JP2005165752A - Peripheral monitoring device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To avoid waste of power in combined used of a far distance radar device and a close distance radar device by enabling the properly switching use of the both. <P>SOLUTION: The peripheral monitoring device 1 monitors the periphery of a vehicle by use of a plurality of radar device including at least a far distance radar 3 and close distance radars 5 and 6 to avoid or reduce a collision thereof. The device comprises a selection means 8 for selecting drive of the radar 3 or the radars 5 and 6 of the plurality of radar devices based on the traveling environment or traveling state of the vehicle 2. Since the radar devices for monitoring the periphery of the own vehicle to avoid or reduce the collision are selectively driven by the selection means 8 according to the traveling environment or traveling state, the radar devices not selected are not driven, and the power consumption or the load of processing can be thus reduced. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

  The present invention relates to a periphery monitoring device that is mounted on an automobile or the like and that avoids collision during traveling or reduces damage from collision.

Conventionally, for example, ABS (Antilock Brake) is used to prevent traffic accidents caused by cars.
System) and the like are used to ensure that the braking operation is performed at the discretion of the driver. The driving operation for avoiding a collision or the like must be appropriately selected according to the driving environment around the automobile. Therefore, a vehicle surrounding state detection device that can prevent an accident according to the state of the vehicle has also been proposed (see, for example, Patent Document 1). In this vehicle surroundings detection device, obstacles such as other vehicles, bicycles, pedestrians, guardrails, side walls, etc. existing around the vehicle are searched by a distance detection device using a laser beam, and the distance from the obstacle is detected. doing. Searching for obstacles around the vehicle is performed by changing the direction of the transmitting device and the receiving device.

Radar devices that transmit and receive radio waves are often used for automobile collision prevention and the like. The radar device can detect a distance to a vehicle or an obstacle, a relative speed, and the like, and various methods such as a pulse method and an FM-CW method have been proposed. Differences in radar systems affect the distance to the search target. Usually, FM-CW (Frequency Modulation)
A radar transceiver capable of performing a pulse-based search when performing a search using the -Continuous Wave method and determining that there is a target at a short distance has also been proposed (see, for example, Patent Document 2).

Japanese Patent Laid-Open No. 11-23715 Japanese Patent Laid-Open No. 11-258340

  A distance detection device that changes the direction as disclosed in Patent Document 1 can be detected in an angular range of 360 ° by installing it at the top of a roof of a vehicle, for example. However, exploration in the same direction, for example, forward, is performed intermittently. There is a possibility that an oncoming vehicle exists in front of the direction in which the vehicle is traveling. When there are oncoming vehicles, they approach each other, so the relative speed increases, and even if the relative distance is large, there is a risk of a collision in a short time.

  In order to reliably avoid the collision of an automobile, it is conceivable to use a long-range radar device and a short-range radar device together. In the radar transmitter / receiver disclosed in Patent Document 2, the FM-CW type radar device is also used for short-range target detection by the pulse method. And antenna directivity must be the same. In particular, the antenna directivity is desirably a narrow angle for a long distance and a wide angle for a short distance. Therefore, it is desirable to mount a plurality of radar devices including a short-distance radar device and a long-distance radar device in order to avoid a collision of an automobile.

  When both short-distance and long-distance radar apparatuses are used together, it is necessary to supply power for operation from the power supply to both radar apparatuses. In an automobile, electric power is generated using a part of the output from a prime mover for obtaining driving force for traveling. When a plurality of radar devices are used in combination, the increase in power consumption increases the burden on the prime mover. The danger of a car collision changes depending on the driving environment of the vehicle, and the judgment as to whether it is suitable for long-distance or short-distance as a radar device used for target exploration depends on the driving environment. Depending on the driving environment, there may be unnecessary radar devices. For example, if there are no other vehicles or obstacles at a short distance, a radar device for short distance is unnecessary. Conversely, when there is another vehicle or an obstacle at a short distance and the danger of a collision is realized, a radar device for a long distance is unnecessary.

  When both a short-range radar device and a long-range radar device are installed, it is not necessary to always supply power to both radar devices depending on the traveling environment of the vehicle. Power will be supplied to the device, leading to waste of power. Furthermore, if processing is always performed by retrieving data from both radar devices and searching for a target, useless processing is performed, and processing takes time.

  An object of the present invention is to provide a periphery monitoring device that can be used by switching appropriately even when a long-range radar device and a short-range radar device are used in combination, and can avoid waste of power. That is.

The present invention uses a plurality of radar devices including at least for a long distance and for a short distance to monitor the periphery of the host vehicle and to avoid or reduce a collision.
Based on the traveling environment of the own vehicle, it has a selection means for selecting driving of the radar device for long distance or short distance from among the plurality,
The periphery monitoring device is characterized in that the periphery of the host vehicle is monitored based on a radar device selected and driven by the selection means, and collision is avoided or reduced.

The present invention further includes navigation means capable of detecting the current position of the vehicle with respect to the road map data,
The selection means determines the driving environment of the host vehicle according to the detection result of the current position by the navigation means, and drives the short-range radar device when the current position satisfies a pre-established condition for emphasizing the near distance. It is characterized by selecting.

  Further, in the present invention, the condition for emphasizing a short distance set in advance by the selection means is characterized in that the current position is within an intersection.

  Further, in the present invention, the condition for emphasizing a short distance set in advance by the selection means is that the host vehicle enters a road narrower than a predetermined reference.

  Further, in the present invention, the condition for emphasizing a short distance determined in advance by the selection means is that the current position is traveling on a curve having a smaller radius of curvature than a preset reference.

In the present invention, the navigation means can acquire traffic information including traffic jams,
The selection means selects driving of the radar device for short distance when the current position is within a traffic jam, and for the long distance when the current position is on a straight road where traffic jam does not occur The driving of the radar apparatus is selected.

Furthermore, the present invention uses a plurality of radar devices including at least for a long distance and for a short distance to monitor the periphery of the own vehicle and to avoid or reduce a collision.
Based on the traveling state of the own vehicle, it has a selection means for selecting driving of the radar device for long distance or short distance from among the plurality,
The periphery monitoring device is characterized in that the periphery of the host vehicle is monitored based on a radar device selected and driven by the selection means, and collision is avoided or reduced.

  In the present invention, the selection means detects an operation state of lane change, and when the lane change is made, selects the driving of the short-range radar device.

  In the present invention, the selection means selects driving of the long-range radar device during high-speed traveling and selects driving of the short-range radar device during low-speed traveling based on vehicle speed information. It is characterized by.

  In the invention, it is preferable that the selection unit detects a steering operation state and selects driving of the short-range radar apparatus while passing through a curve.

  In the invention, it is preferable that the selection unit selects driving of the short-range radar device when the engine is started.

  In the present invention, the selection means supplies power to the selected radar device to drive the radar device, and suppresses power supply to at least the radar device that is not selected.

The present invention further includes collision determination means for determining the possibility of a collision with respect to a target detected by a radar device whose driving is selected by the selection means,
Even when the selection means selects driving of the long-distance radar apparatus, the distance to the target that is determined to have a high possibility of collision based on the determination by the collision determination means is the short-range radar apparatus. When it is within the range that can be detected, the selection is made so that the short-range radar device is driven preferentially.

The present invention further includes collision determination means for determining the possibility of a collision with respect to a target detected by a radar device that selects driving by the selection means,
When the selection means determines that the possibility of a collision is high as determined by the collision determination means, simultaneously selects driving of the long-distance and short-range radar devices,
The long-range radar device detects the direction of the target, the short-range radar device detects the distance to the target and the relative speed, and performs a collision avoidance operation set in advance based on the detection result. Control means for performing control is provided.

  In the present invention, the selection unit may stop power supply to all radar devices when the collision determination unit determines that a collision with the target cannot be avoided.

  According to the present invention, the periphery monitoring device can monitor or avoid the collision of the own vehicle by using a plurality of radar devices including at least a long distance and a short distance, and can avoid or reduce a collision. The selection means selects the driving of the long-distance or short-distance radar apparatus from among the plurality based on the traveling environment of the own vehicle, so that the non-selected radar apparatus is not driven, and power consumption is reduced. The burden of processing can be reduced.

  In this way, the possibility of the presence of an obstacle is determined from the traveling environment of the host vehicle, and the radar is preferentially selected for a distance where the possibility of existence is high.

  Further, according to the present invention, the radar for short distance when the current position of the own vehicle detected by the navigation means capable of detecting the current position of the own vehicle with respect to the road map data satisfies a predetermined condition for emphasizing near distance. Since the driving of the apparatus is selected, it is possible to appropriately perform avoidance of collision by searching for obstacles with emphasis on the range of short distance.

  Further, according to the present invention, when the current position is within the intersection, the short distance monitoring is emphasized, so that the short distance range can be appropriately monitored within the intersection traveling at a low speed.

  Further, according to the present invention, when the host vehicle enters a road that is narrower than a predetermined reference, even if the vehicle speed is decreased, the short range around the host vehicle can be widely monitored.

  Further, according to the present invention, when driving a long-distance radar device when turning a curve, the range in which no other vehicle or the like is traveling is monitored beyond the road side of the own lane or the opposite lane. Therefore, by selecting the driving of the radar device for short distance, the surroundings of the vehicle can be widely monitored in the short distance range.

  Further, according to the present invention, on the basis of traffic information including traffic congestion, when the current position is within the traffic congestion, the driving of the radar device for short distance is selected, and the current position is on the straight road where the traffic congestion does not occur. In this case, it is possible to select the driving of the radar device for long distance and appropriately monitor the vicinity of the own vehicle according to the presence or absence of traffic congestion.

  Further, according to the present invention, the driving of the long-distance or short-distance radar apparatus is selected from among a plurality based on the traveling state of the own vehicle, so that the long-distance radar apparatus and the short-distance radar are selected. Even when the apparatus is used in combination, it can be switched appropriately and used, and waste of power can be avoided.

  In this way, the possibility of the presence of an obstacle is determined from the traveling environment of the host vehicle, and the radar is preferentially selected for a distance where the possibility of existence is high.

  Further, according to the present invention, when the lane change is made, the selection means selects the driving of the short-range radar device, so that the range of the short distance around the own vehicle can be widely monitored.

  In addition, according to the present invention, the driving of a long-distance radar device is selected during high-speed driving, and the short-distance radar device is selected during low-speed driving, and the vehicle is surrounded by an appropriate distance depending on the vehicle speed. Can be monitored.

  Further, according to the present invention, when turning a long-distance radar device when turning a curve, the range in which no other vehicle or the like is traveling is monitored beyond the roadside of the opposite lane. However, if the steering operation state is detected and it is determined that the vehicle is passing the curve, the surroundings of the vehicle can be widely monitored in a short distance range by selecting driving of the radar device for short distance. .

  Further, according to the present invention, when the engine is started, since it is low speed even if it travels, it is selected to drive the short-range radar device, and the surroundings of the own vehicle are widely monitored in a short range. be able to.

  According to the present invention, power is supplied to a selected radar device to drive the radar device, and power that is not selected is suppressed by at least suppressing power supply to the unselected radar device. Can be reduced.

  Further, according to the present invention, even when driving of a long-distance radar apparatus is selected, it is possible to appropriately monitor a state in which a target having a high possibility of collision approaches by the short-distance radar apparatus. it can.

  Further, according to the present invention, when it is determined that the possibility of a collision is high, the driving of the long-distance and short-distance radar apparatus is simultaneously selected, the direction of the target is detected by the long-distance radar apparatus, Since the distance to the target and the relative speed are detected by the short-range radar device, and control is performed so as to perform a preset collision avoidance operation based on the detection result, an appropriate collision avoidance operation can be performed. it can.

  Further, according to the present invention, when it is determined that a collision with the target cannot be avoided, the power supply to all the radar devices is stopped, so that the power supply is stopped even if the radar device is damaged during the collision. Therefore, the occurrence of secondary disasters can be prevented. Further, by suppressing the driving of one radar, it is possible to prevent the influence (for example, noise) of radio waves from one radar on the other driving radar.

  FIG. 1 shows a schematic configuration of a periphery monitoring apparatus 1 according to an embodiment of the present invention. The periphery monitoring device 1 mounts a long-range radar 3 on a vehicle 2 and directs an exploration beam 4 in front of the vehicle 2. The angle of the beam 4 is narrow, for example, it extends to a range of a width of about several meters at a distance of several tens of meters, and a range of 100 m or more can be a search target. The antenna of the long-range radar 3 may be configured to be able to periodically scan a certain angular range. The scanning is performed mechanically or electrically, and in the mechanical scanning, for example, an angular range of several degrees can be scanned in 0.1 second. A plurality of, for example, two short-range radars 5 and 6 are also mounted on the vehicle 2. The range of the exploration beam 7 of the short-range radars 5 and 6 to be combined spreads in a wide angular range in a shorter distance than the beam 4 of the long-range radar 3 in front of the vehicle 2.

The long-range radar 3 searches for a target by the FM-CW method in a frequency band of 76 GHz, for example. The short-range radars 5 and 6 have a frequency band of 24 GHz, for example, SS (Spectrum
Searches for targets using the Spread method. Different frequency bands and radar systems can be used. Although the long-range radar 3 can search a distant place that cannot be searched by the short-range radars 5 and 6, it cannot search in front of the own vehicle. The short-range radars 5 and 6 can search a wide range in the lateral direction including diagonally forward. In addition, ultrasonic waves and laser light can be used without using radio waves. Furthermore, the periphery of the vehicle 2 can be imaged and the target can be recognized by image processing.

  As described above, the periphery monitoring device 1 uses a plurality of radar devices including at least a long distance and a short distance, to monitor the periphery of the own vehicle and to avoid or reduce a collision. Based on the traveling environment and traveling state of the host vehicle, there is a selection means 8 for selecting driving of a long-distance or short-distance radar device from among the plurality. The radar device that monitors the surroundings of the vehicle and avoids or reduces the collision is selected and driven by the selection means 8 according to the traveling environment and the traveling state. Is not driven, and power consumption can be reduced and processing burden can be reduced.

FIG. 2 shows the electrical configuration of the periphery monitoring device 1 shown in FIG. 1 in more detail. The selection unit 8 and the control unit 9 are realized by operating the processing unit 10 including a microcomputer according to a preset program. The selection means 8 for selecting the driving of the long-range radar 3 and the short-range radars 5 and 6 includes a vehicle speed sensor 11, a navigation device 12, a VICS (Vehicle
Information and Communication System) Signals generated from the receiver 13, the blinker switch 14, the transmission 15 and the steering 16 are input. Electric power for driving the long-range radar 3 and the short-range radars 5 and 6 is supplied from a battery (abbreviated as “BATT” in the figure) 20 as a power source.

  Between the battery 20 and the long-range radar 3 and the short-range radars 5 and 6, power switches 21 and 22 using relays are provided, respectively. The switching states of the power switches 21 and 22 can be individually switched by the selection means 8. When the power switches 21 and 22 are cut off, the long-range radar 3 and the short-range radars 5 and 6 are in, for example, a standby state, the operation is stopped, and the power consumption is reduced. When the power supply is completely stopped, a startup procedure is required to restart the power supply, and it becomes difficult to perform smooth drive switching. The power switches 21 and 22 may have a cutoff function such as a power circuit built in the long-range radar 3 or the short-range radars 5 and 6. Each of these radars 3, 5, and 6 includes an antenna, a drive circuit, an oscillation circuit, a processing circuit for calculating a distance, and the like, and each can output distance data and the like independently.

  The vehicle speed sensor 11 detects the speed at which the vehicle 2 of FIG. 1 travels by outputting a pulse each time the drive shaft is angularly displaced by a predetermined angle, for example. Since the angular displacement of the drive shaft corresponds to the travel distance, the number of pulses per unit time is converted into the vehicle speed. The navigation device 12 detects the current position using GPS (Global Positioning System) or dead reckoning navigation based on road map data stored in a recording medium such as a DVD-ROM or CD-ROM or a hard disk device. Or route guidance to the destination. The VICS receiver 13 receives road traffic information transmitted by FM broadcast or broadcast from a beacon provided along the road. The VICS road traffic information includes information on a section of a road where traffic congestion occurs.

  The turn signal switch 14 is a direction indicator, and the turn signal blinks when operated by the driver when making a left turn or a right turn or prior to a lane change. The transmission 15 is provided in the middle of the driving force transmission mechanism from the engine to the driving wheel, and interrupts transmission of the rotational driving force of the engine with a clutch, converts the rotation magnification when connecting, The operation of changing the direction of rotation can be switched between backward use and reverse use. In the manual transmission, the operating state of the transmission 15 is switched only by the operation of the driver. In a multi-stage or continuously variable automatic transmission, a driver's operation is related to a basic instruction, and a shift operation is automatically performed in conjunction with acceleration and braking operations. A signal indicating the operating state of the transmission 15 is input to the selection unit 8. The steering 16 is angularly displaced by a steering operation by the driver, and changes the traveling direction of the vehicle 2. A sensor for detecting angular displacement due to the steering operation is provided in the steering 16, and the output of the sensor is input to the selection unit 8.

  Information on the target by the radar device whose driving is selected by the selection unit 8 is input to the control unit 9. The control means 9 determines the risk of collision with the target based on the distance to the target and the relative speed, and outputs a control signal to the alarm device 23, brake, throttle actuator 24, steering actuator 25, etc. Control to avoid or alleviate

  FIG. 3 shows a schematic control procedure as the periphery monitoring device 1 performed by the processing unit 10 of FIG. By operating the ignition switch or the like of the vehicle 2, the power supply of the periphery monitoring device 1 is also turned on and the operation is started. Of course, the combinations and order of the determinations from step a1 to step a8 are merely examples, and may be changed.

  After the power is turned on, an initialization operation is performed. After the initialization operation is completed, it is determined in step a1 whether or not the engine is in a starting state. The determination as to whether or not the vehicle is starting can be made based on, for example, whether or not the vehicle speed sensor 11 detects the vehicle speed at which the vehicle 2 moves after the power is turned on. It can also be performed based on the operation history of the transmission 15 and the steering wheel 16 after the power is turned on. For example, when the transmission 15 is not connected to the clutch or when the steering operation is not performed on the steering 16, it can be determined that the engine is being started. Furthermore, if the current position detected by the navigation device 12 has not changed since the power was turned on, it can also be determined that the engine has been started. If it is determined at the start time, the driving of the short-range radars 5 and 6 is selected, and if it is not determined at the start time, the driving of the long-range radar 3 is selected. At the time of starting, it is slow even if it travels, and it is only necessary to monitor the surroundings of the own vehicle. Therefore, the short-range radars 5 and 6 are appropriately selected so that the surroundings of the own vehicle are widely monitored in a short range. can do.

  If it is not determined at step a1 that the vehicle is starting, it is determined in step a2 whether there are oncoming vehicles, preceding vehicles, obstacles, or the like that are likely targets of collision within the effective range of the short-range radars 5 and 6. If it is determined that it is present, the driving of the short-range radars 5 and 6 is selected. If it is not determined that it is present, the driving of the long-range radar 3 is selected. At the time of determination in step a2, either the long-range radar 3 or the short-range radars 5 and 6 may be selected. When driving of the long-range radar 3 is selected, the target is recognized, and it is determined whether or not the distance to the target is close to the effective range of the short-range radars 5 and 6. When the driving of the short-range radars 5 and 6 is selected, the determination is made based on whether or not the target is recognized and the detection of the target is continued.

  The control unit 9 functions as a collision determination unit that determines the possibility of a collision with respect to a target detected by the radar device whose driving is selected by the selection unit 8. Even when selecting the driving of the long-range radar 3, the selection unit 8 can detect the distance to the target that is determined to have a high possibility of collision by the determination by the collision determination unit by the short-range radars 5 and 6. If it is within the range, the short-range radars 5 and 6 are selected to be driven with priority. Therefore, even when driving of the long-range radar 3 is selected from other conditions, the short-range radars 5 and 6 can appropriately monitor the state in which a target with a high possibility of collision approaches.

  If it is not determined at step a2 that there is a short-range target, it is determined whether or not a lane change is made at step a3. The lane change is detected based on a steering operation on the steering 16 and an instruction operation on the turn signal switch 14. The determination is also made in consideration of changes in the vehicle speed detected by the vehicle speed sensor 11 and road map data from the navigation device 12. When changing lanes, it is thought that there are many other vehicles and obstacles near the vehicle.

  For example, a lane change between a traveling lane, an overtaking lane, a climbing lane, or the like on a high-speed road, or a lane change before an intersection can be determined with reference to road map data or the like. The lane change can be determined by mounting a camera, imaging a road around the host vehicle, and recognizing the lane by image processing. The selection means 8 detects the operation state of the lane change, and when the lane change is made, the selection means 8 selects the driving of the short-range radars 5 and 6, so that the short range around the own vehicle is widely monitored when the lane is changed. be able to. A left turn, a right turn, or the like is determined as a traveling state different from the lane change based on route information set in the navigation device 12, a deceleration state detected by the vehicle speed sensor 11, or the like.

  When it is not determined at step a3 that the lane is changed, it is determined at step a4 whether the vehicle is traveling at a low speed. This determination is made based on, for example, the vehicle speed detected by the vehicle speed sensor 11 or the operating state of the transmission 15. When the vehicle speed is about slow, or when the transmission 15 is an automatic transmission and the shift lever is set to a low speed position other than the drive position, it is determined that the vehicle is running at low speed, and the short-range radar 5, 6 drive is selected. The selection means 8 selects driving of the long-distance radar 3 during high-speed traveling and driving of the short-distance radars 5 and 6 during low-speed traveling based on vehicle speed information and the like. When traveling at high speed, it is possible to monitor distant oncoming vehicles at an early stage, and when traveling at low speed, it is possible to monitor a wide range of short distances around the host vehicle. Therefore, the surroundings of the host vehicle can be monitored within an appropriate distance range according to the vehicle speed.

  When it is not determined at step a4 that the vehicle is traveling at a low speed, it is determined at step a5 whether or not the vehicle is passing the curve based on the state of the steering operation of the steering wheel 16 or the like. The operation angle of the steering wheel 16 is considered to be approximately inversely proportional to the curvature radius of the road. Even if you choose to drive the long-range radar 3 while you are passing through a curve with a small radius of curvature, you will be exploring outside the roadside on the lane side or on the opposite lane side, obstructing buildings and trees on the ground. Many are detected as objects, and the preceding vehicle and the oncoming vehicle can hardly be detected. Therefore, when it is determined that the vehicle is passing the curve, the driving of the short-range radars 5 and 6 is selected.

  That is, since the selection means 8 detects the state of the steering operation and selects the driving of the short-range radars 5 and 6 while passing through the curve, it is determined that the vehicle is passing through the curve when the steering wheel is held at a certain angle. Judgment can be made. When turning the long-range radar 3 when turning a curve, a range in which no other vehicle or the like is traveling is monitored beyond the road side of the own lane or the opposite lane. If the state of the steering operation is detected and it is determined that the vehicle is passing through the curve, the driving of the short-range radars 5 and 6 can be selected to widely monitor the surroundings of the vehicle in the short-range range.

  Steps a1 and steps a3 to a5 described above correspond to traveling states in which the driving of the short-range radars 5 and 6 is selected. Note that it is possible to determine whether or not the vehicle is passing the curve in step a5 based on the current position on the road obtained from the navigation device 12. In other words, the selection unit 8 may be a case where the vehicle is traveling on a curve having a radius of curvature smaller than a reference in which the current position is set in advance as a condition for emphasizing a short distance. When turning a curve, the long-range radar 3 monitors a range in which no other vehicle or the like travels beyond the road side of the own lane or the opposite lane. By selecting the driving of the short-range radars 5 and 6, it is possible to widely monitor the surroundings of the vehicle within a short range.

  The periphery monitoring device 1 includes a navigation device 12 as navigation means capable of detecting the current position of the own vehicle with respect to road map data, and the selection means 8 detects the current position of the own vehicle by the navigation device 12. Judgment is made according to the result, and the driving of the short-range radars 5 and 6 is selected when the current position satisfies a predetermined condition for emphasizing short-range. Since the driving of the short-distance radars 5 and 6 is selected when the current position satisfies the pre-established conditions for emphasizing short-distance, search for obstacles is performed with emphasis on the short-range range in the traveling environment of the vehicle. , Collision avoidance can be appropriately performed.

  If it is not determined in step a5 that the vehicle has passed the curve, it is determined in step a6 whether or not the current position of the host vehicle detected by the navigation device 12 is within the intersection. When it is determined that the current position of the own vehicle is within the intersection, the driving of the short-range radars 5 and 6 is selected. That is, the condition for placing importance on the near distance set in advance by the selection means 8 is that the current position is within the intersection, so that the short distance range can be appropriately monitored within the intersection.

  When it is not determined in step a6 that the vehicle is within the intersection, it is determined in step a7 whether or not the current position of the vehicle detected by the navigation device 12 is a position for entering a narrow road. That is, since the condition for emphasizing the short distance set in advance by the selection means 8 is that the host vehicle enters a road narrower than a predetermined reference, the vehicle speed is reduced to cover a wide range of short distances. Can be monitored.

  If it is determined in step a7 that the vehicle does not enter a narrow road, it is determined in step a8 whether or not the current position of the host vehicle detected by the navigation device 12 is within a congested road section. The selection means 8 can acquire traffic information including traffic jams directly from the VICS receiver 13 or the like or via the navigation device 12. The VICS receiver 13 operates in close cooperation with the navigation device 12, such as being included in the navigation device 12, or displayed separately using a display screen of the navigation device 12. Act as part of the means. The selection means 8 selects driving of the short-range radars 5 and 6 when the current position is within a traffic jam. That is, the condition for emphasizing the short distance set in advance by the selection unit 8 is whether or not there is a traffic jam.

  That is, traffic information including traffic congestion can be acquired by navigation means including the VICS receiver 13. The selection means 8 selects the driving of the short-range radars 5 and 6 when the current position is within a traffic jam. In a traffic jam where vehicles are densely packed, it is possible to monitor the surroundings of a vehicle running at a low speed even in a short distance. On a straight road where there is no traffic congestion, the vehicle travels at a high speed, and a long distance oncoming vehicle or the like can be quickly monitored. Therefore, it is possible to appropriately monitor the vicinity of the own vehicle according to the presence or absence of traffic congestion.

  As described above, the determination order of each step from step a1 to step a8 can be changed, or a determination can be added. Further, for example, it is determined whether or not the vehicle is within an intersection at step a3, whether or not the vehicle is entering a narrow road at step a4, whether the vehicle is congested at step a5, and whether or not the vehicle is passing a curve at step a6. If so, it may be selected to drive the short-range radars 5 and 6.

  If it is determined in step a8 that the current position is on a straight road without traffic congestion, the driving of the long-range radar 3 is selected in step a9. Even if it is not determined that the driving of the short-range radars 5 and 6 is selected in steps a1 to a8, the driving of the long-range radar 3 is selected in step a9. However, the short-range radars 5 and 6 are also driven intermittently.

  As shown in FIG. 1, the range of the beam 4 of the long-range radar 3 is narrow, and even if scanning is performed to change the direction of the beam 4, a blind spot may occur on the front side of the vehicle 2 or the like. Because there is a possibility that other vehicles and obstacles may be present in the range where the beam 4 becomes blind spot due to the change of the traveling environment accompanying the movement of the vehicle 2, for example, every 1 to several seconds, it is shortened for a short time. Select the driving of the distance radars 5 and 6 to monitor a wide range of short distances. If there is an obstacle at a short distance and the possibility of collision is high, the short distance radars are fully driven to avoid the behavior. To do.

  In step a10, the selection unit 8 performs processing for recognizing a target detected by the long-range radar 3 or the short-range radars 5 and 6. When the target is recognized, the distance to the target and the relative speed are calculated.

  In step a11, the control means 9 determines whether or not the distance to the target calculated by the selection means 8 is smaller than the threshold value L1 and the relative speed is larger than the threshold value V1. The threshold value L1 is set larger than the effective range of the short-range radars 5 and 6. When the distance is smaller than the threshold value L1 and the relative speed is larger than the threshold value V1, since the distance to the target is close and approaching rapidly, the control means 9 activates the alarm device 23 and the like in step a12. The driver is notified that the possibility of a collision is high, and an avoidance operation is urged. After the alarm operation in step a12 is completed, the process returns to step a1. When the distance to the target is nearer than the threshold value L1 and farther than the search range of the short-range radars 5 and 6, tracking is performed repeatedly by the long-range radar 3, and if the condition of step a11 is satisfied, step a12 The alarm at will continue. If the condition of step a11 is not satisfied, the alarm in step 12 is not performed, and only the process returns to step a1.

  When the driving of the short-range radars 5 and 6 is selected in any one of steps a1 to a8, the selection unit 8 drives the short-range radars 5 and 6 in step a13. However, the long-range radar 3 is also driven intermittently. As a result, even if there is no obstacle at a short distance, if there is an obstacle at a long distance, this can be detected and an avoidance action can be taken early (for example, even if there is no obstacle at a short distance) If there is an obstacle at a long distance, the vehicle speed is high and the relative speed is high, an alarm can be given). Because there is a possibility that other vehicles and obstacles may exist outside the range of the beam 7 of the short-range radars 5 and 6 due to changes in the traveling environment accompanying the movement of the vehicle 2, for example, every 1 to several seconds The driving of the long-range radar 3 is selected for a short time, and the long-range range is monitored.

  In step a14, the selection unit 8 performs processing for recognizing a target detected by the long-range radar 3 or the short-range radars 5 and 6. When the target is recognized, the distance to the target and the relative speed are calculated.

  In step a15, the control means 9 determines whether or not the distance to the target calculated by the selection means 8 is smaller than the threshold value L2 and the relative speed is larger than the threshold value V2. Needless to say, the threshold value L2 is smaller than the effective range of the short-range radars 5 and 6. When the distance is smaller than the threshold value L2 and the relative speed is larger than the threshold value V2, since the distance to the target is close and approaching rapidly, the control means 9 controls the brake and throttle actuator 24 in FIG. To control collision avoidance or damage reduction. For example, the brake is applied to brake the engine, and the throttle restricts the intake to the engine to stop the acceleration so that the engine brake is applied.

  In step a17, the control means 9 determines whether or not collision avoidance with the target is impossible. When the distance is close and the relative speed is large, the collision cannot be avoided. In step a18, the selection unit 8 controls the power switches 21 and 22 to stop the power supply to the long-range radar 3 and the short-range radars 5 and 6. To do. That is, when the control unit 9 as the collision determination unit determines that the collision with the target cannot be avoided, the selection unit 8 stops the power supply to all the radar devices and prevents the occurrence of a secondary disaster. be able to. If it is not determined in step a17 that avoidance is impossible, or if it is determined in step a15 that the condition is not satisfied, the process returns to step a1.

  In step a9 and step a13, the selection unit 8 supplies power to the selected radar device to drive the radar device, and suppresses at least power supply by intermittent drive to the unselected radar device, and selects the unselected radar device. The power consumed by the device can be reduced. Since the radar apparatus which is not selected is only driven, the use can be resumed immediately when the use becomes necessary. In particular, if it is driven intermittently, it is possible to continue monitoring outside the search range by the radar device that has selected driving, and to respond to changes in the driving environment and driving conditions.

  FIG. 4 shows a schematic control procedure of the processing unit 10 performed as another embodiment of the present invention in the periphery monitoring device 1 shown in FIGS. 1 and 2. After the power is turned on, an initialization operation is performed. After the initialization operation is completed, it is determined in step b1 whether or not the short-range radars 5 and 6 are selected. The determination in step b1 is performed in the same manner as in steps a1 to a8 in FIG. If it is determined that the short-range radars 5 and 6 are not selected in step b1, the steps b2 to b5 operate in the same manner as the steps a9 to a12 in FIG.

  When it is determined that the short-range radars 5 and 6 are selected in step b1, the steps from step b6 to step b8 are executed in the same manner as the steps from step a13 to step a15 in FIG. When it is determined in step b8 that the distance to the target is close and approaching rapidly, the short-range radars 5 and 6 are driven and the long-range radar 3 is also driven in step b9. The short distance radars 5 and 6 detect the distance to the target and the relative speed, and the long distance radar 3 detects not only the distance and the relative speed but also the direction of the target because it employs a scanning method. That is, the control unit 9 functions as a collision determination unit that determines the possibility of a collision with respect to a target detected by the radar device that selects driving by the selection unit 8. When it is determined that the possibility of a collision is high, the driving of the long-distance and short-distance radar devices is simultaneously selected. The control means 9 detects the direction of the target with the long-range radar 3, detects the distance to the target and the relative speed with the short-range radars 5 and 6, and performs a preset collision avoidance operation based on the detection result. Control to do.

  As a collision avoidance operation, in step b10, as in step a16 of FIG. 3, the brake and throttle actuator 24 are controlled to assist the deceleration operation. In step b11, the steering actuator 25 is driven to assist in changing the course in a direction to avoid a collision. In this way, the control means 9 detects the direction of the target with the long-range radar 3, detects the distance to the target and the relative speed with the short-range radars 5 and 6, and the collision set in advance based on the detection result. Since the control is performed so as to perform the avoidance operation, the long-range radar 3 and the short-range radars 5 and 6 can be used together to perform an appropriate collision avoidance operation.

  Each step from step b12 to step b13 is equivalent to each step from step a17 to step a18 in FIG.

It is a block diagram which shows the schematic structure of the periphery monitoring apparatus 1 which is one Embodiment of this invention. It is a block diagram which shows the electrical structure of the periphery monitoring apparatus 1 shown in FIG. 1 in detail. It is a flowchart which shows the rough control procedure as the periphery monitoring apparatus 1 performed by the process part 10 of FIG. It is a flowchart which shows the rough control procedure as the periphery monitoring apparatus 1 performed by the process part 10 of FIG. 2 as another form of implementation of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Perimeter monitoring apparatus 2 Vehicle 3 Long-range radar 5,6 Short-range radar 8 Selection means 9 Control means 10 Processing part 11 Vehicle speed sensor 12 Navigation apparatus 13 VICS receiver 14 Winker switch 15 Transmission 16 Steering 21, 22 Power switch 23 Alarm 24 Brake, throttle actuator 25 Steering actuator

Claims (15)

In a peripheral monitoring device that uses a plurality of radar devices including at least for a long distance and for a short distance, monitors the surroundings of the own vehicle, and avoids or reduces a collision,
Based on the traveling environment of the own vehicle, it has a selection means for selecting driving of the radar device for long distance or short distance from among the plurality,
A periphery monitoring device characterized in that the periphery of the host vehicle is monitored on the basis of a radar device selected and driven by a selection means to avoid or reduce a collision. A navigation means capable of detecting the current position of the vehicle with respect to the road map data;
The selection means determines the driving environment of the host vehicle according to the detection result of the current position by the navigation means, and drives the short-range radar device when the current position satisfies a pre-established condition for emphasizing the near distance. The periphery monitoring device according to claim 1, wherein:   3. The periphery monitoring device according to claim 2, wherein the condition for emphasizing a short distance determined in advance by the selection means is that the current position is within an intersection.   The perimeter monitoring apparatus according to claim 2, wherein the short-distance emphasis condition set by the selection means is a case where the host vehicle enters a road narrower than a predetermined reference.   The periphery monitoring device according to claim 2, wherein the condition for emphasizing a short distance set in advance by the selection unit is when the vehicle is traveling along a curve having a radius of curvature smaller than a reference in which the current position is set in advance. The navigation means can acquire traffic information including traffic jams,
The selection means selects driving of the radar device for short distance when the current position is within a traffic jam, and for the long distance when the current position is on a straight road where traffic jam does not occur The periphery monitoring apparatus according to claim 2, wherein the driving of the radar apparatus is selected. In a peripheral monitoring device that uses a plurality of radar devices including at least for a long distance and for a short distance, monitors the surroundings of the own vehicle, and avoids or reduces a collision,
Based on the traveling state of the own vehicle, it has a selection means for selecting driving of the radar device for long distance or short distance from among the plurality,
A periphery monitoring device characterized in that the periphery of the host vehicle is monitored on the basis of a radar device selected and driven by a selection means to avoid or reduce a collision.   The periphery monitoring device according to claim 7, wherein the selection unit detects an operation state of a lane change, and selects driving of the short-range radar device when the lane change is performed.   The selection means selects, based on vehicle speed information, driving of the long-distance radar device during high-speed traveling, and selects driving of the short-distance radar device during low-speed traveling. Item 8. The perimeter monitoring device according to item 7.   The periphery monitoring device according to claim 7, wherein the selection unit detects a steering operation state and selects driving of the short-range radar device while passing through a curve.   The periphery monitoring device according to claim 7, wherein the selection unit selects driving of the radar device for short distance when the engine is started.   12. The selection unit according to claim 1, wherein the selection unit supplies power to a selected radar device to drive the radar device, and suppresses at least power supply to a radar device that is not selected. The perimeter monitoring device according to any one of the above. A collision determination means for determining the possibility of a collision with respect to a target detected by the radar device whose drive is selected by the selection means;
Even when the selection means selects driving of the long-distance radar apparatus, the distance to the target that is determined to have a high possibility of collision based on the determination by the collision determination means is the short-range radar apparatus. The periphery monitoring device according to claim 1, wherein when the range is detectable, the radar device for short distance is selected to be driven with priority. A collision determination means for determining the possibility of a collision with respect to a target detected by a radar device that selects driving by the selection means;
When the selection means determines that the possibility of a collision is high as determined by the collision determination means, simultaneously selects driving of the long-distance and short-range radar devices,
The long-range radar device detects the direction of the target, the short-range radar device detects the distance to the target and the relative speed, and performs a collision avoidance operation set in advance based on the detection result. The periphery monitoring device according to any one of claims 1 to 12, further comprising control means for performing control.   15. The periphery monitoring according to claim 13, wherein the selection unit stops power supply to all radar devices when the collision determination unit determines that a collision with the target cannot be avoided. apparatus.

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