 is compared with the actual deceleration Arr of the current vehicle R, and the required deceleration Arc is equal to or less than the actual deceleration Arr (A
When rc ≦ Arr), it is considered that there is no danger of a rear-end collision without a brake operation, and a NO determination is made in step S24, and the process proceeds to step S26. Then, in step S26, as in the first half of the normal presentation process performed in step S16, the presence of the obstacle Z is presented as shown in FIG. 5, and then the process proceeds to step S18.

In other words, in this case, the preceding vehicle M is present, but the vehicle is not decelerating suddenly. Therefore, it is considered that there is no danger of the own vehicle R colliding with the driver, and the driver is informed of the presence of the obstacle Z ahead. It makes them recognize. Also, in step S24,
Required deceleration Arc exceeds actual deceleration Arr (Arc> Arr)
At times, it is considered that there is a risk of a rear-end collision unless the brake operation is performed, and a YES determination is made in step S24 and the process proceeds to step S28. Then, in step S28, the presentation process for the preceding vehicle M is performed instead of the presentation process for the obstacle Z in FIG. 5 or FIG. 6 (alarm presentation means). That is, as shown in FIG. 7, the preceding vehicle M is displayed on the display 11.
And the distance to the preceding vehicle M are displayed by blinking, while the speaker 12 announces the distance to the preceding vehicle M with an intermittent warning sound, and then the process proceeds to step S18.

That is, in this case, the preceding vehicle M is the obstacle Z.
In order to avoid the vehicle, the vehicle R may suddenly decelerate, and the vehicle R may collide with the preceding vehicle M. Therefore, it is considered that it is necessary to call the driver's attention to the preceding vehicle M rather than the obstacle Z. The presenting process regarding the vehicle M is performed to encourage the brake operation. On the other hand, after the own vehicle R has passed the communicable section E, the determination in step S2 is NO, so
The ECU 1 proceeds to step S30 to fetch the own vehicle information again, and determines whether or not the preceding vehicle M exists in the following step S32. The purpose of this determination is the same as that in step S14, but since information from the road infrastructure cannot be obtained at this point, the determination is made based only on the own vehicle information.
When the preceding vehicle M is not present and the determination is NO, the process proceeds to step S18. For example, the communicable section E
If the preceding vehicle M does not exist in the above step S
16, the normal presentation process is executed, and then the communicable section E
If the vehicle has passed through, the process proceeds from step S32 to step S18 in this way, and the driver is continuously presented with the obstacle Z.

If it is determined that the preceding vehicle M is present in step S32, the process proceeds to step S34, and it is determined whether or not the vehicle is in a traveling condition in which a rear-end collision with the preceding vehicle M occurs. Specifically, when the preceding vehicle M passes through the obstacle Z, the rapid deceleration of the preceding vehicle M for avoiding the obstacle Z is not performed, and when the preceding vehicle M changes lane, Even if the vehicle decelerates suddenly, the own vehicle R does not collide, so in step S34, a NO determination is made in such a case, and the process proceeds to step S18.

On the other hand, if the decision in step S34 is YES, then in step S36 the step S2
Similar to 2, the required deceleration Arc of the vehicle R required to avoid a rear-end collision
In step S38, the required deceleration Arc is compared with the actual deceleration Arr of the current vehicle R to determine the danger of a rear-end collision with the preceding vehicle M. If NO, the process proceeds to step S18. For example, the preceding vehicle M in the communicable section E
However, if the presence of the obstacle Z is indicated in step S26 and there is no danger of the own vehicle R colliding with the vehicle R after passing through the communicable section E, the process proceeds from step S38 to step S18. Will be transitioned,
The driver is continuously presented with the obstacle Z.

If a YES determination is made because there is a danger of a rear-end collision, then in step S40 the above-mentioned step S2 is performed.
8 instead of the presentation process regarding the obstacle Z.
The presenting process for the preceding vehicle M shown in (1) is performed (warning presenting means), and then the process proceeds to step S18. For example, assuming that the preceding vehicle M is present in the communicable section E and there is a risk that the host vehicle R will collide, the presentation regarding the preceding vehicle M is executed in step S28, and then the communicable section E is executed.
If the preceding vehicle M interrupts between the own vehicle R and the obstacle Z after passing through the communicable section E and suddenly decelerates, the process proceeds from step S38 to step S40 in this way. Then, the driver is prompted to perform the brake operation based on the presentation regarding the preceding vehicle M.

As described above, in the driving support apparatus of this embodiment, while the presentation regarding the obstacle Z is being performed, the preceding vehicle M is present between the own vehicle R and the obstacle Z, and the own vehicle R is When it is determined that there is a risk of a rear-end collision, the presentation regarding the preceding vehicle M is performed instead of the presentation regarding the obstacle Z. Therefore, when the preceding vehicle M cuts in between the own vehicle R and the obstacle Z and suddenly decelerates to avoid the obstacle Z ahead, the presentation is switched to the presentation regarding the preceding vehicle M, which is more important for the own vehicle R. The driver can quickly perform the brake operation in accordance with the presentation to avoid the preceding vehicle M with a sufficient margin.

Moreover, the switching of the presentation from the obstacle Z to the preceding vehicle M is performed not only in the communicable section E in which information is received from the road infrastructure, but also after passing through the communicable section E in which information reception is interrupted. It is performed based on the own vehicle information.
That is, as long as there is a preceding vehicle M that is in danger of a rear-end collision, the presentation regarding the preceding vehicle M is always performed, so that sudden deceleration of the preceding vehicle M can always be reliably dealt with.

On the other hand, when the presence of the obstacle Z is detected during the ACC that follows the preceding vehicle M while keeping a predetermined inter-vehicle distance, the ACC is released and the driver is manually switched to the manual operation. . Therefore, the inter-vehicle distance to the preceding vehicle M is increased compared to during the ACC, and when the driver thereafter operates the brake to avoid a rear-end collision, the preceding vehicle M can be avoided with a sufficient margin. .

Although the description of the embodiment has been completed, the aspect of the present invention is not limited to this embodiment. For example, in the above embodiment, the present invention is embodied as a driving support device for the purpose of comprehensive support for driving operation including the obstacle information presentation function, but obstacle information presentation is limited to only the obstacle information presentation function. It may be embodied in a device. Further, in the above embodiment, when the obstacle Z is detected during the ACC, the ACC is canceled in advance in order to allow a room for avoiding the preceding vehicle M, and when there is a risk of colliding with the preceding vehicle M, Although the presentation regarding the preceding vehicle M was performed instead of the presentation regarding the obstacle Z,
The former process regarding ACC does not necessarily have to be performed, and the latter process for switching the presentation may be performed.

Further, in the above embodiment, step S2
When it is determined that there is a risk of a rear-end collision with the preceding vehicle M based on the comparison between the required deceleration Arc and the actual deceleration Arr in 2 and 24, the presentation process for the preceding vehicle M in step S22 is executed, but the rear-end collision is not always necessary. It is not necessary to judge the risk of No., and for example, at the time of Step S14 when the presence of the preceding vehicle M is detected, the presentation process of Step S28 may be performed regardless of the risk of a rear-end collision.

Further, in the above embodiment, the display 11
I made a presentation to the driver using the and speaker 12,
For example, in the warning presentation of the obstacle shown in FIG. 6 and the warning presentation of the preceding vehicle shown in FIG. 7, which are particularly urgent, in parallel with this, a head-up display (HUD) is used to warn the front of the obstacle Z or the preceding vehicle M. You may project it on the wind.

[0034]

As described above, according to the obstacle information presenting apparatus of the invention of claim 1, when the preceding vehicle is present between the own vehicle and the obstacle, the warning about the obstacle is given priority, Since the warning about the preceding vehicle, which is more important for the own vehicle, is issued, the driver can quickly operate the brake according to the warning and avoid the preceding vehicle with a sufficient margin.

According to the obstacle information presenting apparatus of the second aspect of the invention, in addition to the invention of the first aspect, the collision of the preceding vehicle is prevented even after passing through the section where the obstacle information by road-to-vehicle communication is lost. When there is a danger, the warning regarding the preceding vehicle is given priority, so that sudden deceleration of the preceding vehicle can always be dealt with reliably. Further, according to the obstacle information presenting apparatus of the invention of claim 3, in addition to the invention of claim 1 or claim 2, since the inter-vehicle distance control is stopped when the obstacle information is detected, When the driver operates the brake to avoid the rear-end collision after the inter-vehicle distance is increased, it is possible to avoid the preceding vehicle with a sufficient margin.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram showing a driving support device of an embodiment.

FIG. 2 is an explanatory diagram showing an installed state of road infrastructure and a communicable section.

FIG. 3 is a flowchart showing an obstacle information presentation routine executed by an ECU.

FIG. 4 is a flowchart showing an obstacle information presentation routine executed by the ECU.

FIG. 5 is an explanatory diagram showing a display display when presenting the presence of an obstacle.

FIG. 6 is an explanatory diagram showing a display display when an alarm is presented for an obstacle.

FIG. 7 is an explanatory diagram showing a display display when an alarm is presented for a preceding vehicle.

[Explanation of symbols]

1 ECU (inter-vehicle distance detecting means, alarm presenting means, inter-vehicle distance controlling means) 7 receiver (inter-vehicle distance detecting means)

─────────────────────────────────────────────────── ─── Continuation of front page (51) Int.Cl. ⁷ Identification code FI theme code (reference) B60R 21/00 B60R 21/00 626D 626E 626G 628 628C 628E G08B 21/00 G08B 21/00 H G08G 1/00 G08G 1/00 J 1/09 1/09 FF term (reference) 5C086 AA52 BA22 CA28 CB27 CB36 DA40 EA45 FA01 FA11 5H180 AA01 BB02 BB04 CC04 CC12 CC14 EE15 EE18 FF05 FF13 FF35 FF35 LL04 FF35 LL08 FF35 LL35 FF35 LL35 FF35 LL08

Claims (3)

[Claims] 1. An inter-vehicle distance detecting means for detecting an inter-vehicle distance between an own vehicle and a preceding vehicle, and when the information about an obstacle existing on a traveling road is detected by road-to-vehicle communication, the obstacle information and the own vehicle are detected. An alarm presenting means for issuing an alarm according to a traveling state is provided, and the alarm presenting means, based on the detection result of the inter-vehicle distance detecting means, determines that a preceding vehicle exists between the own vehicle and the obstacle. An obstacle information presenting device is characterized in that the warning about the preceding vehicle is given priority over the warning about the obstacle. 2. The warning presenting means determines that there is a risk of a rear-end collision with a preceding vehicle based on the detection result of the inter-vehicle distance detecting means after passing through a section where obstacle information can be detected by road-vehicle communication. The obstacle information presenting apparatus according to claim 1, wherein an alarm based on a preceding vehicle is given priority over an alarm based on the obstacle. 3. An inter-vehicle distance control means for controlling the traveling state of the own vehicle based on the inter-vehicle distance detected by the inter-vehicle distance detecting means, wherein the inter-vehicle distance control means presents the alarm during the inter-vehicle distance control. The obstacle information presenting apparatus according to claim 1 or 2, wherein the inter-vehicle distance control is stopped when the obstacle information is detected by the means.