JP2005049914A - Vehicle situation deciding device, on-vehicle information acquiring device, vehicle operation controller, and vehicle situation deciding method - Google Patents

Vehicle situation deciding device, on-vehicle information acquiring device, vehicle operation controller, and vehicle situation deciding method Download PDF

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Publication number
JP2005049914A
JP2005049914A JP2003200570A JP2003200570A JP2005049914A JP 2005049914 A JP2005049914 A JP 2005049914A JP 2003200570 A JP2003200570 A JP 2003200570A JP 2003200570 A JP2003200570 A JP 2003200570A JP 2005049914 A JP2005049914 A JP 2005049914A
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Prior art keywords
vehicle
determination
device
information
situation
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JP2003200570A
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JP4476575B2 (en
JP2005049914A5 (en
Inventor
Satoru Harumoto
Yoshihiko Maeno
Naotoshi Miyamoto
Hiroshi Takeuchi
Toshitaka Yamato
義彦 前野
俊孝 大和
直敏 宮本
哲 春本
博 竹内
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Fujitsu Ten Ltd
富士通テン株式会社
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Publication of JP2005049914A5 publication Critical patent/JP2005049914A5/ja
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    • YGENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02TCLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00Road transport of goods or passengers
    • Y02T10/80Technologies aiming to reduce greenhouse gasses emissions common to all road transportation technologies
    • Y02T10/84Data processing systems or methods, management, administration

Abstract

<P>PROBLEM TO BE SOLVED: To validly use equipment mounted on a vehicle, and to suppress manufacturing costs, and to ensure preventive safety against a vehicle accident. <P>SOLUTION: An acknowledgement recognizing device 2 analyzes physical data inputted from an input device 1 by an analyzing part 11, and transmits the analytic result to a prediction judging device 3 as extracted object data. The prediction judging device 3 selects an available decision logic from a decision logic database 25 based on the information quantity of the received object data. The prediction judgement processing part 23 executes the situation decision, danger prediction and necessary operation decision of its own vehicle by using the decision logic selected by the decision logic selecting part 22. An operation warning controller 4 decides the contents of concrete warning operation and control operation based on the output of the prediction deciding device 3 and the information of a connected output device 5. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

[0001]
BACKGROUND OF THE INVENTION
This invention receives the information from an external device that acquires information related to the traveling of the host vehicle, and determines a situation in which the host vehicle is actually greeted based on the received information. Vehicle information acquisition device for acquiring information related to travel, and vehicle for controlling operation of vehicle by notification control for performing notification processing for vehicle driver and / or motion control for assisting / intervening in driving of vehicle More particularly, the present invention relates to a vehicle situation determination apparatus, an in-vehicle information acquisition apparatus, a vehicle operation control apparatus, and a vehicle situation determination method that can be commonly connected to in-vehicle devices having different performances.
[0002]
[Prior art]
2. Description of the Related Art Conventionally, for the purpose of preventive safety of automobile (vehicle) accidents, techniques for acquiring various information on behalf of a driver and controlling various devices in the vehicle are known. For example, Patent Literature 1 discloses a technique for calculating a distance from the vehicle to a front obstacle and issuing a warning to the driver when the detected distance is equal to or less than a predetermined distance.
[0003]
Further, in the occupant protection support device disclosed in Patent Document 2, the risk of accidents of the host vehicle is always calculated when the vehicle is running, and occupant protection is appropriately performed by operating the occupant protection means before the accident occurs. I am trying to do it.
[0004]
[Patent Document 1]
Japanese Unexamined Patent Publication No. 7-57198
[Patent Document 2]
JP 2000-142321 A
[0005]
[Problems to be solved by the invention]
By the way, when trying to recognize, recognize and judge danger on behalf of the driver of a car, the judgment accuracy depends on how various information is acquired, and the more information that can be used, the better the judgment accuracy. . On the other hand, since the present vehicles are equipped with various electronic devices, it is required to effectively use information acquired by these electronic devices.
[0006]
In addition, when it is determined that the situation of the host vehicle is dangerous, it is necessary to give a warning (notification) to the driver and to assist or intervene in the driving. It is required to operate optimally in cooperation with various devices installed in the vehicle.
[0007]
However, the types and performances of the devices mounted on the vehicle vary depending on the vehicle type, and the vehicle owner may add the devices independently. In this way, in order to recognize, recognize and judge danger using different devices for each vehicle, and to perform warning, assistance, and intervention, it is necessary to build a preventive safety system dedicated to that vehicle, and the manufacturing cost There was a problem that became high.
[0008]
This invention has been made to solve the above-described problems caused by the prior art, and can be commonly connected to in-vehicle devices having different performances, while effectively using the devices mounted on the vehicle, An object of the present invention is to provide a vehicle situation determination apparatus, an in-vehicle information acquisition apparatus, a vehicle operation control apparatus, and a vehicle situation determination method that suppress manufacturing costs.
[0009]
[Means for Solving the Problems]
In order to solve the above-described problems and achieve the object, the invention according to claim 1 is configured to receive the information from an external device that obtains information related to traveling of the host vehicle, and based on the received information A vehicle situation determination device for determining a situation where the vehicle is currently greeted, wherein the storage means stores a plurality of judgment logics used for judgment of the situation where the host vehicle is currently greeted, and the storage corresponding to the external device A determination means for selecting an executable determination logic from a plurality of determination logics stored in the means, and for determining a situation in which the host vehicle is currently greeted using the selected determination logic. .
[0010]
According to the first aspect of the present invention, the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation, and the determination that can be executed from the plurality of determination logics corresponding to the external device that is the information transmission source. Select and execute logic.
[0011]
According to a second aspect of the present invention, in the first aspect of the present invention, based on the determination result by the determination means, the situation where the host vehicle is actually greeted and the vehicle operation to be executed under the situation are: It further comprises transmission means for creating a vehicle operation instruction and transmitting the vehicle operation instruction to an external device that performs vehicle motion control and / or notification control.
[0012]
According to the invention of claim 2, the vehicle situation determination device creates a situation in which the host vehicle is actually greeted and a vehicle operation to be executed based on the determination result by the determination means, / Or transmitted to an external device that performs notification control.
[0013]
According to a third aspect of the present invention, information relating to travel of the host vehicle is acquired to determine a situation in which the host vehicle is actually greeted, and exercise control and / or notification control to be executed in the situation is performed by an external device. A vehicle status determination device that transmits to the storage unit, a storage unit that stores a plurality of determination logics used for the exercise control and / or notification control to be executed, and a plurality of storage units stored in the storage unit corresponding to the external device Control means for selecting a determination logic that can be executed from the determination logic, and transmitting exercise control and / or notification control to be executed in the above-described situation using the selected determination logic to an external device. And
[0014]
According to the invention of claim 3, the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation, and the determination that can be executed from the plurality of determination logics corresponding to the external device that is the output destination of information. Select and execute logic.
[0015]
The invention according to claim 4 is the invention according to claim 1, 2, or 3, wherein the plurality of determination logics respectively correspond to external devices of the same type and different performance.
[0016]
According to the fourth aspect of the present invention, the vehicle situation determination device stores a plurality of determination logics corresponding to the same type and different performance external devices, and selects and executes the determination logic corresponding to the connected external device. To do.
[0017]
The invention according to claim 5 is the invention according to any one of claims 1 to 4, wherein the determination means can be executed from the plurality of determination logics based on the content of information related to the traveling of the host vehicle. The judgment logic is selected.
[0018]
According to the invention of claim 5, the vehicle situation determination device stores a plurality of determination logics used for the situation determination, and selects an executable determination logic from the plurality of determination logics based on the content of the acquired information. And run.
[0019]
The invention according to claim 6 is characterized in that, in the invention according to claim 5, information relating to travel of the host vehicle and / or the vehicle operation instruction is transmitted and received in a standardized predetermined data format. .
[0020]
According to the sixth aspect of the present invention, the vehicle situation determination device transmits and receives information related to traveling of the host vehicle in a standardized predetermined data format, and is executed from a plurality of determination logics based on the contents of the received information. Select and execute possible decision logic.
[0021]
The invention according to claim 7 is the invention according to claim 5 or 6, wherein the information related to the traveling of the host vehicle has a type of information and attribute information determined by the type of information. Features.
[0022]
According to the seventh aspect of the invention, the vehicle situation determination device can acquire information having the type of information and attribute information determined by the type of information, and can be executed from a plurality of determination logics based on the information. Select and execute the correct decision logic.
[0023]
The invention according to claim 8 is the invention according to claim 5, 6 or 7, wherein the determination logic selecting means selects an executable determination logic from the type of information and the attribute information. To do.
[0024]
According to the invention of claim 8, the vehicle situation determination device selects a determination logic that can be executed from a plurality of determination logics based on the type of received information and the attribute information determined by the type of information. Execute.
[0025]
The invention according to claim 9 is the invention according to any one of claims 1 to 4, wherein the determination means can receive information related to the external device, and can be executed from the plurality of determination logics using the reception result. The judgment logic is selected.
[0026]
According to the ninth aspect of the present invention, the vehicle situation determination device stores a plurality of determination logics used for the situation determination, receives information about the external device, and makes a plurality of determinations based on the received information on the external device. Select the decision logic that can be executed from the logic and execute it.
[0027]
According to a tenth aspect of the present invention, in the inventions according to the first to fourth aspects, the determination means can execute determination from the plurality of determination logics by setting a selection switch that specifies a determination logic to be selected. It is characterized by selecting logic.
[0028]
According to the invention of claim 10, the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation and uses the determination logic designated by the selection switch.
[0029]
The invention according to claim 11 is an in-vehicle information acquisition device for acquiring information related to traveling of the host vehicle, wherein the input means inputs data inside the host vehicle and / or outside the host vehicle, and the input Analyzing the data obtained by the means to obtain information relating to the running of the own vehicle; and converting the information relating to the running of the own vehicle obtained by the analyzing means into a predetermined data format so that the own vehicle is actually And a transmission means for transmitting to the vehicle status determination device for determining the status of being greeted.
[0030]
According to the eleventh aspect of the invention, the in-vehicle information acquisition device analyzes the data acquired by the input means to acquire information related to the traveling of the host vehicle, converts the analysis result into a predetermined data format, and the host vehicle. Is transmitted to the vehicle status determination device for determining the status of the present.
[0031]
The invention according to claim 12 is the invention according to claim 11, wherein the predetermined data format is a format in which a type of information is associated with attribute information determined by the type of information. To do.
[0032]
According to the twelfth aspect of the present invention, the in-vehicle information acquisition device converts information related to traveling of the host vehicle into a format in which the type of information and attribute information determined by the type of information are associated with each other. Transmit to the judgment device.
[0033]
According to a thirteenth aspect of the present invention, there is provided an in-vehicle information acquisition device for acquiring information related to traveling of the host vehicle, comprising a notification means for notifying the connection destination of information related to the host device.
[0034]
According to this aspect of the invention, the in-vehicle information acquisition device analyzes the data acquired by the input means to acquire information related to the traveling of the host vehicle, and determines the situation in which the host vehicle is actually greeted. While transmitting to a determination apparatus, the information regarding an own apparatus is notified to a connection destination.
[0035]
Further, the invention according to claim 14 is a vehicle operation control device that controls the operation of the vehicle by notification control for performing notification processing for the driver of the vehicle and / or motion control for assisting / intervening with respect to driving of the vehicle. A receiving means for receiving a vehicle operation instruction having a situation where the host vehicle is actually greeted and a vehicle operation to be executed in the situation, the vehicle operation instruction, and various means mounted on the host vehicle. Control content determination means for determining the control content that can be executed to realize the instructed vehicle operation based on the information is provided.
[0036]
According to the fourteenth aspect of the present invention, when the vehicle operation control device receives a vehicle operation instruction having a situation where the host vehicle is actually greeted and a vehicle operation to be executed, the various means mounted on the host vehicle. Based on the information, the control content that can be executed to realize the instructed vehicle operation is determined.
[0037]
According to a fifteenth aspect of the present invention, there is provided a vehicle operation control device for controlling the operation of a vehicle by notification control for performing notification processing for a vehicle driver and / or motion control for assisting / intervening with respect to driving of the vehicle. In addition, the information processing apparatus includes a notification unit that notifies the connection destination of information related to the device itself.
[0038]
According to the fifteenth aspect of the present invention, the vehicle operation control device receives a vehicle operation instruction having a situation where the host vehicle is actually greeted and a vehicle operation to be executed, and realizes the instructed vehicle operation. The control details that can be executed are determined, and information about the device itself is notified to the connection destination.
[0039]
Further, the invention according to claim 16 is connected to an in-vehicle electronic control unit that acquires various information, processes the acquired information to perform operation control and / or safety control, and includes processing contents by the in-vehicle electronic control unit. In addition, the present invention is characterized by comprising a prediction determination means for determining a situation where the host vehicle is actually greeted and predicting a risk that may occur in the host vehicle.
[0040]
According to the invention of claim 16, the vehicle situation determination device reads various information and control information from vehicle-mounted electronic control means for performing driving control and safety control, and the situation where the host vehicle is actually greeted And predicting the danger that may occur in the vehicle.
[0041]
The invention according to claim 17 is a vehicle situation in which the information is received from an external device that obtains information related to traveling of the host vehicle, and a situation in which the host vehicle is actually greeted based on the received information is determined. A determination method, which is executed from a storage step for storing a plurality of determination logics used for determining a situation where the host vehicle is actually greeted, and a plurality of determination logics stored by the storage step corresponding to the external device And a determination step of selecting a possible determination logic and determining a situation in which the host vehicle is currently greeted by using the selected determination logic.
[0042]
According to the seventeenth aspect of the present invention, the vehicle situation determination method stores a plurality of determination logics used for the determination of the situation, and a determination that can be executed from the plurality of determination logics corresponding to the external device that is the information transmission source. Select and execute logic.
[0043]
DETAILED DESCRIPTION OF THE INVENTION
Exemplary embodiments of a vehicle situation determination device, an in-vehicle information acquisition device, a vehicle operation control device, and a vehicle situation determination method according to the present invention will be explained below in detail with reference to the accompanying drawings.
[0044]
(Embodiment 1)
FIG. 1 is an explanatory diagram illustrating a schematic configuration of a preventive safety system using a vehicle state determination device, an in-vehicle information acquisition device, and a vehicle operation control device according to a first embodiment of the present invention. As shown in the figure, in the preventive safety system according to the first embodiment, a plurality of input devices 1 are connected to a prediction determination device 3 via a plurality of cognitive recognition devices 2. Further, the output of the prediction determination device 3 is transmitted to a plurality of operation warning control devices 4, and each operation warning control device 4 is connected to a plurality of output devices 5. Here, the input device 1 and the recognition recognition device 2 function as an in-vehicle information acquisition device, the prediction determination device 3 functions as a vehicle situation determination device, and the operation warning control device 4 and the output device 5 serve as a vehicle operation control device. Function.
[0045]
In this preventive safety system, communication between the prediction determination device 3, the recognition recognition device 2, and the motion measurement control device 4 is realized using a standardized data format. For this reason, the prediction determination apparatus 3 can be commonly connected to in-vehicle devices having different types and performances.
[0046]
The input device 1 is a camera, a speed sensor, an acceleration sensor, a position information acquisition unit, a radar, an inter-vehicle communication device, and the like, and an image inside and outside the own vehicle, the speed and acceleration of the own vehicle, the position of the own vehicle, and the like. Various types of information that can be used to determine the situation in which the host vehicle is currently greeted, such as vehicle information, is input to the cognitive recognition device 2.
[0047]
The recognition recognition device 2 includes an analysis unit 11 and an object data creation unit 12 therein. The analysis unit 11 analyzes various information input from the input device 1 and acquires information related to the traveling of the host vehicle. The object data creation unit 12 converts the information related to the traveling of the vehicle into a predetermined data format and transmits it to the prediction determination device 3.
[0048]
For example, when the input device 1 is a camera and the recognition recognition device 2 is an image processing device, the analysis unit 11 automatically determines whether there is an obstacle, information about the obstacle, and the like based on an image input from the camera. It is acquired as information related to vehicle travel. The object data creation unit 12 transmits the presence / absence of the obstacle and information regarding the obstacle to the prediction determination device 3 as object data.
[0049]
As described above, when the input device is a camera and the recognition recognition device is an image recognition device, the analysis unit obtains information on the presence or absence of an obstacle and information on the obstacle, and based on the presence or absence of the obstacle. In addition, for example, it has a function of outputting a control signal for maintaining the distance between the vehicle and the vehicle ahead (normal collision safety control).
[0050]
Furthermore, if the input device is a radar and the cognitive recognition device is a pre-crash system, the analysis unit processes the reflected radio wave input from the radar, and based on this, the relative distance (position of the obstacle) and relative Recognize the speed (the obstacle is approaching, etc.) and control the seat belt based on this (normal collision safety control), and the position of the obstacle obtained by the object creation unit by the processing of the analysis unit Information or movement information (such as an obstacle approaching) is transmitted to the prediction determination apparatus as object data.
[0051]
Furthermore, if the input device is a wheel speed sensor or an on / off switch for brake operation and the recognition recognition device is a brake control device, the analysis unit processes the data input from the wheel speed sensor and the brake on / off data. Based on this, it recognizes the intention of deceleration and the locked state of the wheel, and controls the brake based on this (normal vehicle driving control), and the object creation unit obtained by the processing of the analysis unit, for example, the presence of intention of deceleration, etc. To the prediction determination device as object data.
[0052]
In other words, the prediction is based on the processing contents (obstruction movement information and intention information of deceleration) obtained by the on-board electronic control device such as the collision safety system, the pre-crash system of the vehicle control system and the brake control, that is, the recognition recognition device. The determination means predicts the danger of the vehicle.
[0053]
Here, the object data is data obtained by performing analysis processing based on physical data obtained from the input device and collecting abstract data obtained as a result of the analysis processing based on the contents. For example, information (abstracted data) such as surrounding vehicles and persons is created from image data (physical data acquired from a camera). By using such abstracted data, it is possible to realize standardized data communication that can be used in common without depending on the specifications and performance of the data transmission source.
[0054]
That is, the recognition recognizing device 2 recognizes and recognizes an obstacle and transmits it to the prediction determination device 3 by an analysis process on the data acquired by the input device 1. In this way, the recognition recognition device 2 creates the object data and transmits it to the prediction determination device 3, so that the prediction determination device 3 determines the situation of the host vehicle regardless of the type, number, and performance of the input device 1. be able to.
[0055]
In FIG. 2, an example of the object data which the recognition recognition apparatus 2 outputs is shown. The object data 41 shown in FIG. 2 is object data indicating information about obstacles ahead of the host vehicle, and the attributes “existence”, “type”, “size”, “position”, “movement”, It has a “direction”. The item “presence / absence” indicates the presence / absence of an obstacle in front of the host vehicle, and the item “type” indicates the type of the obstacle. The item “size” indicates the size of the obstacle, and the item “position” indicates the position of the obstacle. Further, the item “movement” indicates whether or not the obstacle is moving, and the item “direction” indicates the moving direction of the obstacle.
[0056]
Each item is created by analyzing image data taken by a camera, for example. Items that cannot be created depending on the type, number, and performance of cameras are left blank. The object data 41 indicates information extracted by image processing from a single image captured by a monocular camera, and the items “movement” and “direction” are blank. If photographing with this monocular camera is performed again and image processing is performed based on two images, the items “movement” and “direction” can be calculated.
[0057]
The prediction determination device 3 determines a situation in which the host vehicle is actually approaching based on the object data received from the recognition recognition device 2, predicts and determines a risk that may occur in the host vehicle, and notifies the result of the operation warning. Transmit to the control unit 4.
[0058]
More specifically, the prediction determination device 3 includes an object data receiving unit 21, a determination logic selection unit 22, a prediction determination processing unit 23, an object data creation unit 24, a determination logic database 25, and a storage unit 26 therein. The object data receiving unit 21 receives the object data transmitted by the recognition recognition device 2 and transmits the contents thereof to the determination logic selecting unit 22. Since the content of the object data transmitted by the cognitive recognition device 2 varies depending on the type, number, and performance of the input device 1 and the processing capability of the cognitive recognition device 2, the determination logic selection unit 22 has the content of the received object data. In addition, the determination logic executable by the prediction determination device 3 is selected from the determination logic database 25 and transmitted to the prediction determination processing unit 23.
[0059]
The prediction determination processing unit 23 uses the determination logic selected by the determination logic selection unit 22 to determine a situation in which the host vehicle is actually greeted, and predicts a risk that may occur in the host vehicle. Further, the prediction determination processing unit 23 determines the vehicle operation that the host vehicle should perform based on the prediction result.
[0060]
The object data creation unit 24 summarizes the situation of the host vehicle, the degree of danger, and the vehicle motion that the host vehicle should execute as object data, which are output from the prediction determination processing unit 23, and transmits the object data to the motion warning control device 4.
[0061]
Here, with reference to FIG. 3 and FIG. 4, the determination logic and selection in the prediction determination apparatus 3 will be described. FIG. 3 is an explanatory diagram for explaining the object data received by the prediction determination device 3 and the determination accuracy determined by the contents thereof. In FIG. 3, the host vehicle 51 is equipped with a camera capable of photographing the range 53. Assuming that there is only an obstacle ahead due to the performance of the camera and the performance of the cognitive recognition device 2, the area to which the host vehicle should be alerted is the entire range 53.
[0062]
As a result of the analysis by the recognition recognition device 2, if the obstacle is a vehicle (type) and its position is found, the area to be warned for the own vehicle is that the vehicle is centered on the position of the other vehicle. The range 54 is likely to move.
[0063]
Furthermore, if the moving direction and speed of the vehicle 52 that is an obstacle are found as a result of the analysis by the recognition recognition device 2, the area to which the own vehicle should be alerted is a range 55 based on the moving direction and speed of the vehicle 52. Become.
[0064]
Thus, as the object data received by the prediction determination device 3 becomes more detailed, the determination accuracy related to the situation of the host vehicle is improved. As a result, the risk level of the host vehicle can be predicted in more detail. FIG. 4 is an explanatory diagram for explaining the relationship between information included in object data and services that can be provided.
[0065]
As shown in FIG. 4, when the object data includes information regarding the presence or absence of an obstacle, the service that can be provided is a warning to the driver. Further, when the object data includes information on the presence / absence, type, size, and position of an obstacle, the service that can be provided is assistance (assist) of the avoidance operation. Furthermore, when the object data includes the presence / absence, type, size, and position of an obstacle, as well as information on the presence / absence of movement and the direction of movement, the service that can be provided is an intervention of avoidance operation.
[0066]
In other words, when the amount of information included in the object data is small and the accuracy of situation determination and risk prediction is low, the automatic control on the vehicle side is suppressed and the operation of the vehicle is left to the driver's operation, and is included in the object data. When there is a lot of information and situation determination and risk prediction can be performed with high accuracy, a vehicle accident can be prevented by positively assisting driving on the vehicle side or intervention in driving.
[0067]
Specifically, the determination logic corresponding to each service content is stored in the determination logic database 25, and the determination logic selection unit selects the determination logic based on the amount of information included in the object data.
[0068]
As the actual logic selection, for example, as shown in FIG. 5, if the information amount of the object data is only information on the presence or absence of a front obstacle, the logic (1) shown in FIG. 5A is selected. Then, based on the information on the presence / absence and the information on the vehicle speed and the brake operation obtained from other input devices, the information on the presence / absence of the obstacle and the danger level (for example, two levels) are calculated, and will be described later with reference to FIG. Create object data like
[0069]
Also, if there is information on the presence, type, size, and position of the front obstacle, select Logic (2), and information on the presence, type, size, position, and the vehicle speed obtained from other input devices On the basis of the information on the brake operation and the information on the presence / absence of an obstacle, information on the presence / absence of an obstacle, risk level (for example, three levels), target type, and dangerous area are calculated, and object data to be described later is created.
[0070]
Furthermore, if there is information on the presence / absence, type, size, position, movement, and direction of the front obstacle, select logic (3), information on the presence / absence, type, size, position, movement, direction, and other information. Based on the information on the vehicle speed and brake operation obtained from the input device, information on the presence or absence of obstacles, danger level (for example, 5 levels), target type, danger area, and danger direction are calculated, and object data described later is created. To do.
[0071]
Therefore, if it is logic (1), it will remain as a warning as a service, if it is logic (2), it will be possible to assist the avoidance operation, and if logic (3), it will be possible to intervene in the avoidance operation.
[0072]
The logic “selection” described in the present embodiment detects the information amount of the input object, and reads out and selects the optimum logic based on this information amount. It is also possible to memorize a common (one) logic (flow) for each of them and to selectively process a portion of the logic adapted to the amount of information of the input object. Shall be included.
[0073]
FIG. 6 is an explanatory diagram for explaining logic selection by a common flow. As shown in the figure, the input object is input to the same flow regardless of the amount of information, and a logic output corresponding to the amount of information is obtained. For example, when the input object has an information amount corresponding to the logic (2), the logic (1) passes through the processing flow, but the actual processing (output) is not performed. Processed and output is obtained. Thereafter, the logic (3) also passes through the processing, but is not actually processed by the logic (3). Therefore, as a result, the logic (2) is selected.
[0074]
Here, the case of predicting the danger of a collision with an obstacle based on an image from the camera has been described, but the input means is not limited to the camera, and is combined with information from radar and inter-vehicle communication. Can be used. When object data received from a plurality of cognitive recognition devices is used in combination, the object data received from each cognitive recognition device is stored in the storage unit 26, and necessary information is read from the storage unit 26 and used. What should I do?
[0075]
Furthermore, the processing content of the determination logic is not limited to collision prevention. The determination logic database 25 stores determination logic for performing processing such as lane departure prevention, dozing driving / side-view driving prevention, and vehicle theft prevention. can do.
[0076]
In this way, by using the determination logic selected based on the information amount of the object data, the prediction determination processing unit 23 makes the best use of the input device 1 provided in the own vehicle, and the situation of the own vehicle. It is possible to determine the vehicle operation to be executed by the own vehicle by performing the above determination and the prediction of danger.
[0077]
Next, object data created by the object data creation unit 24, that is, data relating the situation of the host vehicle, the degree of danger, and the vehicle operation to be executed by the host vehicle will be described. FIG. 7 is a diagram illustrating an example of data created by the object data creation unit 24. The object data 42 shown in FIG. 7 is data indicating the danger of collision, and includes items such as “presence / absence”, “danger level”, “target type”, “dangerous area”, and “danger direction”. The item “presence / absence” indicates whether or not there is a risk of collision in the host vehicle, and the item “danger level” is an index indicating the possibility of collision and the degree of danger. In addition, the item “target type” indicates what the target of the collision is possible, the item “dangerous area” indicates the area around the target position, and the item “dangerous direction” indicates the moving speed / movement direction of the target. The area along is shown.
[0078]
The object data 42 is data created based on the output of the prediction determination processing unit 23. Depending on the determination logic used by the prediction determination processing unit 23, some of the items of the object data may not be calculated. However, items that cannot be calculated by the prediction determination processing unit 23 are left blank. The object data creation unit 24 adds to the object data 42 a determination of a vehicle motion that the host vehicle should execute, and transmits it to the motion warning control device 4. More specifically, the vehicle operation to be executed by the host vehicle is transmitted as data such as an avoidance direction, acceleration / deceleration, and operation timing for avoiding danger.
[0079]
The operation warning control device 4 performs a control operation on the output device 5 based on the object data received from the prediction determination device 3. More specifically, the operation warning control device 4 includes an object data receiving unit 31 and a control content determining unit 32 therein. The object data reception unit 31 receives the object data transmitted by the prediction determination device 3 and transmits the contents thereof to the control content determination unit 32. The control content determination unit 32 determines the specific processing content by the output device 5 based on the information indicated in the received object data.
[0080]
Here, the control content determination unit 5 avoids the danger content indicated in the object data based on the type, number, and performance of the connected output device 5, and realizes the vehicle operation to be executed by the host vehicle. To output the most effective processing contents. For example, if a two-channel speaker is connected as the output device 5 in a situation where the overtaking vehicle is approaching from the right rear of the host vehicle, the operation warning control device 4 outputs a warning sound from the two-channel speaker. Similarly, if the overtaking vehicle is approaching from the right rear side of the host vehicle and the 5-channel speaker is connected as the output device 5, the operation warning control device 4 can hear a warning sound from the right rear side of the driver. By outputting the power to the vehicle, the driver's attention can be urged to the right rear and accidents can be prevented more effectively.
[0081]
In addition, when assistance or intervention for driving to avoid danger is instructed by the object data, the operation warning control device 4 is based on the throttle opening and speed of the host vehicle, the state of the brake pressure, the steering state, and the like. Then, specific contents of the intervention operation are determined and transmitted to the respective output devices 5.
[0082]
That is, the operation warning control device 4 determines the optimal operation content based on the abstract instruction received from the prediction determination device 3 and the state of the device mounted on the own vehicle, and controls the output device 5. It can be performed.
[0083]
As described above, in the preventive safety system according to the first embodiment, the recognition / recognition device 2 performs the recognition / recognition process based on the specific data received from the input device 1 to create abstract object data, The prediction / judgment device 3 performs prediction / judgment with high accuracy without depending on the input device 1 by selecting and optimizing the optimum decision logic based on the information amount of the abstracted object data. can do. Further, the prediction determination device 3 transmits the prediction / determination result as abstracted object data, and the operation warning control device 4 performs a specific warning that realizes the abstracted operation instruction based on the state of the output device 5. By determining the content of (notification) / assistance / intervention, the prediction determination device 3 can output the prediction / determination result without depending on the output device 5.
[0084]
Therefore, the recognition / recognition device 2 and the motion warning control device 4 can absorb the dependence on the vehicle in prediction / judgment, and the prediction / judgment device 3 can be standardized. Therefore, the prediction determination device 3 can be mounted in common for all vehicles.
[0085]
Furthermore, in this embodiment, as an input to the prediction determination device 3, an output from a conventional vehicle operation control system such as an engine control device or a safety recognition system such as a pre-crash system or an air bag device is recognized. (Information obtained by processing of the cognitive recognition device) is used. Conventionally, it is known to predict the danger based on the recognition result, but usually, the recognition device is built with the prediction means and configured as a dedicated device, so such a device must be manufactured for each vehicle type. I must. On the other hand, in this embodiment, as described above, since the processing contents of the existing operation control system and collision safety system are used and the risk is predicted based on this, a dedicated system corresponding to the vehicle type is used. The device is not manufactured as a device, and a prediction determination device can be added to the conventional device as a common platform regardless of the vehicle type. Moreover, since the processing content from the recognition recognition apparatus is only diverted, the recognition recognition apparatus can be controlled independently of the prediction stage as will be described later.
[0086]
Next, a specific configuration example of the preventive safety system according to the first embodiment will be described. FIG. 8 is an example of a specific configuration of the preventive safety system according to the first embodiment. In FIG. 8, prediction judgment ECU (Electrical Control Unit) 301 includes communication ECUs 201 and 202, image recognition ECU 203, pre-crash system 204, airbag control ECU 205, vehicle body control ECU 206, air conditioning 207, control locator 209, storage unit 302, The display control ECU 403, the sound control ECU 404, and the vehicle operation control system 400 are connected.
[0087]
The communication ECU 201 is connected to the general communication network 101 using W-CDMA, CDMA2000, 802.11b, or the like, and transmits the communication content to the prediction determination ECU 3 as object data. Similarly, the communication ECU 202 is connected to a vehicle communication device 102 such as a short-range radio (DSRC) that communicates with other vehicles, road surfaces, and the like, and transmits the contents of inter-vehicle communication to the prediction determination ECU 301 as object data. The image recognition ECU 203 is connected to the camera 103 and the radars 104 and 105, and has a function of outputting a signal for instructing inter-vehicle distance control with the preceding vehicle based on the result of the image recognition process, and the result of the image recognition process. Is transmitted to the prediction determination ECU 301 as object data. Here, the radar 104 is a medium / long-range radar system, and the radar 105 is a short-range radar system.
[0088]
The pre-crash system 204 is connected to radars 104 and 105 that receive reflected radio waves from obstacles around the vehicle, detects a relative distance and speed from the obstacle based on the reflected radio waves, and transmits the detected distance to the prediction determination ECU 301. Then, the seat belt 106 is wound up based on the relative distance and speed. Further, the airbag ECU 205 acquires the impact information of the own vehicle from the acceleration sensor 107 that detects acceleration and transmits it to the prediction determination ECU 301, and controls the operation of the airbag 108 based on the impact information. Here, the pre-crash system 204 and the airbag ECU 205 constitute a collision safety control system 200 that improves safety in the event of a vehicle collision. The collision safety control system 200 not only operates in cooperation with the prediction determination ECU 301 but can operate independently without being affected even if the prediction determination ECU 301 fails.
[0089]
The vehicle body ECU 206 is connected to the door microcomputer 109 or the like, and supplies the state of various devices such as lights and blinkers 110 arranged on the door and the vehicle body to the prediction determination ECU 301, and also the blinker 110 and seat 111, doors, door locks, windows. Control the lighting system. The air conditioning ECU 207 acquires the temperature in the vehicle body, supplies the temperature to the prediction determination ECU 301, and adjusts the temperature in the vehicle by controlling the blower 112.
[0090]
The display control ECU 403 is a processing unit that controls various display devices in the vehicle, and is connected to the touch panel 501 and the monitor 502. The voice control ECU 404 is a processing unit that controls various voice output devices in the vehicle, and is connected to the switch 503, the speaker 504, and the like.
[0091]
The control locator 209 performs processing for acquiring position information from the navigation system 405 and supplying it to the prediction determination ECU as object data.
[0092]
The vehicle operation control system 400 includes an engine control ECU 406, a shift control ECU 407, a brake control ECU 408, a suspension control ECU 409, and a steering control ECU 410, and is controlled by each ECU autonomously based on object data received from the prediction determination ECU 301. Perform the action. The engine control ECU 406 controls the throttle 505 based on the accelerator opening 507. Further, the shift control ECU 407 acquires the accelerator opening 507 and controls the shift 508. The brake control ECU 408 acquires the brake switch on / off signal and the wheel speed 509 and controls the brake pressure 510. Further, the suspension control ECU acquires the suspension state by the stroke sensor 511 and controls the air pressure 512. The steering control ECU 410 acquires the state of the steering angle sensor 513 and performs a process of controlling the steering 514 so that a desired steering angle is obtained.
[0093]
It is desirable that the vehicle operation control system 400 not only operates in cooperation with the prediction determination ECU 301 but also can operate independently.
[0094]
As described above, the general communication network 101, the vehicle communication device 102, the camera 103, the radars 104 and 105, the acceleration sensor 107, the door microcomputer 109, the accelerator opening 507, the wheel speed 509, the stroke sensor 511, and the steering angle sensor 513 are included in the input device 1. Corresponding communication ECUs 201 and 202, image recognition ECU 203, pre-crash system 204, airbag control ECU 205, vehicle body control ECU 206, security system 207, engine control ECU 406, speed change control ECU 407, brake control ECU 408, suspension control ECU 409, and steering control ECU 410 It corresponds to the cognitive recognition device 2. The prediction determination ECU 301 corresponds to the prediction determination device 3, and the display control ECU 403, the voice control ECU 404, and the vehicle motion control system 400 correspond to the operation warning control device 4. Further, the seat belt 106, the airbag 108, the winker 110, the seat 111, the blower 112, the monitor 502, the speaker 504, the throttle 505, the shift 508, the brake pressure 510, the air pressure 512, and the steering angle 514 correspond to the output device 5. .
[0095]
As shown in FIG. 8, the prediction determination ECU performs transmission / reception of object data with various control ECUs, receives information related to vehicle travel, executes prediction / determination, and performs various controls based on the results. The ECU can be operated. Further, as shown in the figure, in the actual configuration, the recognition recognition device 2 and the operation warning control device 4 are not necessarily provided independently. Warning control processing can be executed.
[0096]
Next, an operation example of the predictive safety system shown in FIG. 8 will be described. FIG. 9 is a flowchart for explaining an operation example of the predictive safety system. In this flowchart, a case where collision avoidance is performed based on information on another vehicle acquired from the vehicle communication device 102 will be described.
[0097]
First, the communication ECU 202 receives the position information of the opponent vehicle via the vehicle communication device 102 (step S101), then receives the speed of the opponent vehicle (step S102), and further receives the movement direction of the opponent vehicle (step S102). Step S103). The communication ECU transmits the received position, speed and moving direction of the opponent vehicle as object data to the prediction determination ECU 301 (step S104).
[0098]
The prediction determination ECU 301 selects a logic based on the received object data, and calculates the positional relationship and relative speed between the host vehicle and the opponent vehicle (step S105). The prediction determination ECU 309 predicts the presence or absence of a collision based on the calculated positional relationship and relative speed (step S106). It should be noted that the logic selection is performed when the prediction determination device 3 and the operation warning control device 4 are incorporated.
[0099]
If there is a possibility of a collision as a result of step S106 (step S107, Yes), the prediction determination ECU 301 calculates a predicted collision position (step S108). Further, the prediction determination ECU 301 calculates a collision prediction time (step S109).
[0100]
Next, the prediction determination ECU 301 transmits the calculated predicted collision position, predicted collision time, and avoidance instruction as object data to the vehicle motion control ECU 401, the display control ECU 403, and the voice control ECU 404 (step S110).
[0101]
The display control ECU 403 and the voice control ECU 404 receive the object data from the prediction determination ECU 301, read the predicted collision position and the predicted collision time, and determine the warning content (step S111). Thereafter, the display control ECU 403 and the voice control ECU 404 execute a warning operation (step S112).
[0102]
On the other hand, the vehicle motion control system 400 receives the object data from the prediction judgment ECU 301 and calculates a target speed according to the deceleration to prevent the vehicle from reaching the predicted collision position and the distance to the predicted collision position (step). S113).
[0103]
Further, the vehicle motion control system 400 performs real-time control of the throttle opening and the brake pressure so as to achieve the calculated target speed (step S114). Further, the vehicle motion control system 400 calculates an avoidance position for avoiding the calculated collision predicted position and a target steering angle for moving to the avoidance position (step S115), and performs steering so that the calculated target steering angle is obtained. Is controlled in real time (step S116). After step S116 ends or when there is no possibility of collision (step S107, No), the preventive safety system ends the collision avoidance process.
[0104]
In this way, the communication ECU 202 (cognition recognition device) creates object data, and the prediction judgment ECU (prediction judgment device) predicts the risk of the host vehicle, and the vehicle motion control system 400, the display control ECU 403, and the voice control ECU 404 (operations). The warning control device) determines the specific processing contents, so that the determination of the situation, the prediction of danger, and the determination of the avoidance processing can be performed efficiently and with high accuracy.
[0105]
Further, since the prediction determination ECU 301 can execute the processing without depending on the input device or the output device, the prediction determination ECU 301 can be applied (shared) to any vehicle.
[0106]
If an electronic device that does not have object data communication capability is mounted on the host vehicle, a connection unit that acquires information from the electronic device, converts the information into object data, and transmits the object data to the prediction determination ECU 301 is provided. Use it.
[0107]
FIG. 10 is an explanatory diagram for explaining the connection using the connection unit. In FIG. 10, a security system 208 is a security system that does not have the capability of object data communication and operates autonomously, and has a theft prevention determination processing unit 208a therein. The anti-theft determination processing unit 208a acquires information from the key sensor 113, the proximity sensor 114, and the glass sensor 115 to determine the risk of theft in the host vehicle, and when there is a risk of theft, the indicator 602, the buzzer 603, and the communication function 604. Use to inform the surroundings and vehicle owners.
[0108]
The connection unit 601 is connected to the security system 208, and transmits information acquired by the security system 208 and a determination result by the theft determination processing unit 208a to the prediction determination ECU 301 as object data. Therefore, even when the security system 208 does not have a communication function for object data, the prediction determination ECU 301 can acquire information from the security system 208 and use it.
[0109]
Similarly, when the prediction determination ECU 301 transmits information to the security system 208, information can be transmitted to the security system 208 by transmitting object data via the connection unit 601.
[0110]
By the way, the prediction determination ECU 301 is also connected to the image recognition ECU 203. The image recognition ECU 203 analyzes the image acquired by the camera 103 and transmits the analysis result to the prediction determination ECU 301. Therefore, for example, when the prediction determination ECU 301 detects theft, the information received from the image recognition ECU 203 can be used in addition to the information from the key sensor 113, the proximity sensor 114, and the glass sensor 115 acquired by the security system 208. The occurrence of theft can be detected more effectively.
[0111]
In this way, even an electronic device that is not supposed to be connected to the prediction determination ECU can communicate with the prediction determination ECU through the connection unit. Preventive safety can be realized.
[0112]
In FIG. 10, the connection unit 601 is an independent device, but it goes without saying that the connection unit 601 may be incorporated into the security system 208 or the prediction determination ECU 301.
[0113]
Next, the processing of the preventive safety system will be specifically described. Here, three situations (phases) with a high incidence of automobile accidents will be described as an example. 11 and 12 are processes for preventing an accident when an obstacle or a vehicle is present ahead. FIG. 11 shows the contents of each process of “recognition”, “recognition”, “prediction”, “judgment”, “warning / display output, intervention control” in this aspect, and FIG. It is explanatory drawing explaining the process part which performs operation | movement.
[0114]
As shown in FIGS. 11 and 12, in a situation where an obstacle or a vehicle is present ahead, the preventive safety system uses a front camera 103 and an image recognition ECU 203 that image the front of the host vehicle as a recognition means (input device). A navigation system 405, a control locator 209, a brake control ECU 408, and an engine control ECU 406 are used.
[0115]
Specifically, the image recognized by the camera 103 is processed by the image recognition ECU 203 to recognize the presence or absence of an intersection or road, the presence or absence of a signal, the presence or absence of a sign, and the presence or absence of an obstacle.
[0116]
The navigation system 405 and the control locator 209 recognize the position of the host vehicle, the presence or absence of an intersection or road, and the presence or absence of a sign. Furthermore, the brake control ECU 408 acquires the speed of the host vehicle and the pedaling force of the brake, and the engine control ECU 406 acquires the accelerator opening, and transmits it to the prediction determination unit 301 as object data.
[0117]
Thereafter, the preventive safety system uses the image recognition ECU 203 and the control locator 209 as recognition means (cognition recognition device).
[0118]
Specifically, the image recognition ECU 203 recognizes an intersection or road shape, signal color, sign content, obstacle type, obstacle position, obstacle traveling direction, obstacle speed, and object data. To the prediction judgment ECU 301.
[0119]
In addition, the control locator 209 recognizes the distance between the host vehicle and the intersection, the shape of the intersection or road, the presence or absence of a signal, and the content of the sign, and transmits it to the prediction determination ECU 301 as object data.
[0120]
In this preventive safety system, “prediction” and “determination” are executed in a common prediction determination unit 301. Specifically, the prediction determination ECU 301 uses the object data output from the image recognition ECU 203, the object data output from the control locator 209, the object data output from the brake control ECU 406, and the object data output from the engine control ECU 406, Predict collisions with objects and predict driver oversight and judgment delays. Further, the prediction determination ECU 301 determines “danger level”, “danger direction”, and “dangerous area” based on the prediction result, and outputs them as dangerous area object data.
[0121]
The speaker 504, the monitor 502, the engine control ECU 406, the brake control ECU 408, the steering control ECU 410, and the collision safety control system 200 perform “warning / display output, intervention control” based on the dangerous area object data output by the prediction determination ECU 301. Each process is executed.
[0122]
Specifically, when the “danger level” is “1”, the speaker 504 outputs “warning sound A”, and the monitor 502 outputs “warning display a”. Further, engine control ECU 406 prohibits acceleration operation.
[0123]
When the “danger level” is “2”, the speaker 504 outputs “warning sound B”, and the monitor 502 outputs “warning display b”. Further, the brake control ECU 408 executes a deceleration process (small).
[0124]
Further, when the “danger level” is “3”, the speaker 504 outputs “warning sound C” and the monitor 502 outputs “warning display c”. Further, the brake control ECU 408 executes a deceleration process (medium), and the steering control ECU 410 executes an avoidance process.
[0125]
When the “danger level” is “4”, the speaker 504 outputs “warning sound D”, and the monitor 502 outputs “warning display d”. Furthermore, the brake control ECU 408 executes deceleration processing (large), and the collision safety control system 200 operates the safety system. As the operation contents of the safety system, for example, the deployment of the airbag 108 and the winding up of the seat belt 106 can be used.
[0126]
Next, prevention of an accident in a situation where there is an invisible vehicle such as a blind spot at an intersection will be described with reference to FIGS. FIG. 13 shows the contents of each process of “recognition”, “recognition”, “prediction”, “judgment”, “warning / display output, intervention control” in this aspect, and FIG. It is explanatory drawing explaining the process part which performs operation | movement.
[0127]
As shown in FIG. 13 and FIG. 14, in a situation where there is a vehicle that cannot be visually recognized, the preventive safety system uses a front camera 103 and an image recognition ECU 203 that image the front of the host vehicle as a recognition means (input device). A system 405, a control locator 209, a brake control ECU 408, and an engine control ECU 406 are used.
[0128]
Specifically, the image recognized by the camera 103 is processed by the image recognition ECU 203 to recognize the presence or absence of an intersection or road, the presence or absence of a signal, and the presence or absence of a sign. The navigation system 405 and the control locator 209 recognize the position of the host vehicle, the presence or absence of an intersection or road, and the presence or absence of a sign. Furthermore, the brake control ECU 408 acquires the speed of the host vehicle and the pedaling force of the brake, and the engine control ECU 406 acquires the accelerator opening, and transmits it to the prediction determination unit 301 as object data.
[0129]
Thereafter, the preventive safety system uses the image recognition ECU 203 and the control locator 209 as recognition means (recognition recognition apparatus), and uses the vehicle communication apparatus 102 and the communication ECU 202 as recognition means (recognition recognition apparatus).
[0130]
Specifically, the image recognition ECU 203 recognizes the intersection, the shape of the road, the color of the signal, and the content of the sign, and transmits the object data to the prediction determination ECU 301. In addition, the control locator 209 recognizes the distance between the host vehicle and the intersection, the shape of the intersection or road, the presence or absence of a signal, and the content of the sign, and transmits it to the prediction determination ECU 301 as object data.
[0131]
Further, the vehicle communication device 102 and the communication ECU 202 acquire the type, position, traveling direction, and speed of the vehicle at a position where it cannot be visually recognized, and transmit it to the prediction determination ECU 301 as object data.
[0132]
In this preventive safety system, “prediction” and “determination” are executed in a common prediction determination unit 301. Specifically, the prediction determination ECU 301 includes object data output by the image recognition ECU 203, object data output by the control locator 209, object data output by the brake control ECU 406, object data output by the engine control ECU 406, and a communication ECU 202. The output object data is used to predict collisions with obstacles (vehicles that cannot be seen), and to predict driver oversights and judgment delays. Further, the prediction determination ECU 301 determines “danger level”, “danger direction”, and “dangerous area” based on the prediction result, and outputs them as dangerous area object data.
[0133]
The speaker 504, the monitor 502, the engine control ECU 406, the brake control ECU 408, the steering control ECU 410, and the collision safety control system 200 perform “warning / display output, intervention control” based on the dangerous area object data output by the prediction determination ECU 301. Each process is executed.
[0134]
Specifically, when the “danger level” is “1”, the speaker 504 outputs “warning sound A”, and the monitor 502 outputs “warning display a”. Further, engine control ECU 406 prohibits acceleration operation.
[0135]
When the “danger level” is “2”, the speaker 504 outputs “warning sound B”, and the monitor 502 outputs “warning display b”. Further, the brake control ECU 408 executes a deceleration process (small).
[0136]
Further, when the “danger level” is “3”, the speaker 504 outputs “warning sound C” and the monitor 502 outputs “warning display c”. Further, the brake control ECU 408 executes a deceleration process (medium), and the steering control ECU 410 executes an avoidance process.
[0137]
When the “danger level” is “4”, the speaker 504 outputs “warning sound D”, and the monitor 502 outputs “warning display d”. Furthermore, the brake control ECU 408 executes deceleration processing (large), and the collision safety control system 200 operates the safety system. As the operation contents of the safety system, for example, the deployment of the airbag 108 and the winding up of the seat belt 106 can be used.
[0138]
Next, prevention of an accident in a situation where a lane departure may occur due to looking aside or falling asleep will be described with reference to FIGS. FIG. 15 shows the contents of each process of “recognition”, “recognition”, “prediction”, “judgment”, “warning / display output, intervention control” in this aspect, and FIG. It is explanatory drawing explaining the process part which performs operation | movement.
[0139]
As shown in FIGS. 15 and 16, in a situation where the lane may deviate, the preventive safety system uses a camera that captures images of the inside, the back, the side, and the front of the host vehicle as a recognition means (input device). 103, image recognition ECU 203, navigation system 405, control locator 209, steering control ECU 410, brake control ECU 408, and engine control ECU 406 are used.
[0140]
Specifically, the image captured by the in-vehicle camera 103 is processed by the image recognition ECU 203 to recognize the driver's eyes, face, and head. In addition, the image recognition ECU 203 processes an image captured by the rear camera or the side camera to recognize the lane of the road. Further, the image recognized by the front camera is processed by the image recognition ECU 203 to recognize the presence or absence of an obstacle.
[0141]
The navigation system 405 and the control locator 209 recognize the position of the host vehicle and the presence or absence of a road. Further, the steering control ECU 410 recognizes the steering angle, the brake control ECU 408 acquires the speed of the host vehicle and the pedaling force of the brake, and the engine control ECU 406 acquires the accelerator opening, and each of the prediction determination units 301 as object data. Send to.
[0142]
Thereafter, the preventive safety system uses the image recognition ECU 203 and the control locator 209 as recognition means (cognition recognition device).
[0143]
Specifically, the image recognition ECU 203 recognizes the number of blinks of the driver, the line of sight, the direction of the face, the position of the head, the position in the lane of the host vehicle, the type of obstacle, the position, the traveling direction, and the speed. It transmits to object prediction ECU301 as object data. In addition, the control locator 209 recognizes the distance between the host vehicle and the obstacle and the shape of the road, and transmits the object data to the prediction determination ECU 301.
[0144]
In this preventive safety system, “prediction” and “determination” are executed in a common prediction determination unit 301. Specifically, the prediction determination ECU 301 includes object data output from the image recognition ECU 203, object data output from the control locator 209, object data output from the brake control ECU 406, object data output from the engine control ECU 406, and a steering control ECU. Is used to predict the driver's snooze / aside look, lane departure, collision with obstacles, driver's oversight / judgment delay. Further, the prediction determination ECU 301 determines “danger level”, “danger direction”, and “dangerous area” based on the prediction result, and outputs them as dangerous area object data.
[0145]
The speaker 504, the monitor 502, the engine control ECU 406, the brake control ECU 408, the steering control ECU 410, the collision safety control system 200, the vehicle body control ECU 206, and the air conditioning ECU 207, based on the dangerous area object data output by the prediction determination ECU 301,・ Execute each process of “Display output and intervention control”.
[0146]
Specifically, when the “danger level” is “sleeping / level 1”, the speaker 504 outputs “warning sound A”, and the vehicle body control ECU 206 vibrates the seat 111. Further, the air conditioning ECU 207 controls the blower 112 to send air to the driver's face, and the engine control ECU 406 prohibits the acceleration operation.
[0147]
Further, when the “danger level” is “side look / level 1”, the speaker 504 outputs “warning sound A” and the monitor 502 outputs “warning display a”. Further, the vehicle body control ECU 206 vibrates the seat 111, and the engine control ECU 406 prohibits the acceleration operation.
[0148]
When the “danger level” is “2”, the speaker 504 outputs “warning sound B”, and the monitor 502 outputs “warning display b”. Further, the brake control ECU 408 executes a deceleration process (small).
[0149]
Further, when the “danger level” is “3”, the speaker 504 outputs “warning sound C” and the monitor 502 outputs “warning display c”. Further, the brake control ECU 408 executes a deceleration process (medium), and the steering control ECU 410 executes an avoidance process.
[0150]
When the “danger level” is “4”, the speaker 504 outputs “warning sound D”, and the monitor 502 outputs “warning display d”. Furthermore, the brake control ECU 408 executes deceleration processing (large), and the collision safety control system 200 operates the safety system. As the operation contents of the safety system, for example, the deployment of the airbag 108 and the winding up of the seat belt 106 can be used.
[0151]
In this way, the preventive safety system can perform various operations in order to prevent accidents by making decisions on the situation using various input devices in various situations where accidents can occur. In addition, the situation described here may be used as part of the prediction judgment, such as “select different judgment logic for each situation when performing prediction / judgment”, and is classified according to the situation. It is good also as using the judgment logic which judges the state of the whole vehicle comprehensively.
[0152]
As described above, in the preventive safety system according to the first embodiment, the data acquired by the input device 1 is analyzed and abstracted by the cognitive recognition device 2, and the prediction determination device 3 is based on the abstracted data. Since the operation warning control device 4 determines the specific processing contents of the output device 5 by performing determination, risk prediction, and countermeasure determination, the prediction determination device can be made common and the manufacturing cost can be suppressed.
[0153]
In addition, since the prediction determination device 3 selects an optimal determination logic based on the amount of information of the received abstract data, it realizes appropriate preventive safety for automobile accidents according to the type and performance of the in-vehicle devices installed in the vehicle. can do.
[0154]
Furthermore, since the prediction determination device 3 can be connected to a device that does not have the abstract data communication function via the connection unit, the device installed in the vehicle can be used effectively to make a highly accurate determination. Can be done.
[0155]
In the above description, each ECU is provided independently. However, each ECU may be regarded as a functional block, and the functions of each ECU may be integrated as one integrated ECU.
[0156]
(Embodiment 2)
In the first embodiment described above, the prediction determination apparatus that realizes commonality by selecting the determination logic based on the amount of information of the received abstract data has been described. However, the common use of the prediction determination device is not limited to this configuration. In the second embodiment, another configuration example will be described.
[0157]
FIG. 17 is an explanatory diagram illustrating a schematic configuration when a device connected to the prediction determination device notifies its own information. As shown in the figure, in this configuration, the recognition recognition device 2a and the action warning control device 4a include a notification unit 13 therein, and the notification unit 13 further includes a device information notification unit 13a. This communication part 13a performs the process which notifies the prediction judgment apparatus 3a of information, such as a kind and performance, of the recognition recognition apparatus 2a or the operation | movement warning control apparatus 4a.
[0158]
The prediction determination device 3a includes a communication unit 27 and a device information database 28 therein. The communication unit 27 is a processing unit that communicates with the communication unit 13 of the recognition recognition device 2a or the operation warning control device 4a, and stores information about the device transmitted by the device information notification unit 13a in the device information database 28.
[0159]
When selecting the determination logic from the determination logic database 25, the determination logic selection unit 22 refers to the device information database 28 to grasp the type and performance of the connected recognition recognition device 2a and the operation warning control device 4a. Select feasible decision logic.
[0160]
Since other configurations and operations are the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.
[0161]
As described above, the prediction determination device is configured by connecting the devices connected to the prediction determination device such as the recognition recognition device and the operation warning control device to the prediction determination device. The decision logic can be selected in accordance with the type and performance of the device, and the prediction decision device can be shared.
[0162]
Note that the timing at which the device information notification unit 13a notifies the information may be automatically notified when the connection is first made, or in response to a notification request from the prediction determination device 3b. Also good.
[0163]
Moreover, it is good also as a structure which the user operates the prediction judgment apparatus and designates the judgment logic to be used. FIG. 18 is a schematic configuration diagram showing a schematic configuration when the user specifies the determination logic to be used.
[0164]
As shown in the figure, the recognition recognition device 2b and the operation warning control device 4b include a communication unit 14 therein. In addition, the prediction determination device 3 b includes a communication unit 27. This communication part 27 has a function which communicates with the communication part 14 of the recognition recognition apparatus 2b and the operation | movement warning control apparatus 4b.
[0165]
Furthermore, the prediction determination device 3b includes a determination logic changeover switch 22a and determination logics 25a, 25b, and 25c. The determination logics 25a, 25b, and 25c are independent determination logics, and the determination logic changeover switch 22a has a function of selecting one of the plurality of determination logics. Therefore, the user can perform determination using desired determination logic by setting the determination logic 22a.
[0166]
That is, in this configuration, data input from the input device 1 is analyzed by the analysis unit 11 of the recognition recognition device 2b and transmitted to the prediction determination device 3b by the communication unit 14. After the data is received by the communication unit 27, the prediction determination device 3b performs determination using the determination logic designated by the determination logic changeover switch 22a, and uses the communication unit 27 to transmit the determination result to the communication of the operation warning control device 4b. It will be transmitted to the unit 14.
[0167]
Since other configurations and operations are the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.
[0168]
As described above, in the preventive safety system according to the second embodiment, the recognition / recognition device or the operation warning control device notifies the prediction determination device 3 of information related to the device and selects the determination logic, or from the user Since the determination logic can be switched by designation, the prediction determination apparatus can be made common and the manufacturing cost can be suppressed.
[0169]
【The invention's effect】
As described above, according to the first aspect of the present invention, the vehicle situation determination device stores a plurality of determination logics used for determination of the situation, and a plurality of determination logics corresponding to the external device that is the information transmission source. Since the determination logic that can be executed is selected and executed, the vehicle situation determination device that can be commonly connected to external devices having different performances and types and obtain information can be obtained.
[0170]
According to the invention of claim 2, the vehicle situation determination device creates a situation in which the host vehicle is actually greeted and a vehicle operation to be executed based on a determination result by the determination means, and performs vehicle motion control. Since it is transmitted to an external device that performs notification control, it is possible to obtain a vehicle situation determination device that can be commonly connected to external devices of different performances and types and that can execute motion control / notification control.
[0171]
According to the invention of claim 3, the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation, and can be executed from the plurality of determination logics corresponding to the external device to which the information is output. Since the determination logic is selected and executed, it is possible to obtain a vehicle situation determination device that can be connected in common to external devices of different performances and types and output information.
[0172]
According to the invention of claim 4, the vehicle situation determination device stores a plurality of determination logics corresponding to external devices of the same type and different in performance, and selects the determination logic corresponding to the connected external device. As a result, there is an effect that a vehicle situation determination device capable of selecting processing contents corresponding to external devices having different performance and types can be obtained.
[0173]
According to the invention of claim 5, the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation, and the determination logic that can be executed from the plurality of determination logics based on the contents of the acquired information. Since it selects and performs, there exists an effect that the vehicle condition determination apparatus which performs the appropriate preventive safety of a motor vehicle accident according to the kind and performance of the vehicle equipment mounted in the vehicle is produced.
[0174]
According to the invention of claim 6, the vehicle situation determination device transmits and receives information related to traveling of the host vehicle in a standardized predetermined data format, and from a plurality of determination logics based on the contents of the received information. Since an executable determination logic is selected and executed, an effect is obtained in which a vehicle situation determination device capable of obtaining the content by referring to standardized data and selecting an appropriate determination logic is obtained.
[0175]
According to the invention of claim 7, the vehicle situation determination device acquires information having the type of information and attribute information determined by the type of information, and executes it from a plurality of determination logics based on the content. Since the possible determination logic is selected and executed, there is an effect that it is possible to obtain a vehicle state determination device that can be used for various vehicles and can be manufactured at a low cost.
[0176]
According to the invention of claim 8, the vehicle situation determination device selects a determination logic that can be executed from a plurality of determination logics based on the type of received information and the attribute information determined by the type of information. Therefore, it is possible to obtain a vehicle state determination device that can effectively use the devices mounted on the vehicle and suppress the manufacturing cost.
[0177]
According to the ninth aspect of the invention, the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation, receives information about the external device, and receives a plurality of information based on the received information on the external device. Since the determination logic that can be executed from the determination logic is selected and executed, there is an effect that a vehicle situation determination device that can easily and autonomously select the determination logic corresponding to the external device is obtained.
[0178]
According to the invention of claim 10, since the vehicle situation determination device stores a plurality of determination logics used for the determination of the situation and uses the determination logic designated by the selection switch, the vehicle situation determination apparatus can be used as an external device with a simple configuration. There is an effect that a vehicle situation determination device capable of selecting a corresponding determination logic is obtained.
[0179]
According to the eleventh aspect of the invention, the in-vehicle information acquisition device analyzes the data acquired by the input means to acquire information related to traveling of the host vehicle, converts the analysis result into a predetermined data format, and An in-vehicle information acquisition device capable of realizing appropriate preventive safety for automobile accidents according to the type and performance of the in-vehicle equipment mounted on the vehicle, since it is transmitted to the vehicle situation determination device that determines the situation where the vehicle is actually greeted There is an effect that it can be obtained.
[0180]
According to the twelfth aspect of the invention, the in-vehicle information acquisition device converts the information related to traveling of the host vehicle into a format in which the type of information and attribute information determined by the type of information are associated with each other. In-vehicle information that can be transmitted to the situation determination device, so that the information related to the traveling of the host vehicle can be abstracted and transmitted, and appropriate car accident prevention safety can be realized according to the type and performance of the in-vehicle equipment installed in the vehicle. There exists an effect that an acquisition device can be obtained.
[0181]
According to a thirteenth aspect of the invention, the in-vehicle information acquisition device analyzes the data acquired by the input means to acquire information related to the traveling of the host vehicle, and determines the situation in which the host vehicle is actually greeted. Since it transmits to the situation determination device and notifies the connection destination of information about the own device, it is possible to obtain an in-vehicle information acquisition device that causes the vehicle situation determination device to perform preventive safety based on the type and performance of the own device Play.
[0182]
According to the fourteenth aspect of the present invention, when the vehicle operation control device receives a vehicle operation instruction having a situation where the host vehicle is actually greeted and a vehicle operation to be executed, the vehicle operation control device Based on the information of the means, the control details that can be executed to achieve the instructed vehicle operation are determined, so appropriate preventive safety for car accidents is realized according to the type and performance of the on-board equipment installed in the vehicle. There is an effect that it is possible to obtain a vehicle motion control device capable of performing the above.
[0183]
According to the fifteenth aspect of the invention, the vehicle motion control device receives a vehicle motion instruction having a situation where the host vehicle is actually greeted and a vehicle motion to be executed, and realizes the instructed vehicle motion. In addition to determining the control details that can be executed at the same time, it notifies the connection destination of information related to its own device, so it receives vehicle operation instructions based on the type and performance of its own device, thereby realizing appropriate preventive safety for car accidents. There is an effect that it is possible to obtain a vehicle motion control device that can be used.
[0184]
According to the invention of claim 16, the vehicle situation determination device reads various information and control contents from the on-vehicle electronic control means for performing driving control and safety control by acquiring various information, and the host vehicle is actually greeted. Judging the situation and predicting the danger that may occur in the host vehicle, to obtain a vehicle situation determination device that can effectively use information and control content acquired by electronic devices and realize preventive safety of automobile accidents There is an effect that can be.
[0185]
According to the invention of claim 17, the vehicle situation determination method stores a plurality of judgment logics used for situation judgment, and can be executed from a plurality of judgment logics corresponding to the external device that is the information transmission source. Since the determination logic is selected and executed, there is an effect that it is possible to obtain a vehicle state determination method that appropriately performs preventive safety of an automobile accident according to the type and performance of the in-vehicle device mounted on the vehicle.
[Brief description of the drawings]
FIG. 1 is an explanatory diagram illustrating a schematic configuration of a preventive safety system using a vehicle state determination device, an in-vehicle information acquisition device, and a vehicle operation control device according to the present invention.
FIG. 2 is a diagram illustrating an example of object data output by the cognitive recognition device illustrated in FIG. 1;
FIG. 3 is an explanatory diagram for explaining object data received by the prediction determination device shown in FIG. 1 and determination accuracy determined by the contents thereof.
FIG. 4 is an explanatory diagram illustrating a relationship between information included in object data and a service that can be provided;
FIG. 5 is an explanatory diagram illustrating a relationship between an information amount and logic selection.
FIG. 6 is an explanatory diagram illustrating logic selection according to a common flow.
7 is a diagram showing an example of data created by the object data creation unit shown in FIG. 1. FIG.
FIG. 8 is a diagram showing an example of a specific configuration of the preventive safety system according to the present embodiment.
FIG. 9 is a flowchart illustrating an operation example of the predictive safety system.
FIG. 10 is an explanatory diagram for explaining connection using a connection unit;
FIG. 11 is a diagram for explaining the contents of each process of “recognition”, “recognition”, “prediction”, “judgment”, “warning / display output, intervention control” when there is an obstacle or a vehicle ahead. FIG.
FIG. 12 is an explanatory diagram illustrating a processing unit that executes each operation in a situation where an obstacle or a vehicle is present ahead.
FIG. 13 is an explanatory diagram for explaining the contents of each process of “recognition”, “recognition”, “prediction”, “judgment”, “warning / display output, intervention control” in a situation where a vehicle that cannot be visually recognized exists. It is.
FIG. 14 is an explanatory diagram illustrating a processing unit that executes each operation in a situation where a vehicle that cannot be visually recognized exists.
FIG. 15 is a diagram for explaining the contents of each process of “recognition”, “recognition”, “prediction”, “judgment”, “warning / display output, intervention control” in a situation where a lane departure may occur FIG.
FIG. 16 is an explanatory diagram illustrating a processing unit that executes each operation in a situation in which a lane departure may occur.
FIG. 17 is an explanatory diagram illustrating a schematic configuration when a device connected to the prediction determination device notifies its own information.
FIG. 18 is a schematic configuration diagram showing a schematic configuration when a user designates determination logic to be used.
[Explanation of symbols]
1 Input device
2 Cognitive recognition device
3 prediction judgment device
4. Operation warning control device
5 Output device
11 Analysis Department
12 Object data creation part
21 Object data receiver
22 Judgment logic selection part
23 Predictive judgment processing unit
24 Object data creation part
25 Judgment logic database
26 Memory unit
31 Object data receiver
32 Control content determination section
41, 42 Object data
51 Own vehicle
52 Other vehicles
101 General communication network
102 Vehicle communication device
103 cameras
104,105 Radar
106 Seat belt
107 acceleration sensor
108 Airbag
109 Door microcomputer
110 turn signal
111 sheets
112 Blower
200 Collision safety control system
201, 202 Communication ECU
203 Image recognition ECU
204 Pre-crash system
205 Airbag control ECU
206 Car body control ECU
207 Air conditioning ECU
209 Control locator
301 Predictive judgment ECU
302 storage unit
400 Vehicle operation control system
403 display control ECU
404 Voice control ECU
405 navigation system
406 Engine control ECU
407 Shift control ECU
408 Brake control ECU
409 Suspension control ECU
410 Steering control ECU
501 Touch panel
502 monitor
503 switch
504 Speaker
505 throttle
507 Accelerator opening
508 shift
509 Wheel speed
510 Brake pressure
511 Stroke sensor
512 Air pressure
513,514 Steering angle

Claims (17)

  1. A vehicle status determination device that receives the information from an external device that acquires information related to the travel of the host vehicle, and determines the status of the host vehicle based on the received information,
    Storage means for storing a plurality of determination logics used for determination of the situation in which the host vehicle is actually greeted;
    A determination unit that selects an executable determination logic from a plurality of determination logics stored in the storage unit in correspondence with the external device, and that determines a situation in which the host vehicle is actually greeted using the selected determination logic; ,
    A vehicle situation determination device comprising:
  2. Based on the determination result by the determination means, a vehicle operation instruction having a situation where the host vehicle is actually greeted and a vehicle operation to be executed under the situation is created, and the vehicle motion control and / or notification control is performed. The vehicle state determination apparatus according to claim 1, further comprising transmission means for transmitting the vehicle operation instruction to an external device.
  3. A vehicle status determination device that acquires information related to travel of a host vehicle, determines a situation in which the host vehicle is actually greeted, and transmits motion control and / or notification control to be executed in the situation to an external device. ,
    Storage means for storing a plurality of determination logics used for the exercise control and / or notification control to be executed;
    A judgment logic executable from a plurality of judgment logics stored in the storage means corresponding to the external device is selected, and exercise control and / or notification control to be executed under the situation is performed using the selected judgment logic. Control means for transmitting to an external device;
    A vehicle situation determination device comprising:
  4. 4. The vehicle situation determination apparatus according to claim 1, wherein the plurality of determination logics correspond to external devices having the same type and different performances.
  5. The determination means selects a determination logic that can be executed from the plurality of determination logics based on the content of information related to travel of the host vehicle. The vehicle state determination device described.
  6. 6. The vehicle state determination device according to claim 5, wherein information relating to travel of the host vehicle and / or the vehicle operation instruction is transmitted and received in a standardized predetermined data format.
  7. The vehicle state determination apparatus according to claim 5 or 6, wherein the information related to the traveling of the host vehicle includes a type of information and attribute information determined by the type of information.
  8. The vehicle status determination device according to claim 5, 6 or 7, wherein the determination logic selection unit selects an executable determination logic from the type of information and the attribute information.
  9. 5. The determination unit according to claim 1, wherein the determination unit receives information about the external device and selects an executable determination logic from the plurality of determination logics using the reception result. The vehicle state determination device described.
  10. 5. The determination unit according to claim 1, wherein the determination unit selects an executable determination logic from the plurality of determination logics by setting a selection switch that specifies a determination logic to be selected. Vehicle status determination device.
  11. An in-vehicle information acquisition device that acquires information related to traveling of the host vehicle,
    Input means for inputting data inside the vehicle and / or outside the vehicle;
    Analyzing means for analyzing the data acquired by the input means and acquiring information related to traveling of the host vehicle;
    Transmitting means for converting information relating to the traveling of the own vehicle obtained by the analyzing means into a predetermined data format, and transmitting the information to a vehicle situation determining device that determines a situation in which the own vehicle is actually greeted;
    An in-vehicle information acquisition device comprising:
  12. The in-vehicle information acquisition apparatus according to claim 11, wherein the predetermined data format is a format in which a type of information is associated with attribute information determined by the type of information.
  13. An in-vehicle information acquisition apparatus for acquiring information related to traveling of the host vehicle, comprising a notification means for notifying information about the own apparatus to a connection destination.
  14. A vehicle operation control device for controlling operation of a vehicle by notification control for performing notification processing for a vehicle driver and / or motion control for assisting / intervening in driving of the vehicle,
    Receiving means for receiving a vehicle operation instruction having a situation in which the host vehicle is actually greeted and a vehicle operation to be executed in the situation;
    Control content determination means for determining control content that can be executed to realize the instructed vehicle operation based on the vehicle operation instruction and information on various means mounted on the host vehicle,
    A vehicle operation control device comprising:
  15. A vehicle operation control device for controlling the operation of a vehicle by a notification control for performing a notification process for a vehicle driver and / or a motion control for assisting / intervening in the driving of the vehicle, and connecting information related to the device itself A vehicle operation control device comprising a notification means for notifying first.
  16. It is connected to in-vehicle electronic control means that obtains various information and processes the acquired information to perform driving control and / or safety control, and the host vehicle is actually greeted based on the processing contents by the in-vehicle electronic control means A vehicle situation determination apparatus comprising a prediction determination means for determining a situation and predicting a risk that may occur in the host vehicle.
  17. A vehicle status determination method for receiving information from an external device that acquires information related to traveling of the host vehicle, and determining a status of the host vehicle based on the received information,
    A storage step for storing a plurality of determination logics used for determining the situation in which the host vehicle is currently greeted,
    A determination step of selecting a determination logic that can be executed from a plurality of determination logics stored in the storage step corresponding to the external device, and determining a situation in which the host vehicle is actually greeted using the selected determination logic; ,
    The vehicle condition determination method characterized by including.
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JP2008100579A (en) * 2006-10-18 2008-05-01 Toyota Motor Corp Traveling control device of vehicle
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US7796019B2 (en) 2007-03-02 2010-09-14 Fujitsu Ten Limited Vehicular display control device
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US8548729B2 (en) 2009-11-19 2013-10-01 Sanyo Electric Co., Ltd. Radio apparatus mounted on a vehicle
KR20140118157A (en) * 2013-03-28 2014-10-08 현대모비스 주식회사 System and Method for alarming collision of vehicle with support vector machine
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