JP2006350613A - Traveling support device for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To enable a crew of a vehicle to accurately recognize the existence of a pedestrian who is difficult to directly be viewed from an own vehicle. <P>SOLUTION: A support deciding part 24 compares the detection result of a pedestrian detecting part 21 with the information of a pedestrian extracted by a pedestrian information extracting part 22, and supports the traveling of the own vehicle based on at least the information of the pedestrian detected by the preceding vehicle. The support deciding part 24 decides the risk level of the pedestrian, for example, a possibility that the pedestrian becomes the obstacle of the traveling of the own vehicle or a possibility that the contact or collision of the own vehicle and the pedestrian occurs based on the location and the moving speed and moving direction of the pedestrian detected by the preceding vehicle and the information of the location and traveling state of the own vehicle outputted from an own vehicle state acquiring part 23, and controls the operation of a braking device 15 and a warning device 16 by using the pedestrian decided as a possible obstacle of the traveling of the own vehicle as a target. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a vehicle travel support apparatus.

2. Description of the Related Art Conventionally, a pedestrian detection device that detects a pedestrian existing outside the host vehicle based on an image captured by an imaging device such as a camera mounted on the host vehicle is known (for example, see Patent Document 1).
JP 2001-28050 A

By the way, according to the pedestrian detection device according to the above-described prior art, only the pedestrian is detected based on the captured image of the imaging device. There arises a problem that an existing pedestrian cannot be detected.
The present invention has been made in view of the above circumstances, and provides a travel support device for a vehicle that allows a passenger of the own vehicle to accurately recognize the presence of a pedestrian that is difficult to see directly from the own vehicle. The purpose is to do.

  In order to solve the above-described problems and achieve the object, a vehicle travel support device according to the present invention according to claim 1 detects a pedestrian that is provided in the host vehicle and that exists in the traveling direction of the host vehicle. Detection means (for example, external sensor 11 and pedestrian detection unit 21 in the embodiment) and reception means for receiving appropriate information from the preceding vehicle in the traveling direction of the host vehicle (for example, communication device 12 in the embodiment) ), And a support means (for example, a support determination unit 24 in the embodiment) for supporting the traveling of the host vehicle based on the detection result of the pedestrian detection means and the information received by the receiving means. The information includes pedestrian information related to the presence of a pedestrian detected by a preceding vehicle, and the support means includes a detection result of the pedestrian detection means and the pedestrian information. Compare and at least before Included in the pedestrian information detected pedestrians, it is characterized in that to support the running of the vehicle on the basis of the pedestrian information walker.

  According to the above-described vehicle travel support device, for example, a pedestrian who receives from a preceding vehicle even if the pedestrian cannot be detected by the pedestrian detection means of the own vehicle provided with an external detection device such as a camera or a radar device. In some cases, detection becomes possible based on the information, and it is possible to execute appropriate driving support for a pedestrian existing at a position that becomes a blind spot from the own vehicle.

  Furthermore, in the vehicle travel support device according to the second aspect of the present invention, the support means informs the occupant of the host vehicle of the presence of a pedestrian included only in the pedestrian information as support for the travel of the host vehicle. It is characterized by doing.

  According to the above-described vehicle driving support device, in particular, for a pedestrian recognized by a driver of the own vehicle by supporting the driving of the own vehicle for a pedestrian included only in the pedestrian information. It is possible to prevent the unnecessary travel support from being performed and to optimize the operation content of the travel support.

  Further, in the vehicle travel support apparatus according to the third aspect of the present invention, the support means is a distance from the vehicle to the pedestrian based on the pedestrian information (for example, implementation) as support for the travel of the host vehicle. The distance Ln) is calculated, and when the distance falls below a predetermined distance (for example, the alarm required distance Lw in the embodiment), the presence of the pedestrian is notified to the occupant of the host vehicle. It is characterized by.

  According to the driving support device for a vehicle described above, when the distance from the host vehicle to a pedestrian included only in the pedestrian information is longer than a predetermined distance, by prohibiting notification for the pedestrian It is possible to prevent excessive driving support from being executed.

  Furthermore, in the vehicle travel support device of the present invention according to claim 4, the pedestrian information includes the presence of the pedestrian, the moving direction of the pedestrian, and the moving speed of the pedestrian. As driving support, it is determined whether or not a pedestrian included in the pedestrian information interferes with the traveling of the host vehicle, and the host vehicle is automatically decelerated when it is determined that it will be an obstacle. It is said.

  According to the above-described vehicle travel support device, it is possible to estimate the pedestrian's movement trajectory based on the pedestrian's movement direction and movement speed included in the pedestrian information. Based on the traveling locus of the host vehicle calculated according to the traveling state, it is possible to determine whether or not the pedestrian interferes with the traveling of the host vehicle. And when this pedestrian interferes with the travel of the host vehicle, appropriate travel support can be performed by setting the host vehicle to automatically decelerate.

  Furthermore, in the vehicle travel support apparatus according to the fifth aspect of the present invention, the support means calculates a distance from the own vehicle to the pedestrian (for example, a distance Ln in the embodiment) based on the pedestrian information. When the calculated distance is equal to or smaller than a predetermined distance (for example, the required deceleration distance Ls in the embodiment), the host vehicle is automatically decelerated.

  According to the above vehicle driving support device, when the distance from the own vehicle to at least the pedestrian included in the pedestrian information is longer than a predetermined distance, automatic deceleration for the pedestrian is prohibited. By doing so, it is possible to prevent excessive driving support from being executed.

As described above, according to the vehicle driving support device of the present invention, even a pedestrian that cannot be detected by the pedestrian detection means of the own vehicle can be detected based on pedestrian information received from the preceding vehicle. In this case, it is possible to execute appropriate driving support for a pedestrian existing at a position that becomes a blind spot from the host vehicle.
Furthermore, according to the vehicle travel support device of the present invention described in claim 2, it is possible to prevent unnecessary travel support for a pedestrian recognized by the driver of the host vehicle from being executed. Thus, the operation content of the driving support can be optimized.

Furthermore, according to the vehicle travel support apparatus of the present invention described in claim 3, when the distance from the own vehicle to the pedestrian included only in the pedestrian information is longer than a predetermined distance, the pedestrian is targeted. By prohibiting such notification, it is possible to prevent excessive driving support from being executed.
Furthermore, according to the vehicle travel support device of the present invention described in claim 4, when the pedestrian included in the pedestrian information interferes with the travel of the host vehicle, the host vehicle is automatically decelerated. Appropriate driving support can be performed by setting so as to make it happen.
Further, according to the vehicle travel support device of the present invention described in claim 5, when the distance from the own vehicle to at least the pedestrian included in the pedestrian information is longer than a predetermined distance, the pedestrian is By prohibiting the targeted automatic deceleration, it is possible to prevent excessive travel support from being executed.

Hereinafter, a vehicle travel support device according to an embodiment of the present invention will be described with reference to the accompanying drawings.
As shown in FIG. 1, for example, the vehicle travel support device 10 according to the present embodiment includes an external sensor 11, a communication device 12, a vehicle state sensor 13, a map data storage device 14, a braking device 15, an alarm, A device 16 and a processing device 17 are provided.

The external sensor 11 includes, for example, a camera and an image processing unit such as a CCD camera or a CMOS camera that can be imaged in the visible light region or the infrared region, and a radar and a radar control unit such as a laser beam and a millimeter wave. Has been.
For example, the camera is disposed at a position near the rear-view mirror on the vehicle interior side of the front window, and images the outside of a predetermined detection range in front of the host vehicle through the front window.
The image processing unit performs predetermined image processing such as filtering and binarization processing on the image obtained by photographing with the camera, generates image data composed of pixels of a two-dimensional array, and sends the image data to the processing device 17. Output.

  Further, the radar is disposed, for example, near the nose of the body of the host vehicle or in the vicinity of the front window in the passenger compartment, and is controlled by the radar control unit according to a control command input from the processing device 17 to the radar control unit. A reflection signal generated by transmitting a transmission signal such as a millimeter wave or the like toward an appropriate detection direction (for example, forward of the traveling direction of the host vehicle) and reflecting the transmission signal by an object outside the host vehicle. The reflected signal and the transmission signal are mixed to generate a beat signal and output to the processing device 17.

  The communication device 12 transmits and receives various types of information by inter-vehicle communication with other vehicles. Here, for example, other vehicle information transmitted from another vehicle such as a preceding vehicle or an oncoming vehicle is information related to the vehicle state of the other vehicle, such as speed and movement locus or position (for example, latitude and longitude), yaw angle or yaw rate. And the actual steering angle, the on / off state of the direction indicator and brake, the road condition (for example, the friction coefficient of the road surface against the tire, the road surface gradient, etc.) Further, for example, pedestrian information transmitted from other vehicles such as a preceding vehicle and an oncoming vehicle is the position, moving speed, moving direction, and the like of the pedestrian detected by an external sensor mounted on the other vehicle.

  The vehicle state sensor 13 is, for example, a vehicle speed sensor that detects the speed (vehicle speed) of the host vehicle as vehicle information of the host vehicle, or a vehicle position sensor (for example, latitude and longitude) using, for example, an artificial satellite. Positioning signals such as GPS (Global Positioning System) signals, position signals transmitted from information transmission devices outside the host vehicle, magnetic action with, for example, a base point marker placed on the road, and other appropriate gyro sensors A position sensor that detects the current position and traveling direction of the host vehicle based on the detection result of the acceleration sensor, etc., a yaw angle (rotation angle around the vertical axis of the vehicle center of gravity) and a yaw rate (rotation around the vertical axis of the vehicle center of gravity) A yaw rate sensor that detects the angular velocity), a steering angle sensor that detects the steering angle (direction and magnitude of the steering angle input by the driver) and the actual steering angle (steering angle) according to the steering angle, Each sensor includes a sensor that detects a friction coefficient between each tire and a road surface, each sensor that detects an on / off state of a direction indicator and a brake, and the like.

  The map data storage device 14 is configured by a computer-readable storage medium such as a magnetic disk device or an optical disk device. The map data storage device 14 stores road width data, road information such as intersection angles of multiple roads, intersection shapes and positions, for example, as map data for displaying a map in a navigation device or the like. .

  The braking device 15 is, for example, a brake control device, a throttle control device, or the like, and controls the brake fluid pressure, the throttle opening, etc. according to a control signal input from the processing device 17, and applies braking force to the host vehicle. Make it work.

The alarm device 16 includes, for example, a tactile transmission device, a visual transmission device, and an auditory transmission device.
The tactile transmission device is, for example, a seat belt device, a steering control device, or the like. In response to a control signal input from the processing device 17, for example, a predetermined tension is generated on the seat belt so that the occupant of the host vehicle is tactile. There is a pedestrian that interferes with the running of the vehicle by applying a perceptible tightening force to the vehicle or, for example, generating vibration (steering vibration) that can be perceived by the driver of the vehicle on the steering wheel. Let the crew recognize that
The visual transmission device is, for example, a display device or the like, and according to a control signal input from the processing device 17, for example, by displaying predetermined alarm information on the display device or blinking a predetermined alarm light, The occupant is made aware that there are pedestrians that interfere with the traveling of the vehicle.
The auditory transmission device is, for example, a speaker, and there are pedestrians that interfere with the running of the vehicle by outputting a predetermined warning sound or voice according to a control signal input from the processing device 17. Let the crew recognize that

The processing device 17 includes, for example, a pedestrian detection unit 21, a pedestrian information extraction unit 22, a host vehicle state acquisition unit 23, and a support determination unit 24.
For example, the pedestrian detection unit 21 performs recognition processing on the image data input from the image processing unit of the external sensor 11 with the pedestrian as a detection target, and the recognized position, movement speed, and movement direction of the pedestrian. Is detected. For example, when the camera of the external sensor 11 is a stereo camera, or when the camera includes a plurality of cameras, the position of the pedestrian is calculated by triangulation based on a plurality of image data. Further, the pedestrian's moving speed and moving direction are calculated by tracking the pedestrian's time, that is, by storing the pedestrian's position extracted for each sampling period in a memory or the like as time series data.

The pedestrian information extraction unit 22 determines whether or not the other vehicle is a preceding vehicle for the host vehicle based on the other vehicle information received from the other vehicle by the communication device 12, and from the pedestrian information received from the preceding vehicle. A pedestrian's position (for example, latitude and longitude), moving speed, and moving direction are extracted.
The own vehicle state acquisition unit 23 extracts information on the position (for example, latitude and longitude) and the running state (for example, vehicle speed) of the own vehicle from the vehicle information of the own vehicle output from the vehicle state sensor 11.

  The support determination unit 24 compares the detection result of the pedestrian detection unit 21 with the pedestrian information extracted by the pedestrian information extraction unit 22, and based on at least the information on the pedestrian detected by the preceding vehicle, Assist driving. For example, the support determination unit 24 is not included in the detection result of the pedestrian detection unit 21 and cannot be detected from the pedestrian included in the pedestrian information of the pedestrian information extraction unit 22, that is, the position of the own vehicle. Based on the position and speed and direction of movement of the pedestrian, the risk of this pedestrian, for example, the possibility of hindering the traveling of the host vehicle, for example, contact and collision between the host vehicle and the pedestrian may occur. Is determined based on the information on the position of the host vehicle and the driving state output from the host vehicle state acquisition unit 23, for example, for a pedestrian determined to be likely to hinder the driving of the host vehicle, The operation of the braking device 15 and the alarm device 16 is controlled.

In addition, the other vehicle which communicates with the own vehicle is equipped with, for example, a driving support device 30 of a vehicle equivalent to the own vehicle. The driving support device 30 of the vehicle includes an external sensor 31, a communication device 32, a vehicle state sensor. 33, a map data storage device 34, a braking device 35, an alarm device 36, and a processing device 37.
The processing device 37 is, for example, a pedestrian existing outside the vehicle based on each data output from the external sensor 31, vehicle information output from the vehicle state sensor, and map data stored in the map data storage device 34. Pedestrian information including the detected position, moving speed, moving direction, and the like of the pedestrian is transmitted to another vehicle by the communication device 32.

The vehicle travel support apparatus 10 according to the present embodiment has the above-described configuration. Next, the operation of the vehicle travel support apparatus 10 will be described.
In the following, first, in other vehicles, in particular, the preceding vehicle, for example, the processing of steps S01 to S03 shown in FIG. 2 is executed, and information on the vehicle state of the preceding vehicle and the pedestrian detected by the preceding vehicle are detected. The pedestrian information is transmitted to other vehicles.
That is, in step S01 shown in FIG. 2, the position (for example, latitude and longitude) and the traveling state (for example, vehicle speed) of the own vehicle are detected from the vehicle information of the own vehicle output from the vehicle state sensor 33.

Next, in step S02, based on each data (for example, image data etc.) output from the external sensor 31, the position, moving speed, and moving direction of a pedestrian existing outside the vehicle are detected.
Next, in step S03, the communication device 32 directs the vehicle state information including the position and traveling state of the host vehicle and the pedestrian information including the position, moving speed, and moving direction of the pedestrian to other vehicles. To send.

Next, operation | movement of the driving assistance apparatus 10 of the vehicle in the own vehicle is demonstrated.
First, in step S11 shown in FIG. 3, for example, the position (for example, latitude and longitude) and the traveling state (for example, vehicle speed) of the host vehicle are detected from the vehicle information of the host vehicle output from the vehicle state sensor 13. .
Next, in step S12, the other vehicle information and pedestrian information transmitted from the other vehicle are received by the communication device 12.

Next, in step S13, based on the position of the other vehicle included in the other vehicle information, the detected position of the own vehicle, and the map data stored in the map data storage device 14, for example, by map matching or the like, It is determined whether the other vehicle and the host vehicle are traveling on the same road.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S14.

Next, in step S14, the moving direction of the other vehicle is equal to the moving direction of the own vehicle based on the time change of the position of the other vehicle included in the other vehicle information and the time change of the detected position of the own vehicle. It is determined whether or not.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination is “YES”, the flow proceeds to step S15.

Next, in step S15, it is determined whether or not the own vehicle is positioned behind the other vehicle in the moving direction of the own vehicle and the other vehicle.
When the determination result is “NO”, the series of processes is terminated.
On the other hand, if the determination result is “YES”, it is determined that the other vehicle is a preceding vehicle of the host vehicle, and the process proceeds to step S16.

In step S16, based on each data output from the external sensor 11, the position, moving speed, and moving direction of a pedestrian existing outside the host vehicle are detected.
Thereby, for example, as shown in FIG. 4, among a plurality of pedestrians Pa, Pb, and Pc existing in the detection target area α of the external sensor 11 of the host vehicle A, a shield such as a parked vehicle B and a building C is provided. A pedestrian Pa other than the pedestrians Pb and Pc that cannot be detected by the own vehicle by being in the areas β and γ shielded by the vehicle is detected by the external sensor 11 of the own vehicle.

  In step S17, for example, pedestrians included in the pedestrian information received from the preceding vehicle and pedestrians detected by the pedestrian detection unit 21 of the host vehicle are extracted.

Next, in step S18, the positions of the pedestrians extracted in step S17 are compared. That is, for example, as shown in FIG. 4, a plurality of pedestrians Pa and Pb that exist in the detection target region δ of the external sensor 31 of the preceding vehicle D, are detected by the external sensor 31 and are received from the preceding vehicle D. , Pc and the pedestrian information detected by the external sensor 11 of the host vehicle A are compared. And when the position of the pedestrian in both information is within a predetermined distance, it determines with this pedestrian being the same pedestrian, and the walk detected by both the preceding vehicle D and the own vehicle A by this A pedestrian that is detected by the preceding vehicle D but cannot be detected from the position of the own vehicle A by excluding the pedestrian from the pedestrian included in the pedestrian information received from the preceding vehicle D. (Target pedestrian) is extracted.
Accordingly, for example, as shown in FIG. 4, among pedestrians Pa, Pb, and Pc included in the pedestrian information received from the preceding vehicle D, pedestrians Pb and Pc that cannot be detected by the host vehicle A are targeted. Extracted as a pedestrian.

In step S19, a distance Ln from the current position of the host vehicle to the target pedestrian is calculated.
In step S20, for example, the current vehicle speed Vp of the host vehicle, a predetermined normal deceleration Da (for example, 1.96 m / s ² or the like), and a predetermined risk avoidance reduction larger than the normal deceleration Da. Based on the speed Db (eg 3.92 m / s ² etc.)
Alarm required distance Lw (= Vp / Da),
The deceleration required distance Ls (= Vp / Db) is calculated.

In step S21, it is determined whether or not the distance Ln is equal to or less than the alarm required distance Lw.
If this determination is “YES”, the flow proceeds to step S22.
On the other hand, if the determination result is “NO”, the process of step S21 is executed again.
And in step S22, the warning which alert | reports that a target pedestrian exists is output.

In step S23, it is determined whether or not the distance Ln is equal to or less than the required deceleration distance Ls.
If this determination is “YES”, the flow proceeds to step S24.
On the other hand, when the determination result is “NO”, the process of step S23 is executed again.
In step S24, it is determined whether or not the target pedestrian is likely to hinder the traveling of the host vehicle. That is, it is determined whether or not the pedestrian interferes with the traveling of the host vehicle based on the position and moving speed and moving direction of the pedestrian received in step 12 and the position and vehicle speed of the host vehicle.
If the determination result of step S24 is “NO”, the process proceeds to step S26 described later.
On the other hand, if the determination result of step S24 is “YES”, the process proceeds to step S25.

In step S25, the host vehicle is decelerated with respect to the target pedestrian.
In step S26, it is determined whether or not the host vehicle has already passed through the peripheral area of the target pedestrian.
If the determination result is “NO”, the process of step S26 is executed again.
On the other hand, if this determination is “YES”, the flow proceeds to step S27.
In step S27, the output of the alarm and the execution of the deceleration operation are stopped, and the series of processing ends.

  As described above, according to the vehicle travel support device 10 according to the present embodiment, even a pedestrian that cannot be detected by the external sensor 11 of the host vehicle is detected based on pedestrian information received from the preceding vehicle. In some cases, it is possible to perform appropriate driving support for pedestrians that are located at blind spots from the host vehicle.

1 is a configuration diagram of a vehicle travel support device according to an embodiment of the present invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the vehicle which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the driving assistance apparatus of the vehicle which concerns on embodiment of this invention. It is a figure which shows the position of the pedestrian which can be detected with the own vehicle, and the pedestrian which can be detected with the preceding vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle travel assistance apparatus 11 External sensor (pedestrian detection means)
21 Pedestrian detection unit (pedestrian detection means)
24 Support determination unit (support means)

Claims (5)

Pedestrian detection means for detecting pedestrians provided in the own vehicle and existing in the traveling direction of the own vehicle;
Receiving means for receiving appropriate information from a preceding vehicle in the traveling direction of the host vehicle;
A travel support device for a vehicle, comprising: support means for supporting travel of the host vehicle based on a detection result of the pedestrian detection means and information received by the reception means;
The information includes pedestrian information related to the presence of a pedestrian detected by a preceding vehicle,
The support means compares the detection result of the pedestrian detection means with the pedestrian information, detects at least a pedestrian included in the pedestrian information, and travels the own vehicle based on the pedestrian information of the pedestrian. A vehicle driving support device characterized by supporting the vehicle. The vehicle support device according to claim 1, wherein the support means notifies a passenger of the host vehicle of the presence of a pedestrian included only in the pedestrian information as support for driving the host vehicle. The support means calculates the distance from the host vehicle to the pedestrian based on the pedestrian information as support for traveling of the host vehicle, and when the distance is equal to or less than a predetermined distance, the support means The vehicle travel support device according to claim 2, wherein the vehicle travel support device is notified to an occupant of the host vehicle. The pedestrian information includes the presence of the pedestrian, the moving direction of the pedestrian and the moving speed of the pedestrian,
The support means determines whether or not a pedestrian included in the pedestrian information interferes with the travel of the host vehicle as support for the travel of the host vehicle. The vehicle travel support device according to any one of claims 1 to 3, wherein the vehicle is automatically decelerated. The support means calculates a distance from the host vehicle to the pedestrian based on the pedestrian information, and automatically decelerates the host vehicle when the distance becomes a predetermined distance or less. Item 5. The vehicle travel support device according to Item 4.

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