JP2006199055A - Vehicle running support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle running support apparatus capable of predicting a possibility of collision between a vehicle and an object in a blind spot existent at the position being the blind spot of the vehicle due to a sharp curve, etc. <P>SOLUTION: An object detection means includes a curve mirror recognition means for recognizing a curve mirror and a blind object detection means for detecting the object in the blind spot reflected in the curve mirror. A collision prediction means predicts whether there is a possibility of collision between the object in the blind spot and the vehicle, based on the information related to an object image in the blind spot reflected in the curve mirror being detected by the blind object detection means. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a vehicular travel support apparatus that performs travel support control when an object in the traveling direction of a vehicle is detected and it is predicted that there is a possibility of collision between the object and the vehicle.

  The obstacle detection device for a vehicle described in Patent Literature 1 includes a vehicle estimated progress locus calculating device 24 that calculates an estimated advance locus that a vehicle is supposed to travel based on the vehicle speed V, the snaked angle θ, and the like. An image processing device 32 that extracts a white line and a yellow line drawn on a three-dimensional object and a road surface by processing an image captured by the camera 34, and recognizes a traveling path on which the three-dimensional object and the vehicle travel; Alternatively, a radar device 36 that detects a three-dimensional object in the vicinity of the estimated travel locus is included.

  The ECU 22 uses the vehicle estimated progress locus calculating device 24 and the image processing device 32 to grasp the estimated progress locus and the travel path partitioned by a white line, etc., and also uses the image processing device 32 and the radar device 36 to select a three-dimensional object. To grasp. The vehicle obstacle is detected by fusing the three-dimensional object based on the information from the image processing device 32 and the three-dimensional object based on the information from the radar device 36.

The ECU 22 determines whether the detected obstacle is located on the estimated traveling locus and whether the obstacle is located on the traveling road, and thereby the obstacle located on the estimated traveling locus and the obstacle located on the traveling road. Are extracted respectively. Based on the distance between the obstacle and the vehicle, it is determined whether or not the obstacle is a dangerous obstacle that may affect the traveling of the vehicle. Then, when there is a dangerous obstacle on the estimated traveling locus and a dangerous obstacle is present on the traveling road, the ECU 22 has a dangerous obstacle on the traveling road, It is assumed that the degree of danger is heavier than when no obstacle is present, and commands are given to the information / alarm display device 40 and the brake control ECU 42 according to the degree of danger.
JP 2004-110394 A (pages 11 to 13, FIGS. 2 and 3)

  The vehicle obstacle detection device is a dangerous obstacle that may collide with a vehicle among three-dimensional objects directly detected by a camera 34 and a radar device 36 disposed on a front grill or the like at the front of the vehicle body. The degree of danger can be determined on the basis of whether or not it exists on the estimated travel locus and whether or not it exists on the traveling road. However, it is impossible to detect a blind spot object that is located at a blind spot due to an intersection or a sharp curve with poor visibility, and even if a curve mirror is installed, The possibility of collision between the blind spot object reflected in the curved mirror and the vehicle could not be predicted only by detecting the object, and appropriate driving support control could not be performed.

   Therefore, the present invention provides a vehicle driving support capable of predicting the possibility of a collision between a blind spot object existing at a blind spot of a vehicle and a vehicle at a blind spot such as an intersection or a sharp curve where a curve mirror is installed. It is an object to provide an apparatus.

  In order to solve the above problems, the structural feature of the invention described in claim 1 is that object detection means for detecting an object in the traveling direction of the vehicle, and the object detected by the object detection means collides with the vehicle. A collision prediction unit that predicts whether or not there is a possibility, and a driving support control unit that performs driving support control when the collision prediction unit predicts that the object and the vehicle may collide with each other. In the vehicle travel support apparatus, the object detection means includes a curve mirror recognition means for recognizing a curve mirror, and a blind spot object detection means for detecting a blind spot object reflected on the curve mirror recognized by the curve mirror recognition means. The collision prediction means may collide the blind spot object with the vehicle based on information related to the image of the blind spot object detected by the blind spot object detection means on the curve mirror. It is to predict whether Luke.

  According to a second aspect of the present invention, there is provided a structural feature of the first aspect, in which the collision prediction unit includes an image of the blind spot object detected by the blind spot object detection unit and an image of the blind mirror reflected on the curve mirror. It is to predict whether or not there is a possibility that the blind spot object and the vehicle collide based on the relative positional relationship with the image of another object.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the collision prediction unit is configured such that the image reflected on the curve mirror of the blind spot object detected by the blind spot object detection unit is the curve mirror. Predicting that there is a possibility of collision between the blind spot object and the vehicle when moving in a direction approaching the vehicle.

  According to a fourth aspect of the present invention, in the structure according to any one of the first to third aspects, the collision prediction unit is reflected on the curve mirror of the blind spot object detected by the blind spot object detection unit. It is to predict that the blind spot object and the vehicle may collide when the size of the image increases with time.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the driving support control unit includes a warning unit that issues a warning to a driver, and the blind spot object, the vehicle, When the vehicle is predicted to collide, the driving support control is performed to activate the warning means.

  According to a sixth aspect of the present invention, in any one of the first to fourth aspects, the travel support control unit includes a braking force control unit that generates a braking force regardless of a driver's operation. And, when it is predicted that there is a possibility of collision between the blind spot object and the vehicle, the driving support control is performed to generate the braking force in the braking force control means.

  According to a seventh aspect of the present invention, in any one of the first to fourth aspects, the travel support control unit includes a steering control unit that performs steering regardless of a driver's operation. When it is predicted that there is a possibility of collision between the blind spot object and the vehicle, the driving support control is performed to cause the steering control means to perform collision avoidance steering.

  In the invention according to claim 1 configured as described above, when a curved mirror is recognized, a blind spot object reflected on the curved mirror is detected, and the blind spot object reflected on the curved mirror is detected based on information about the image. When it is predicted that there is a possibility that the blind spot object and the vehicle collide, the driving support control can be performed.

  In the invention according to claim 2 configured as described above, is there a possibility that the blind spot object and the vehicle may collide based on the relative position between the image of the blind spot object reflected on the curve mirror and the image of the other object. Therefore, it is possible to prevent the vehicle from being judged unnecessarily as dangerous.

  In the invention according to claim 3 configured as described above, there is a possibility that the blind spot object and the vehicle may collide when the image of the blind spot object reflected on the curve mirror is moving in a direction approaching the vehicle. Since it predicts, the possibility of a collision with an object approaching the vehicle from the blind spot can be predicted by a simple method with a light processing burden.

  In the invention according to claim 4 configured as described above, it is predicted that there is a possibility that the blind spot object and the vehicle may collide when the size of the image of the blind spot object reflected on the curve mirror increases with time. Therefore, a collision with an object approaching the vehicle from the blind spot can be predicted by a simple method with a light processing load.

  In the invention according to claim 5 configured as described above, when it is predicted that the blind spot object and the vehicle may collide, the warning is given to the driver by the warning means. It is possible to quickly perform an appropriate driving operation on an object approaching.

  In the invention according to claim 6 configured as described above, when it is predicted that the blind spot object and the vehicle may collide, a braking force is generated in the braking force control means regardless of the operation of the driver. Therefore, the collision between the vehicle approaching from the blind spot and the vehicle can be avoided quickly and reliably.

  In the invention according to claim 7 configured as described above, when it is predicted that there is a possibility of collision between the blind spot object and the vehicle, the steering control means performs steering without depending on the operation of the driver. The collision between the object approaching from the blind spot and the vehicle can be prevented quickly and reliably.

  Embodiments of a vehicle travel support apparatus according to the present invention will be described below with reference to the drawings. In FIG. 1, the vehicle travel support device 10 includes an electronic control device 11, and the electronic control device 11 includes an image processing device 13 to which a CCD camera 12 is connected. The electronic control device 11 further receives signals from the direction indicator 14, the radar device 15, the steering angle sensor 16, and the vehicle speed sensor 27, and an alarm device 17, a braking force control device 18, a steering control device 19, and a drive A control signal is output to the force control device 20.

  The electronic control unit 11 includes an object detection program 21 (object detection means) for detecting an object in the traveling direction of the vehicle based on an image taken by the CCD camera 12 and a signal from the radar device 15, and is detected by the object detection program 21. Prediction program 22 (collision prediction means) that predicts whether or not there is a possibility of collision between the object and the vehicle, and the collision prediction program 22 predicted that there is a possibility of collision between the object and the vehicle In some cases, a driving support control program 23 (driving support control means) that performs driving support control by outputting control signals to the alarm device 17, the braking force control device 18, the steering control device 19, and the driving force control device 20 is stored. ing.

  In the object detection program 21, an image captured by the CCD camera 12 is processed by the image processing device 13 and fused with information from the radar device 15 to recognize a curve mirror, which is a curve mirror recognition means 25 (running support shown in FIG. 2). Step S1) of the program and a blind spot object detection means 26 (step S2) for detecting a blind spot object from the image captured on the curve mirror recognized by the curve mirror recognition means 25 are included. Curve mirrors are installed at intersections and sharp curves with poor visibility, and provide the vehicle with images of blind spots and the like that exist at positions where the vehicle has become blind spots due to intersections and sharp curves.

  The collision prediction program 22 includes a program executed in step S3 of the driving support program, for example, an image captured on the curve mirror of the blind spot object detected by the blind spot object detection means 26, and other objects reflected on the curve mirror. A program P31 for predicting whether or not there is a possibility that the blind spot object and the vehicle collide based on the relative positional relationship with the image, and the image of the blind spot object reflected on the curve mirror in the direction of approaching the vehicle in the curve mirror Program P32 for predicting that there is a possibility that the blind spot object and the vehicle will collide when moving, and when the size of the image of the blind spot object reflected on the curve mirror increases with time, the blind spot object and the vehicle Includes a program P33 for predicting that there is a possibility of collision.

  The driving support control program 23 includes a program executed in step S4 of the driving support program as the driving support control when the collision prediction program 22 predicts that the blind spot object and the vehicle may collide, for example, an alarm A program P41 that causes the device 17 to turn on an alarm lamp, generate an alarm sound, display alarm information, and the like, a program P42 that causes the braking force control device 18 to generate a braking force regardless of a driver's operation, and a steering control device 19 Includes a program P43 for performing collision avoidance steering regardless of the driver's operation.

  The CCD camera 12 is disposed in the vicinity of the rear-view mirror at the front of the vehicle body or on the front grille, and has a photographable area that spreads at a predetermined angle toward the front of the vehicle. Shooting roads on which vehicles are driven, white lines and yellow lines drawn on the road surface, objects such as other vehicles reflected on the curve mirror, roads on which vehicles are driven, white lines and yellow lines drawn on the road surface, etc. Shoot the video.

  The image processing device 13 that performs image processing on the video captured by the CCD camera 12 determines whether or not a curved mirror exists in the video captured by the CCD camera 12, and stores the image captured by the CCD camera 12 in a memory. Image processing is performed using the shape, color, etc. of the stored curve mirror. When the image processing device 13 extracts the curve mirror, it sends out a curve mirror detection signal, and the electronic control device 11 recognizes the curve mirror.

  In step S <b> 2 for detecting a blind spot object from the image captured on the curve mirror, the image processing device 13 converts the image portion captured on the curve mirror in the image captured by the CCD camera 12 into a passenger car, a truck, When image processing is performed using the shape of a motorcycle, person, etc., and a passenger car, truck, motorcycle, person, etc. is extracted, a blind spot object detection signal is sent, and the electronic control unit 11 detects a blind spot object reflected on the curve mirror. To do.

  The electronic control device 11 executes the programs P32 and P33 included in the collision prediction program 22, and the image processing device 13 performs image processing on images taken by the CCD camera 12 at predetermined time intervals, and the blind spot object reflected on the curve mirror is displayed. When the position and size of the image in the curve mirror are calculated sequentially, and the position of the image of the blind spot object reflected on the curve mirror moves toward the center of the curve mirror, in other words, the blind spot object approaches the vehicle The blind spot object and the vehicle are predicted to collide with each other if the size of the image of the blind spot object reflected on the curve mirror increases with time.

  Further, the electronic control unit 11 executes a program P31 included in the collision prediction program 22. As an example, the program P31 performs image processing on the image portion captured by the image processing device 13 on the curve mirror using the shape and color of the road and center line, in addition to the shape of the passenger car and the like stored in the memory, A road, a center line, etc. are extracted with a blind spot object. The electronic control unit 11 predicts that there is a possibility that the blind spot object and the vehicle may collide when the blind spot object protrudes to the left side of the center line or is located on the left side of the center of the road.

  The direction indicator 14 is a device that is operated for input when the driver turns the vehicle left or right, changes the lane, or the like, and is provided to indicate a change in the course of the vehicle to the outside. The direction indicator 14 supplies the electronic control device 11 with signals corresponding to the left and right course changes. The electronic control device 11 grasps the course of the vehicle based on the output signal of the direction indicator 14.

   As shown in FIG. 3, when the brake pedal 29 is depressed, the braking force control device 18 causes the master cylinder hydraulic pressure corresponding to the brake operating force to be changed to the hydraulic chambers 30 f for the front and rear wheels 31 f and 31 r of the tandem master cylinder 30. 30r is supplied to the wheel cylinders 33f and 33r of the wheel braking devices 32f and 32r, respectively. Reference numeral 34 denotes a vacuum booster interposed between the brake pedal 29 and the master cylinder 30 to boost the brake operation force acting on the brake pedal 29 by causing the intake negative pressure of the engine to act on the diaphragm. 35f and 35r are solenoid hydraulic pressure proportional control valves, and their inlet ports and outlet ports are connected to the hydraulic chambers 30f and 30r of the master cylinder 30 and the wheel cylinders 33f and 33r, respectively. Solenoid hydraulic pressure proportional control valves 35f and 35r control the pressure so that the hydraulic pressure at the outlet port is higher than zero by the assist hydraulic pressure in accordance with the control current applied to the linear solenoid from the master cylinder hydraulic pressure at the inlet port. is there.

   The outlet ports of the solenoid hydraulic pressure proportional control valves 35f and 35r are connected to the wheel cylinders 33f and 33r via ABS valve devices 36f and 36r that increase, hold, and control the pressure in the wheel cylinders 33f and 33r. .

   37f and 37r are hydraulic pumps that are rotationally driven by a motor 38. The discharge ports of the hydraulic pressure proportional control valves 35f and 35r are connected to the discharge ports via check valves 39f and 39r that block the liquid flow to the discharge ports. The intake port is connected to the inlet port of the solenoid hydraulic pressure proportional control valves 35f and 35r via the electromagnetic open / close valves 40f and 40r. The suction ports of the hydraulic pumps 37f and 37r are also connected between the discharge ports of the ABS valve devices 36f and 36r and the reservoirs 41f and 41r via check valves that allow fluid flow to the suction ports. When a braking command is sent from the electronic control unit 11 to the braking ECU 42, the braking ECU 42 switches the electromagnetic on-off valves 40f, 40r to the open state, and rotationally drives the hydraulic pumps 47f, 47r by the motor 38. The discharged liquid discharged from the hydraulic pumps 47f and 47r is circulated through the solenoid hydraulic pressure proportional control valves 35f and 35r and the electromagnetic on-off valves 40f and 40r, and is supplied to the linear solenoid 14 in accordance with a command from the electronic control unit 11. An assist hydraulic pressure corresponding to the applied control current is generated, supplied to the wheel cylinders 33f and 33r via the ABS valve devices 36f and 36r, and a braking force is generated regardless of the driver's operation.

  As shown in FIG. 4, in the steering control device 19, the rotation of the steering wheel 44 is transmitted to the pinion shaft 47 of the rack and pinion mechanism 46 via the steering shaft 45, and the axis of the rack shaft 48 that accompanies the rotation of the pinion shaft 47. The movement deflects the front wheel 31f which is a steered wheel via a tie rod and a knuckle arm. The steering shaft 45 and the pinion shaft 47 are rotatably supported coaxially by a gear box 49 and are connected by a torsion bar. A steering torque detection mechanism 54 is provided between the steering shaft 45 and the pinion shaft 47 to detect the steering torque based on the relative rotation between the two.

  One end of the housing 50 through which the rack shaft 48 passes is fixed to a gear box 49, and a motor 51 is accommodated on the inner periphery of the large diameter portion. The motor 51 includes a stator that is fixed to the inner periphery of the large-diameter portion of the housing 50 and a cylindrical rotor that is disposed with a gap around the outer periphery of the rack shaft 48. The cylindrical rotor is rotatably supported on the housing 50 by bearings at both ends, and is screwed to the rack shaft 48 via a ball screw mechanism 52.

  When the steering wheel 44 is rotated and the steering torque is detected by the steering torque detection mechanism 54 and inputted to the steering ECU 53, the steering ECU 53 drives the motor 51 according to the rotation direction and magnitude of the steering torque. The rack shaft 48 is pivoted via the ball screw mechanism 52 by the rotation of the cylindrical rotor of the motor 51, and the steered wheels 31f are deflected. When a steering command is sent from the electronic control unit 11 to the steering ECU 53, the steering ECU 53 drives the motor 51 in accordance with the command from the electronic control unit 11, and performs steering without operating the steering wheel 44 by the driver. . The snake angle sensor 16 for detecting the snake angle of the snake wheel 31 f is provided on the steering shaft 45, and the turning angle θ of the steered wheel 31 f is fed back to the steering ECU 53.

  The radar device 15 is an FM-CW radar using millimeter waves, for example, and has a radar antenna arranged vertically near the front grille in the front of the vehicle. The radar antenna is an antenna having directivity, and electronically scans a beam to transmit / receive a signal with a predetermined beam angle spread to detect a three-dimensional object existing in a detectable area in front of the vehicle. The radar device 15 may detect a three-dimensional object in front of the vehicle by transmitting and receiving signals while rotating a radar antenna arranged to be rotatable about a rotation axis extending in the vertical direction.

  Next, as shown in FIG. 5, the vehicle 56 traveling on the side road 55 temporarily stops at a T-shaped intersection 58 with poor visibility and provided with two curved mirrors 57l and 57r for left and right. In the case of entering 59, the operation of the vehicle travel support device 10 will be described. The electronic control unit 11 repeatedly executes the driving support program shown in FIG. 2 at predetermined time intervals to determine whether or not a curve mirror exists (step S1). The image processing device 13 extracts two curve mirrors 571 and 57r from the image of the intersection 58 taken by the CCD camera 12 and sends out a curve mirror detection signal, and the electronic control device 11 recognizes the curve mirror. If the curve mirror is not recognized, step S1 is repeated.

  When recognizing the curve mirrors 57l and 57r, the electronic control unit 11 determines whether or not the image of the blind spot object is present in the image portion captured by the curve mirrors 57l and 57r in the image captured by the CCD camera 12 (step S2). ). When the truck 60 is traveling on the straight road 59 from the right toward the intersection 58, the image processing device 13 performs image processing on the video portion captured on the curve mirrors 57l and 57r, and as a result, the image is captured on the right curve mirror 57r. The image of the track 60 is extracted and a blind spot object detection signal is transmitted, and the electronic control unit 11 detects the track 60 reflected on the curve mirror 57r as a blind spot object. If no blind spot object is detected, the process returns to step S1.

  When the truck 60 is detected, the electronic control unit 11 determines whether or not there is a possibility of collision between the truck 60 reflected on the curve mirror 57r and the vehicle 56 (step S3). The image processing device 13 performs image processing on a plurality of images taken by the CCD camera 12 at predetermined time intervals, and calculates a moving direction and a change in size of the image of the track 60 captured on the curve mirror 57r. When the image of the truck 60 is moving in the direction approaching the vehicle 56, or when the size of the image of the truck 60 increases as time elapses, a blind spot object approach signal is sent and electronic control is performed. The device 11 predicts that there is a possibility that the blind spot object and the vehicle 56 collide.

  If the possibility of a collision is predicted, the electronic control unit 11 executes driving support control, and causes the alarm unit 17 to turn on an alarm lamp, generate an alarm sound, or display alarm information (step S4). As the driving support control, in addition to the operation of the alarm device 17, the braking force control device 18 may generate a braking force regardless of the driver's operation. In this case, a braking command is sent from the electronic control unit 11 to the braking ECU 42, and the braking ECU 42 switches the electromagnetic opening / closing valves 40 f and 40 r to the open state and rotationally drives the hydraulic pumps 37 f and 37 r by the motor 38. Control is performed so that the discharge liquid discharged from the hydraulic pumps 37f and 37r is circulated through the solenoid hydraulic pressure proportional control valves 35f and 35r and the electromagnetic on-off valves 40f and 40r to generate an assist hydraulic pressure to stop the vehicle 56. A current is applied to the linear solenoid by the control ECU 42 based on a command from the electronic control unit 11, and the assist hydraulic pressure is supplied to the wheel cylinders 33 f and 33 r without being operated by the driver, and the temporary stop of the vehicle 56 is continued. Is done.

  In step S3, the degree of possibility of collision may be determined, and driving support control may be performed accordingly. For example, the electronic control unit 11 determines whether the vehicle 56 is to be turned right or left from the direction of operation of the direction indicator 14 by the driver, and the blind spot object is placed in either the left or right curve mirrors 57l and 57r. The direction in which the blind spot object approaches is determined according to whether or not the vehicle 56 is reflected, and when the vehicle 56 turns to the right and when the blind spot object approaches from the right, the possibility of a collision is high, and the blind spot object is turned when the vehicle 56 turns left. When approaching from the left, the possibility of a collision is moderate, and when the possibility is high, the alarm device 17 is activated and the braking force control device 18 generates a braking force regardless of the driver's operation. In the middle case, only the alarm device 17 may be operated.

  Next, the operation of the vehicular travel support apparatus 10 will be described for the case where the vehicle 56 travels on a sharp curve 61 with a poor view, which is provided with the curve mirror 57, as shown in FIG. As described above, the electronic control unit 11 recognizes the curve mirror 57 in step S1. When the track 60 approaches, the image processing device 13 extracts the image of the track 60 reflected on the curve mirror 57 and sends a blind spot object detection signal, so that the electronic control device 11 detects the blind spot object in step S2. In this case, since the image processing device 13 sends a blind spot object approach signal as a result of image processing of a plurality of images taken at predetermined time intervals by the CCD camera 12, the electronic control device 11 detects the blind spot object and the vehicle in step S3. Predict that there is a possibility of a collision. When the possibility of a collision is predicted, the electronic control unit 11 executes the driving support control in step S4, activates the alarm unit 17, and generates a control current that generates an assist hydraulic pressure that decelerates the vehicle. The braking force is applied to the linear solenoids of the control valves 35f and 35r to cause the braking force control device 18 to generate a braking force that decelerates the vehicle 56 without being operated by the driver.

  In step S3, when the blind spot object approaches, the blind spot object and the vehicle are determined based on the relative positional relationship between the image of the blind spot object captured on the curve mirror 57 and the image of the other object captured on the curve mirror 57. It may be predicted whether or not there is a possibility of collision. For this purpose, for example, the image processing device 13 extracts a road and a center line from the video portion captured by the curve mirror 57 in the image taken by the CCD camera 12, and determines whether the blind spot object is located on the right side of the center line. Or whether it is located on the right side of the center of the road. If a positive determination is made, the electronic control unit 11 predicts that there is no possibility that the blind spot object and the vehicle will collide even if the blind spot object approaches.

  Next, as shown in FIG. 7, when the vehicle 56 traveling on the straight road 59 passes through a T-shaped intersection 58 with a poor view and provided with the curve mirror 57, the operation of the vehicle travel support device 10 is performed. Will be explained. In this case, the electronic control device 11 executes steps S1 to S4 as in the case of a sharp curve, but the steering control device 19 may perform collision avoidance steering in the driving support control in step S4. As an example of collision avoidance steering, the electronic control unit 11 calculates from images captured by the CCD camera 12 at predetermined time intervals in order to cause the vehicle 56 to travel along the route p that moves away from the track 60 by the avoidance amount d at the intersection 58. The meander angle θ0 at a predetermined time interval is calculated based on the position information of the vehicle 56 with respect to the intersection 58, the vehicle speed V detected by the vehicle speed sensor 27, and the distance from the curve mirror 57 detected by the radar device 15. Output to the steering ECU 53. The steering ECU 53 drives the motor 51 and is fed back the steered angle θ of the steered wheels 31f detected by the steered angle sensor 16 to move the rack shaft 48 axially without the driver operating the steering wheel 44. The collision avoidance steering is performed, and the vehicle 56 travels along the route p. The fact that the vehicle 56 does not collide with an obstacle even when traveling along the route p is detected by the radar device 15 and an object obtained by performing image processing on the image captured by the CCD camera 12 by the image processing device 13. Collision avoidance steering is performed after confirming that the obstacle detected by fusing the three-dimensional object in front of the vehicle is not on the path p.

  Further, when the truck 60 is stopped, the alarm device 17 may only display information indicating that the truck 60 is stopped at the intersection. In this case, as an example, the image processing device 13 extracts a background image such as a track 60, a stop line close to the track 60, a power pole, etc., from the image portion reflected on the curve mirror 57 in the image captured by the CCD camera 12, The relative positional relationship between the extracted background image and the image of the truck 60 is analyzed to determine whether or not the truck 60 is stopped.

  In the above embodiment, the distance between the vehicle 56 and the blind spot object is not calculated, but the distance between the vehicle and the blind spot object is calculated in the curve mirror of the image of the blind spot object reflected on the curve mirror 57. The vehicle 56 measured by the radar device 15 and the standard size according to the type of blind spot object (passenger car, truck, two-wheeled vehicle, person, etc.) specified by the image processing device 13 with the size, position or size and position as variables. A large number of parameters such as the distance between the lens and the curve mirror 57 and the size of the curve mirror are measured and registered as data in the image processing device 13, and the image processing device 13 stores the image of the blind spot object in the curve mirror. You may make it calculate the distance between a vehicle and a blind spot object from a magnitude | size, a position, or a magnitude | size and a position. Then, when the blind spot object is at a predetermined distance or more away from the vehicle, the image processing device 13 determines that there is no possibility of the blind spot object and the vehicle colliding even if the blind spot object is approaching, and the blind spot object approach signal. May not be sent. In this way, the electronic control unit 11 predicts that there is no possibility of colliding with the vehicle even if the blind spot object approaches in step S3, and does not perform the driving support control.

  Further, when calculating the distance between the vehicle and the blind spot object as described above, the image processing device 13 calculates the relative speed between the vehicle and the blind spot object from the amount of change of this distance in a predetermined time, Whether or not there is a possibility of collision between the blind spot object and the vehicle may be determined based on the distance and relative speed between the blind spot object and the blind spot object. For example, when the vehicle 56 travels on a straight road 59 and passes through a T-shaped intersection 58 where the truck 60 is approaching from the side road 55, the electronic control unit 11 determines the distance between the vehicle and the blind spot object and the relative Based on the speed, the possibility of a collision between the blind spot object and the vehicle is calculated, and if it is determined that it is safer for the vehicle 56 to exit the intersection 58 immediately, the driving force control device 20 is operated to determine the vehicle speed. You may make it accelerate regardless of operation.

1 is a system configuration diagram of a vehicle travel support device according to an embodiment. FIG. The figure which shows a driving assistance control program. The figure which shows a braking force control apparatus. The figure which shows a steering control apparatus. Explanatory drawing of driving assistance control in the case of entering an intersection after a temporary stop. Explanatory drawing of the driving assistance control at the time of sharp curve driving | running | working. Explanatory drawing of the driving | running | working assistance control in the case of passing through an intersection straightly.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ... Driving support device for vehicles, 11 ... Electronic control device, 12 ... CCD camera, 13 ... Image processing device, 14 ... Direction indicator, 15 ... Radar device, 16 ... Rudder angle sensor, 17 ... Alarm device, 18 ... Control Power control device, 19 ... steering control device, 20 ... driving force control device, 21 ... object detection program (object detection means), 22 ... collision prediction program (collision prediction means), 23 ... travel support control program (travel support control means) ), 25 ... Curve mirror recognition means, 26 ... Blind spot object detection means, 27 ... Vehicle speed sensor, 29 ... Brake pedal, 31f ... Front wheel (steered wheel), 31r ... Rear wheel, 32 ... Wheel brake device, 35f, 35r ... Solenoid Hydraulic pressure proportional control valve, 37f, 37r ... hydraulic pump, 42 ... braking ECU, 44 ... steering wheel, 46 ... rack and pinion mechanism, 51 ... motor, 2 ... ball screw mechanism, 53 ... steering ECU, 55 ... side road, 56 ... vehicle, 57,57L, 57r ... curved mirror, 58 ... intersection, 59 ... straight road, 60 ... track (blind spot object), 61 ... sharp curves.

Claims (7)

An object detection means for detecting an object in the traveling direction of the vehicle;
A collision prediction means for predicting whether or not there is a possibility of collision between the object detected by the object detection means and the vehicle;
In the vehicle travel support device comprising travel support control means for performing travel support control when the collision prediction means predicts that the object and the vehicle may collide,
The object detection means includes a curve mirror recognition means for recognizing a curve mirror, and a blind spot object detection means for detecting a blind spot object reflected on the curve mirror recognized by the curve mirror recognition means,
The collision predicting means predicts whether or not there is a possibility that the blind spot object and the vehicle may collide based on information related to an image captured on the curve mirror of the blind spot object detected by the blind spot object detecting means. A vehicle travel support apparatus characterized by the above. 2. The collision prediction unit according to claim 1, wherein the collision prediction unit is based on a relative positional relationship between a video image of the blind spot object detected by the blind spot object detection unit and the video image of another object reflected on the curve mirror. A vehicular driving support apparatus that predicts whether or not there is a possibility of collision between the blind spot object and the vehicle. 3. The collision prediction unit according to claim 1, wherein the collision prediction unit moves an image of the blind spot object detected by the blind spot object detection unit on the curve mirror in a direction approaching the vehicle in the curve mirror. It is predicted that there is a possibility of collision between the blind spot object and the vehicle. 4. The collision prediction unit according to claim 1, wherein the collision prediction unit is configured such that the size of the image captured on the curve mirror of the blind spot object detected by the blind spot object detection unit increases as time elapses. A vehicle travel support apparatus that predicts that a blind spot object and a vehicle may collide. In any one of Claims 1 thru | or 4, When the said driving assistance control means is provided with the warning means which alerts a driver | operator and it is estimated that the said blind spot object and a vehicle may collide, A vehicle travel support apparatus that performs travel support control that activates an alarm means. 5. The driving support control unit according to claim 1, further comprising a braking force control unit that generates a braking force regardless of a driver's operation, and the blind spot object and the vehicle may collide with each other. A vehicle travel support apparatus that performs travel support control that causes the braking force control means to generate a braking force when it is predicted to exist. 5. The driving support control means according to claim 1, wherein the driving support control means includes steering control means for steering regardless of a driver's operation, and predicts that the blind spot object and the vehicle may collide. In this case, the vehicle travel support apparatus is configured to perform travel support control that causes the steering control means to perform collision avoidance steering.

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