JP2007223395A - Obstruction detection device of vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstruction detection device of a vehicle capable of preventing a malfunction of a brake working means and a seat belt pretensioner and improving the safety of an occupant. <P>SOLUTION: This obstruction detection device of the vehicle is provided with a radar device to detect an obstruction in front of the self vehicle and a working equipment control means to control the working equipment of an own vehicle by receiving obstruction detection information from the radar device. This radar device is provided with a curvature radius estimation means to estimate a radius of curvature of a forwarding road of the own vehicle and has a position estimation means to estimate a position after the lapse of a specified period of time of the detected obstruction on the basis of the radius of curvature by inputting the radius of curvature estimated by the curvature radius estimation means, the position estimation means is constituted to estimate the position after the lapse of the specified period of time of the obstruction on the basis of the specified radius of curvature when the radius of curvature estimated by the curvature radius estimation means is smaller than the previously-set specified radius of curvature, and the specified radius of curvature is set to be roughly the same value as the minimum turning radius of the own vehicle. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention belongs to a technical field related to an obstacle detection device for a vehicle including a radar device that detects an obstacle ahead of the host vehicle.

2. Description of the Related Art Conventionally, an obstacle detection device that detects an obstacle ahead of the host vehicle using a radar device is well known. Some obstacle detection devices of this type are based on detection values of a yaw rate detection sensor that detects the yaw rate of the host vehicle and a steering angle sensor that detects the steering angle of the steering wheel of the host vehicle. Some estimate the radius of curvature of a road (see, for example, Patent Documents 1 and 2). Based on the estimated radius of curvature, the position of the detected obstacle after a predetermined time is estimated. Based on the estimation result, the obstacle detected after the predetermined time after the detection is detected after the predetermined time. It is determined whether or not the position is the same as the estimated obstacle.
Japanese Patent Laid-Open No. 7-215147 JP-A-8-161697

  By the way, when estimating the curvature radius of the traveling path of the host vehicle as described above, a minimum value is set in advance as the curvature radius of the traveling path of the host vehicle, and the estimated curvature radius is more than the minimum value. If it is smaller, the position of the obstacle after a predetermined time may be estimated based on the minimum value. In this way, even if the radius of curvature is estimated to be an abnormally small value such as 0 to close to 0 for some reason, no major problem occurs.

  However, there is a problem with how much the minimum value is set. If this minimum value is not set appropriately, the position of the obstacle after a predetermined time may not be accurately estimated. .

  The present invention has been made in view of such points, and the object of the present invention is to set the minimum value when the minimum value is set in advance as the radius of curvature of the traveling path of the host vehicle as described above. Is set appropriately so that the position of the obstacle after a predetermined time can be accurately estimated.

  In order to achieve the above object, according to the present invention, when the estimated radius of curvature is smaller than a predetermined radius of curvature set to a value substantially equal to the minimum turning radius of the host vehicle in advance, the radius of curvature is determined based on the predetermined radius of curvature. The position of the obstacle after a predetermined time was estimated.

  Specifically, in the invention of claim 1, a radar device that detects an obstacle ahead of the host vehicle, and an operating device control unit that receives the obstacle detection information from the radar device and controls the operating device of the host vehicle; An obstacle detection device for a vehicle equipped with

  And a radius of curvature estimating means for estimating the radius of curvature of the traveling path of the host vehicle, wherein the radar apparatus inputs the radius of curvature estimated by the radius of curvature estimating means and detects the obstacle detected based on the radius of curvature. Position estimation means for estimating the position of the object after a predetermined time, and when the curvature radius estimated by the curvature radius estimation means is smaller than a predetermined curvature radius set in advance, the position estimation means It is configured to estimate the position of the obstacle after the predetermined time based on the radius of curvature, and the predetermined radius of curvature is set to be substantially the same value as the minimum turning radius of the host vehicle.

  With the above configuration, the curvature radius of the traveling path of the host vehicle is estimated by the curvature radius estimation means, and the estimated curvature radius is input to the radar apparatus. Based on the curvature radius of the radar apparatus by the position estimation means, The position of the detected obstacle after a predetermined time is estimated. However, when the estimated radius of curvature is smaller than the predetermined radius of curvature, the position of the obstacle after a predetermined time is estimated based on the predetermined radius of curvature. Based on the estimation result by the position estimating means, for example, it is determined whether the obstacle detected after a predetermined time from the detection is the same as the obstacle whose position after the predetermined time is estimated, and thus the obstacle is recognized. Keep doing. The operating device control means receives the obstacle detection information from the radar device and controls the operating device of the own vehicle, for example, a brake operating means for operating the brake. Here, since the predetermined radius of curvature is set to substantially the same value as the minimum turning radius of the host vehicle, the radius of curvature estimated by the radius of curvature estimating means is usually smaller than the predetermined radius of curvature. The position of the obstacle after a predetermined time can be accurately estimated based on the estimated radius of curvature. On the other hand, the curvature radius estimated by the curvature radius estimation means is smaller than the predetermined curvature radius when some abnormality occurs. At this time, the position of the obstacle after the predetermined time is determined based on the predetermined curvature radius. Since the estimation is performed, it is possible to prevent a serious problem from occurring even when an abnormality occurs.

  In the invention of claim 2, in the invention of claim 1, the predetermined radius of curvature is set to 5 m.

  That is, even if the host vehicle is traveling on a road having a radius of curvature smaller than 5 m, it is difficult to detect an obstacle on the traveling path with a radar device. From this point, the predetermined radius of curvature is set to 5 m. It is preferable to set to. Further, in a normal automobile, the minimum turning radius is about 5 m, which is optimal as an obstacle detection device for an automobile.

  According to a third aspect of the present invention, in the first or second aspect of the present invention, the curvature includes at least one of a yaw rate detection sensor that detects a yaw rate of the host vehicle and a steering angle sensor that detects a steering angle of the steering wheel of the host vehicle. The radius estimation means is configured to estimate the curvature radius of the traveling path of the host vehicle based on the detection value of the at least one sensor.

  This makes it possible to accurately estimate the radius of curvature of the traveling path of the host vehicle.

  According to a fourth aspect of the present invention, in the invention according to any one of the first to third aspects, the radar device is a millimeter wave radar device.

  As a result, an obstacle can be stably captured even in rainy or foggy conditions, which is optimal for mounting on a vehicle.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects of the present invention, the operating device is a brake operating means for operating a brake of the host vehicle.

  According to a sixth aspect of the present invention, in the invention according to any one of the first to fourth aspects, the operating device winds up a seat belt worn by an occupant of the host vehicle and applies a predetermined tension to the seat belt. It is assumed that the seat belt pretensioner restrains the occupant.

  According to the fifth and sixth aspects of the invention, it is possible to improve the safety of the occupant while preventing the brake operating means and the seat belt pretensioner from operating erroneously.

  As described above, according to the obstacle detection device for a vehicle of the present invention, the radar device inputs the curvature radius estimated by the curvature radius estimation means, and based on the curvature radius, the predetermined time of the detected obstacle is detected. When estimating the subsequent position, if the estimated radius of curvature is smaller than a predetermined radius of curvature set to be approximately the same as the minimum turning radius of the vehicle in advance, the obstacle is based on the predetermined radius of curvature. Since the position after the predetermined time is estimated, the position of the obstacle after the predetermined time can be accurately estimated, and the brake operating means and the seat belt pretensioner are prevented from being erroneously operated. Meanwhile, the safety of the passenger can be improved.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  FIG. 1 shows a vehicle W (corresponding to the host vehicle, which is an automobile in the present embodiment) equipped with an obstacle detection device according to an embodiment of the present invention. Is provided with a radar device 1 for detecting obstacles existing in the vehicle. The radar apparatus 1 is a millimeter wave radar apparatus, and as shown in FIG. 2, a transmitter 2 that transmits millimeter waves forward (transmits while scanning at a wide angle in the horizontal direction), and a vehicle W. A receiving unit 3 that receives a reflected wave that is reflected by an obstacle such as a preceding vehicle ahead of the vehicle, and a processing unit 4 that performs an obstacle detection process as described below based on data received by the receiving unit 3; Is unitized.

  The vehicle W is provided with a control unit 11 as an operating device control unit that receives the obstacle detection information from the processing unit 4 of the radar apparatus 1 and controls the operating device of the vehicle W. In the present embodiment, the actuating device is a brake actuating means 21 and a seat belt pretensioner 22 described later.

  As shown in FIG. 2, the vehicle includes a vehicle speed sensor 12 that detects the vehicle speed of the vehicle W, a yaw rate sensor 13 that detects the yaw rate generated in the vehicle W, and a steering angle sensor that detects the steering angle of the steering wheel. 14 and a G sensor 15 for detecting a collision of the vehicle W with an obstacle are provided, and detection information from these sensors 12 to 15 is input to the control unit 11.

  The brake operating means 21 applies a braking force to each wheel 31 by operating the brake of the vehicle W. The seat belt pretensioner 22 restrains the occupant by winding the seat belt 51 worn by the occupant seated on the seat 41 of the vehicle W and applying a predetermined tension to the seat belt 51. Is.

  Here, the seat belt device mounted on the vehicle W will be described. As shown in FIG. 1, the seat belt device includes a retractor portion 53 that winds up the seat belt 51, a lap anchor portion 54 to which a front end portion of the seat belt 51 pulled out from the retractor portion 53 is attached, a seat A tongue 52 disposed in the middle portion in the longitudinal direction of the belt 51 is configured in a three-point manner having a buckle portion 55 with which the tongue 52 is detachably engaged. The buckle portion 55 is fixed to the vehicle body on the inner side in the vehicle width direction of the seat 41, while the retractor portion 53 and the lap anchor portion 54 are on the outer side in the vehicle width direction opposite to the buckle portion 55 with the seat 41 interposed therebetween. It is fixed to the car body. The seat belt 51 pulled out from the retractor 53 is converted from an upward direction to a downward direction by a slip guide 57 provided at an upper position on the outer side in the vehicle width direction of the seat 41. It is attached to the anchor portion 54. The tongue 52 is provided so as to be slidable with respect to the seat belt 51 between the slip guide 57 and the lap anchor portion 54, and the tongue 52 is engaged with the buckle portion 55. The belt 51 is worn.

  The seat belt pretensioner 22 is provided in the retractor 53 of the seat belt device. In the present embodiment, as shown in FIG. 2, the seat belt pretensioner 22 winds the seat belt 51 with a first pretensioner mechanism 22a that winds the seat belt 51 with an electric motor or the like, and gas generated by an inflator. And when the control unit 11 predicts a collision of the vehicle W with an obstacle based on the obstacle detection information from the processing unit 4 of the radar apparatus 1 (for example, When the estimated time until the vehicle W collides with the obstacle is shorter than a predetermined reference time), the first pretensioner mechanism 22a is operated to apply a predetermined tension to the seat belt 51. When the control unit 11 detects a collision with the obstacle of the vehicle W by the G sensor 15, the second pretensioner By operating the structure 22b, it is adapted to impart a high tension to the seat belt 51 than when operated with the first pre-tensioner mechanism 22a.

  The control unit 11 includes a curvature radius estimation unit 11a as a curvature radius estimation unit that estimates the curvature radius of the traveling path of the vehicle W. That is, the curvature radius estimation unit 11a estimates the curvature radius of the traveling path of the vehicle W based on the detection values of the vehicle speed sensor 12, the yaw rate detection sensor 13, and the steering angle sensor 14. In the present embodiment, when the vehicle speed detected by the vehicle speed sensor 12 is a predetermined vehicle speed (for example, 35 km / h) or less, the curvature radius is estimated based on the detection values of the vehicle speed sensor 12, the yaw rate detection sensor 13, and the steering angle sensor 14. On the other hand, when the vehicle speed is higher than the predetermined vehicle speed, the curvature radius is estimated based on the detection values of the vehicle speed sensor 12 and the yaw rate detection sensor 13. The radius of curvature may be estimated based on the detection value of the vehicle speed sensor 12 and the detection value of at least one of the yaw rate detection sensor 13 and the steering angle sensor 14.

  As shown in FIG. 3, the processing unit 4 of the radar apparatus 1 includes a detection unit 4 a that detects the presence of an obstacle in front of the vehicle W, and an attribute of the detected obstacle from the detection unit 4 a. (For example, the distance to the vehicle W, the direction relative to the vehicle W, and the relative speed with respect to the vehicle W) and the estimated radius of curvature from the curvature radius estimator 11a of the control unit 11 Based on the input information, the position estimation unit 4b as position estimation means for estimating the position of the detected obstacle after a predetermined time has passed, and the position estimated by the position estimation unit 4b is used as a reference around the position estimation unit 4b. When an area setting unit 4c for setting an area of a predetermined size and an obstacle detected after a predetermined time elapses from the detection exist in the area set by the area setting unit 4c While determined to be the same as the obstacle estimating the position, when present outside the area, and a match determination section 4d determines that new obstructions.

  When the radius of curvature estimated by the radius of curvature estimation unit 11a of the control unit 11 is smaller than a predetermined radius of curvature set in advance, the position estimation unit 4b determines the predetermined of the obstacle based on the predetermined radius of curvature. The position after time is estimated. The predetermined curvature radius is set to a value that is substantially the same as the minimum turning radius of the vehicle W (especially 5 m is preferable).

  Here, the processing operation by the control unit 11 will be described with reference to the flowchart of FIG.

  First, in the first step S1, the vehicle speed, yaw rate, and steering angle detected by the vehicle speed sensor 12, the yaw rate sensor 13 and the steering angle sensor 14 are input, and in the next step S2, the vehicle speed, yaw rate and steering angle (or The curvature radius of the traveling path of the vehicle W is estimated based on the vehicle speed and the yaw rate, and the estimated curvature radius is output to the position estimation unit 4b in the processing unit 4 of the radar apparatus 1 in the next step S3.

  In the next step S4, the obstacle detection information is input from the same determination unit 4d in the processing unit 4 of the radar apparatus 1. In the next step S5, the collision of the vehicle W with the obstacle is detected based on the obstacle detection information. It is determined whether or not it is predicted.

  If the determination in step S5 is NO, the process returns as it is. On the other hand, if the determination in step S5 is YES, the process proceeds to step S6 to operate the brake operating means 21 to operate the brake of each wheel 31. At the same time, a predetermined tension is applied to the seat belt 51 by operating the first pretensioner mechanism 22 a of the seatbelt pretensioner 22.

  Then, in the next step S7, it is determined whether or not the vehicle W has collided with an obstacle based on information from the G sensor 15. If the determination in step S7 is NO, the process returns as it is. When the determination in S7 is YES, the process proceeds to step S8, and the second pretensioner mechanism 22b of the seatbelt pretensioner 22 is operated to apply a greater tension to the seatbelt 51, and then the process returns.

  Next, the obstacle detection processing operation by the processing unit 4 of the radar apparatus 1 will be described with reference to the flowchart of FIG.

  First, in the first step S21, it is determined whether or not an obstacle is detected in the detection unit 4a. In the present embodiment, an obstacle exists in front of the vehicle W when the intensity of the reflected wave received by the receiving unit 3 continuously exceeds a predetermined threshold value a plurality of times (for example, three times). Detect. When the determination at step S21 is NO, the processing operation at step S21 is repeated, while when the determination at step S21 is YES, the process proceeds to step S22.

  In step S22, the position estimation unit 4b inputs the attribute of the detected obstacle from the detection unit 4a, and inputs the estimated curvature radius from the curvature radius estimation unit 11a of the control unit 11. In the next step S23, it is determined whether or not the input curvature radius is smaller than a predetermined curvature radius.

  When the determination in step S23 is NO, the process proceeds to step S24 to estimate the position of the obstacle after a predetermined time based on the input radius of curvature, and then the process proceeds to step S26 while the determination in step S23 If YES, the process proceeds to step S25 to estimate the position of the obstacle after a predetermined time based on the predetermined radius of curvature, and then proceeds to step S26.

  In step S26, the area setting unit 4c performs the above-described area setting process, and in the next step S27, the same determining unit 4d performs the above-described same determining process, and then returns.

  The control unit 11 and the processing operation of the processing unit 4 of the radar apparatus 1 operate as follows. That is, the curvature radius of the traveling path of the vehicle W is estimated by the curvature radius estimation unit 11 a and this curvature radius is output to the position estimation unit 4 b in the processing unit 4 of the radar apparatus 1.

  On the other hand, in the position estimation unit 4b in the processing unit 4 of the radar apparatus 1, the obstacle is based on the attribute of the obstacle detected by the detection unit 4a and the curvature radius input from the curvature radius estimation unit 11a of the control unit 11. The position of the object after elapse of a predetermined time is estimated. At this time, when the input curvature radius is smaller than a predetermined curvature radius that is set in advance to be substantially the same as the minimum turning radius of the vehicle W, the obstacle after the predetermined time is based on the predetermined curvature radius. The position is estimated. Usually, since the input curvature radius is equal to or greater than a predetermined curvature radius, the input curvature radius is used for estimating the position of the obstacle after a predetermined time. On the other hand, some abnormality occurs when noise is added to detection information from the yaw rate detection sensor 13, the steering angle sensor 14, etc., and the curvature radius estimated by the curvature radius estimation unit 11a is so small that the curvature radius is close to 0 or 0. If it is a value, the predetermined radius of curvature is used to estimate the position of the obstacle after a predetermined time. In the area setting unit 4c, an area of a predetermined size is set around the position estimated by the position estimation unit 4b. In the same determination unit 4d, after a predetermined time has elapsed since the detection, When the detected obstacle is present in the area set by the area setting unit 4c, it is determined that the obstacle is the same as the obstacle whose position is estimated. It is determined to be a thing. In this way, an obstacle is detected, and this obstacle detection information is output to the control unit 11.

  Next, when the obstacle detection information is input to the control unit 11, it is determined whether or not a collision of the vehicle W with the obstacle is predicted based on the obstacle detection information, and the collision is predicted. Sometimes, the brake actuating means 21 is actuated to decelerate the vehicle, and the first pretensioner mechanism 22a of the seatbelt pretensioner 22 is actuated to apply a predetermined tension to the seatbelt 51 worn by the occupant. When a collision is detected by the G sensor 15, the second pretensioner mechanism 22 b is activated to apply a larger tension to the seat belt 51, thereby reliably restraining the occupant by the seat belt 51 at the time of the collision. Protected.

  Therefore, in this embodiment, when the position estimation unit 4b in the processing unit 4 of the radar apparatus 1 estimates the position of the obstacle after a predetermined time based on the curvature radius input from the curvature radius estimation unit 11a of the control unit 11. In addition, when the input curvature radius is smaller than a predetermined curvature radius set in advance to be substantially the same as the minimum turning radius of the vehicle, the position of the obstacle after a predetermined time is estimated based on the predetermined curvature radius. As a result, the position of the obstacle after a predetermined time can be accurately estimated, and the safety of the occupant is improved while preventing the brake operating means 21 and the seat belt pretensioner 22 from operating erroneously. be able to.

  In the above embodiment, the radar apparatus 1 is a millimeter wave radar apparatus. However, the curvature radius estimated by the curvature radius estimation unit 11a of the control unit 11 is input and the detected obstacle is detected based on the curvature radius. Any type of radar apparatus may be used as long as it has position estimation means for estimating a position after a predetermined time.

  Further, the operating device that receives and controls the obstacle detection information from the radar device 1 is not limited to the brake operating means 21 and the seat belt pretensioner 22, and may be, for example, an alarm device.

  INDUSTRIAL APPLICABILITY The present invention is useful for a vehicle obstacle detection device including a radar device that detects an obstacle ahead of the host vehicle.

It is a block diagram of the vehicle front side which mounts the obstacle detection apparatus which concerns on embodiment of this invention. It is a block diagram which shows the structure of the said obstacle detection apparatus. It is a flowchart which shows the processing operation in a control unit. It is a flowchart which shows the obstruction detection processing operation | movement in the process part of a radar apparatus.

Explanation of symbols

W vehicle (own vehicle)
1 Radar device 4b Position estimation unit (position estimation means)
11 Control unit (operating device control means)
13 Yaw rate detection sensor 14 Rudder angle sensor 21 Brake operating means (operating device)
22 Seat belt pretensioner (actuating device)
51 Seat belt

Claims (6)

An obstacle detection device for a vehicle, comprising: a radar device that detects an obstacle ahead of the host vehicle; and an operating device control unit that receives the obstacle detection information from the radar device and controls the operating device of the host vehicle. ,
A radius of curvature estimating means for estimating the radius of curvature of the traveling path of the host vehicle,
The radar apparatus has position estimation means for inputting the curvature radius estimated by the curvature radius estimation means and estimating the position of the detected obstacle after a predetermined time based on the curvature radius,
The position estimating means estimates the position of the obstacle after the predetermined time based on the predetermined radius of curvature when the radius of curvature estimated by the radius of curvature estimating means is smaller than a predetermined radius of curvature set in advance. Is configured to
The vehicle obstacle detection device, wherein the predetermined radius of curvature is set to a value substantially equal to the minimum turning radius of the host vehicle. The obstacle detection device for a vehicle according to claim 1,
The vehicle obstacle detection device, wherein the predetermined curvature radius is set to 5 m. In the obstacle detection device for a vehicle according to claim 1 or 2,
At least one of a yaw rate detection sensor for detecting the yaw rate of the host vehicle and a steering angle sensor for detecting the steering angle of the steering wheel of the host vehicle;
The obstacle detection device for a vehicle, wherein the curvature radius estimation means is configured to estimate a curvature radius of a traveling path of the host vehicle based on a detection value of the at least one sensor. In the obstacle detection device for vehicles according to any one of claims 1 to 3,
The vehicle obstacle detection device is characterized in that the radar device is a millimeter wave radar device. In the obstacle detection device for a vehicle according to any one of claims 1 to 4,
The vehicle obstacle detection device, wherein the operating device is a brake operating means for operating a brake of the host vehicle. In the obstacle detection device for a vehicle according to any one of claims 1 to 4,
The above-mentioned operating device is a seat belt pretensioner that restrains the occupant by winding up a seat belt worn by the occupant of the host vehicle and applying a predetermined tension to the seat belt. Object detection device.

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