JP2008293205A - Vehicular running support apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicular running support apparatus that can compute running conditions suited for running on an obstacle road obstructing the running of a vehicle. <P>SOLUTION: The vehicular running support apparatus comprises a vehicle surrounding monitoring part 10 and an image processing part 20 for monitoring a road surface ahead of a vehicle, an obstacle determination part 30 for detecting an obstacle obstructing the travel of the vehicle on the road surface monitored by the vehicle surrounding monitoring part 10, an obstacle passage determination part 50 for determining whether or not the obstacle can be passed over according to vehicle states detected by a running state detection part 40 and the obstacle mode detected by the obstacle determination part 30, and a navigation part 60 for deriving running conditions necessary to pass over the obstacle according to the obstacle mode detected by the obstacle determination part 30. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicular travel support apparatus that assists the travel of a vehicle on a road with obstacles to travel of the vehicle.

Conventionally, a distance sensor that detects the distance to the front road surface protrusion is attached to the front part of the vehicle body, and an inclination sensor that detects the right and left inclination of the vehicle body is attached to any part of the vehicle body. There is known a vehicle inclination detection device provided with a control circuit that calculates an expected inclination angle when a vehicle body rides on the protruding portion in response to the output of (see, for example, Patent Document 1). This vehicle inclination detection device determines whether or not there is a possibility of rollover when the vehicle moves forward by calculating an expected inclination angle.
JP-A-8-29150

  However, in the above-described prior art, it is not known how to travel along a troubled part such as a protrusion, and therefore, it is not always possible to appropriately travel such a troubled part.

  Accordingly, an object of the present invention is to provide a vehicular travel support apparatus that can determine travel conditions suitable for travel on an obstacle road that hinders travel of the vehicle.

In order to achieve the above object, a vehicle travel support apparatus according to a first invention comprises
Monitoring means for monitoring the road surface in the traveling direction of the vehicle;
Obstacle detection means for detecting an obstacle that hinders the progress of the vehicle on the road surface monitored by the monitoring means;
And a traveling condition deriving unit for deriving a traveling condition necessary for passing through the obstacle based on the form of the obstacle detected by the obstacle detecting unit.

A second invention is a vehicle travel support apparatus according to the first invention,
The traveling condition deriving means derives the traveling condition based on the shape of the obstacle.

A third invention is a vehicle travel support device according to the first or second invention,
The travel condition deriving means derives the course of the vehicle as the travel condition.

A fourth invention is a vehicle travel support apparatus according to any one of the first to third inventions,
A driving support means for supporting driving of the vehicle based on the driving condition derived by the driving condition deriving means is provided.

A fifth invention is a vehicular travel support apparatus according to the fourth invention,
The driving support means is information providing means for providing a driving condition derived by the traveling condition deriving means to a driver of the vehicle.

A sixth aspect of the invention is a vehicle travel support apparatus according to the fifth aspect of the invention,
The information providing means is a display means for displaying a simulated running image of the vehicle created based on the running condition derived by the running condition deriving means.

  ADVANTAGE OF THE INVENTION According to this invention, the driving | running condition suitable for the driving | running | working of the obstruction road which has trouble in driving | running | working of a vehicle can be calculated | required.

  The best mode for carrying out the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing a configuration of a vehicular travel support apparatus 100 according to an embodiment of the present invention. The vehicle travel support apparatus 100 includes a vehicle periphery monitoring unit 10, an image processing unit 20, an obstacle determination unit 30, a travel state detection unit 40, an obstacle getting over determination unit 50, a navigation unit 60, and a driving support unit 70.

  The vehicle periphery monitoring unit 10 includes monitoring sensors such as a radio wave radar (for example, a millimeter wave radar), a light wave radar (for example, a laser radar), and a sound wave radar (for example, an ultrasonic radar). Monitor the road surface in the direction of travel). The vehicle periphery monitoring unit 10 uses a monitoring sensor to determine relative values (relative distance, relative speed, own vehicle as a measurement target) between the own vehicle and a measurement object such as an object on the road or a road surface change portion that exists in the traveling direction of the own vehicle. The time to reach the The relative distance and the arrival time can be easily calculated from the relationship between the wave transmission / reception timing and the wave speed transmitted / received by the radar. Further, the relative speed is obtained from the time change of the calculated relative distance. Further, it is possible to obtain the relative acceleration from the change in relative speed over time. Further, if the size of the reflection range when the radar scans the vicinity of the host vehicle is changed, the approximate size of the obstacle can be measured. Also, the radar is mounted on the vehicle according to the direction of the road surface to be monitored, and in order to monitor the road surface in front of the vehicle, the vehicle such as the front bumper unit and the front grille unit is irradiated so that the measurement wave is irradiated in front of the vehicle. What is necessary is just to install in the front part, and in order to monitor the road surface behind a vehicle, what is necessary is just to install in vehicle rear parts, such as a rear bumper part and a back door part, so that a measurement wave may be irradiated to a vehicle rear. Moreover, the road surface can be monitored with high accuracy by setting the irradiation direction of the measurement wave to the depression direction.

  The vehicle periphery monitoring unit 10 includes a camera having a pair of imaging devices (CCD: Charge Coupled Device) arranged on the left and right sides, and monitors the peripheral road surface (particularly, the road surface in the traveling direction) of the host vehicle. One or a plurality of image sensors are installed in the vehicle according to the direction in which the image is to be taken, such as the front of the vehicle, the rear of the vehicle, or the side of the vehicle. For example, the camera is installed on the back of the rearview mirror, the bumper part, the front grille part, or the like. As is well known, the relative distance can be calculated based on the parallax between the images captured by the image sensor. Based on the calculated relative distance, the relative velocity and the relative acceleration can be calculated in the same manner as described above. A camera including an image sensor transmits an image signal to the image processing unit 20 in a stream format of 30 fps (frame per second), for example.

  The image processing unit 20 includes an image processing computer that processes a captured image obtained by the vehicle periphery monitoring unit 10. The image processing computer detects an aspect of the measurement target in the captured image by performing image recognition processing such as using a difference in angle of view between the pair of left and right imaging elements. If the object to be measured is an object on the road (for example, fallen tree, rock, stone), as the form of the object, for example, the relative value such as the shape value such as height, width and depth and the relative distance between the object and the vehicle Value, the orientation of the object is detected. If the measurement target is a road surface change part (for example, a depression, an unpaved road, a road surface depression part, a road surface protrusion part), for example, the shape value such as width, depth, height, depth, etc. And a relative relationship value such as a relative distance between the road surface changing portion and the vehicle is detected.

  The obstacle determination unit 30 uses a predetermined determination criterion based on the detection result by the vehicle periphery monitoring unit 10 and / or the detection result by the image processing unit 20 to detect a measurement target (an object on the road or a road surface change part). ) Corresponds to an obstacle that hinders the progress of the vehicle. For example, when the shape value of the measurement target is greater than or equal to a predetermined reference value, the values (relative distance, relative speed, etc.) that can specify the relative relationship between the measurement target and the host vehicle are the predetermined reference. The case where it is more than a value is mentioned. These reference values may be determined in advance by simulation or the like from the viewpoint of whether or not the vehicle travels.

  For example, the obstacle determination unit 30 predicts whether or not the detected measurement target exists on an extension line in the traveling direction of the host vehicle, and determines that the measurement target is an obstacle if it is predicted to exist on the extension line. To do. More specifically, the obstacle determination unit 30 is predicted based on the vehicle speed of the host vehicle calculated from the output value of the wheel speed sensor, the traveling direction of the host vehicle calculated from the output value of the steering angle sensor, and the like. When the measurement target exists on the predicted course of the own vehicle, the measurement target may be determined as an obstacle.

  The traveling state detection unit 40 includes an in-vehicle computer or an in-vehicle sensor having vehicle information indicating the traveling state of the host vehicle. For example, as the vehicle information, the traveling state detection unit 40 can detect the traveling speed of the vehicle with a vehicle speed sensor, detect the steering angle of the vehicle with a steering angle sensor, detect the ground height with a height sensor, and control the suspension. A vehicle height adjustment value is detected by a vehicle height adjustment computer.

  The obstacle climbing determination unit 50 determines whether or not the obstacle can be climbed using a predetermined criterion based on the mode of the obstacle detected by the vehicle periphery monitoring unit 10 or the image processing unit 20. To do. In this determination, the current traveling state of the vehicle detected by the traveling state detection unit 40 may be considered.

  For example, the obstacle getting over determination unit 50 is a value that represents the state of the obstacle detected by the vehicle periphery monitoring unit 10 or the image processing unit 20 or a value that represents the current traveling state of the vehicle detected by the traveling state detection unit 40. If the vehicle exceeds the limit value over which the obstacle can be overcome in terms of vehicle performance, it is determined that the obstacle cannot be overcome. More specifically, the obstacle climbing determination unit 50 determines that the shape value of the obstacle detected by the obstacle determination unit 30 exceeds the limit value (for example, the height of an object or a road surface projection part or a road surface depression). When the depth of the part exceeds the minimum ground clearance of the vehicle, the width of the road surface depression exceeds the vehicle width of the vehicle, the depth of the road surface change part exceeds the total length of the vehicle, etc.) It is better to judge that the obstacle cannot be overcome. Further, the obstacle climbing determination unit 50 determines that the obstacle cannot be climbed when the current vehicle speed or steering angle detected by the traveling state detection unit 40 exceeds a predetermined limit value. Also good.

  The navigation unit 60 is based on the obstacle mode detected by the vehicle periphery monitoring unit 10 and the image processing unit 20 and determines the relationship between the obstacle mode and the travel state that can be overcome (for example, the relationship). Applying formulas and maps), driving conditions (passing conditions) appropriate for getting over the obstacle are derived.

  For example, the navigation unit 60 is suitable for overcoming the actually measured height and width of the obstacle based on the overcoming determination map that defines the relationship between the shape value of the obstacle and the traveling speed of the vehicle that can be overridden. Calculate travel speed. For example, the navigation unit 60 is suitable for overcoming the actually measured obstacle height based on the overcoming determination map that defines the relationship between the shape value of the obstacle and the vehicle height value of the vehicle that can be overridden. Calculate the vehicle height value. In addition, the navigation unit 60, for example, enters a vehicle suitable for overcoming in the longitudinal direction of the actually measured obstacle based on the overcoming determination map that defines the approach angle of the vehicle that can be overcome in the longitudinal direction of the obstacle. Calculate the angle.

  In addition, the navigation unit 60 detects a space that is greater than the vehicle width where no obstacle exists based on the detection results of the vehicle periphery monitoring unit 10 and the image processing unit 20, thereby avoiding the obstacle without getting over the obstacle. A possible avoidance route may be derived. In this case, the navigation unit 60 may calculate the approach direction and the traveling speed of the vehicle necessary for passing the avoidance route.

  The navigation unit 60 creates support information for optimally overcoming the obstacle detected by the obstacle determination unit 30 or for avoiding and traveling without optimally overcoming based on the derived overpass condition. The created support information is transmitted to the driving support unit 70 described later. As support information to be created, for example, notification information for providing a driver with a driving method for optimally overcoming an obstacle detected by the obstacle determination unit 30, or an obstacle detected by the obstacle determination unit 30 Support control information for providing control data for optimally overcoming to a predetermined support control system.

  The driving support unit 70 is a support unit that supports driving of the vehicle based on the support information created by the navigation unit 70. The driving support unit 70 is a speaker that informs the notification information created by the navigation unit 60 by voice or a display that displays the screen information. The driving support unit 70 may be a support control system that automatically or semi-automatically controls the driving of the host vehicle based on the support control information created by the navigation unit 60. As a support control system, for example, a brake control system capable of controlling braking of the host vehicle based on support control information including a braking command, and an engine capable of controlling deceleration of the host vehicle based on support control information including a deceleration command Examples thereof include a control system and a steering control system capable of controlling the steering of the host vehicle based on support control information including a steering command.

  Now, the detailed operation of the vehicle travel support apparatus 100 will be described. FIG. 2 is an operation flow of the vehicle travel support apparatus 100. FIG. 3 is a diagram illustrating a situation where there is a fallen tree on the road surface in front of the vehicle. FIG. 4 is a diagram showing a situation where there is a hole in the road surface in front of the vehicle.

  When the vehicle periphery monitoring unit 10 detects a measurement object such as an object on the road ahead of the vehicle (FIG. 3: fallen tree) or a road surface change portion (FIG. 4: hole) by the monitoring sensor (S001), the measurement object is detected by the camera. Shooting in the designated direction is started (S002). The image processing unit 20 detects an aspect such as the shape value of the measurement target by analyzing the captured image acquired from the camera (S003). For example, the height and width of the fallen tree and the distance to the fallen tree are detected (FIG. 3), and the depth and width of the hole and the distance to the hole are detected (FIG. 4). The obstacle determination unit 30 determines whether or not the measurement object corresponds to an obstacle that hinders the progress of the host vehicle based on the detected shape value of the measurement object (S004 / S005). . When it is determined by the obstacle determination unit 30 that the obstacle does not correspond (S005, No), this flow ends.

  The obstacle climbing determination unit 50 obtains vehicle information necessary for the obstacle climbing detection detected by the obstacle determination unit 30 from the traveling state detection unit 40 (S006), so that the vehicle speed, steering angle, etc. The current running state is determined (S007). The obstacle climbing determination unit 50 determines the obstacle based on the obstacle state detected by the vehicle periphery monitoring unit 10 and the image processing unit 20 and the current traveling state of the vehicle detected by the traveling state detection unit 40. It is determined whether or not the obstacle detected by the unit 30 can be overcome (S008).

  For example, in FIG. 3, when the angle between the longitudinal direction of the fallen tree and the current traveling direction of the vehicle exceeds a predetermined limit angle (for example, 60 °), the obstacle climbing determination unit 50 determines the height of the fallen tree. If the vehicle exceeds a predetermined limit height (for example, 30 cm), or if the current traveling speed of the vehicle exceeds a predetermined limit speed (for example, 20 km / h), In this situation, it is determined that the front wheel is stuck after overcoming the fallen tree, and the fallen tree ahead of the vehicle cannot be overcome.

  Further, for example, in FIG. 4, when the hole width exceeds the tire width, or when the hole depth exceeds the minimum ground clearance, the obstacle overcoming determination unit 50 sets the current vehicle traveling speed to a predetermined value. If any of the cases where the speed limit is exceeded, the ground contact of the wheel is lost in the current situation, and it is determined that the hole ahead of the vehicle cannot be overcome.

  When it is determined that the obstacle getting over determination unit 50 cannot get over the obstacle (No in S008), the driving support unit 70 performs predetermined avoidance control based on the support information created by the navigation unit 60 ( S011). As the avoidance control, the driving support unit 70 gives, for example, a warning that there is an obstacle that cannot be moved forward by a speaker or a display, or performs braking, deceleration, and avoidance steering by the support control system.

  On the other hand, when it is determined by the obstacle getting over determination unit 50 that the obstacle can be got over (S008, Yes), the navigation unit 60 derives a driving condition suitable for getting over the obstacle and creates support information ( S009). For example, in FIG. 3, the navigation unit 60 derives the overriding condition that “the approach angle to the fallen tree is 45 ° and the vehicle speed is 5 km / h or less”. In addition, for example, in FIG. 4, the navigation unit 60 derives the overcoming condition that “the approach angle with respect to the hole is 30 ° from the left and the vehicle speed is 10 km / h or less”. And the navigation part 60 produces the driving | running | working simulation image | video which superimposed the character information showing the derived overpass conditions on the actual image by the above-mentioned camera, in order to display on the display of the driving assistance part 70 as assistance information. As illustrated in FIGS. 3 and 4, the driving support unit 70 displays the created traveling simulation image on the display (step S010). By displaying the character information indicating the overcoming condition superimposed on the actual image from the camera, the driver can visually grasp how to enter the obstacle before reaching the obstacle. Therefore, it is possible to drive over the obstacle appropriately. At this time, it is possible to provide more appropriate driving support by continuously displaying the simulated running image of the vehicle before and after the passage of the obstacle. Further, by providing the driver with character information representing the overcoming condition as sound information together with the display of the traveling simulation video, it is possible to provide more appropriate driving assistance.

  Therefore, the vehicular travel support apparatus 100 includes a vehicle periphery monitoring unit 10 and an image processing unit 20 that monitor the road surface in the traveling direction of the vehicle, and obstacles that hinder the vehicle from traveling on the road surface monitored by the vehicle periphery monitoring unit 10. An obstacle determination unit 30 that detects an obstacle, and a navigation unit 60 that derives a traveling condition necessary for passing through the obstacle based on the form of the obstacle detected by the obstacle determination unit 30 are provided. Therefore, it is possible to obtain a traveling condition suitable for traveling on an obstacle road that hinders the traveling of the vehicle.

  In addition, since the driving support unit 70 that supports the driving of the vehicle based on the getting over condition derived by the navigation 60 is provided, appropriate driving support corresponding to the getting over condition can be performed.

  In addition, according to the above-described embodiment, in order to get over the detected obstacle even when driving on a road other than the road, such as a beach or a mountain road, which is not included in the map information possessed by the so-called car navigation system. It becomes possible to derive traveling conditions such as an appropriate traveling direction and traveling speed, and to perform appropriate driving support based on the derived traveling conditions.

  The preferred embodiments of the present invention have been described in detail above. However, the present invention is not limited to the above-described embodiments, and various modifications and substitutions can be made to the above-described embodiments without departing from the scope of the present invention. Can be added.

  For example, in the above-described embodiment, the obstacle in front of the vehicle has been described as an example. However, when the vehicle moves backward, appropriate traveling conditions can be similarly derived for the obstacle in the rear of the vehicle. .

It is a block diagram which shows the structure of the driving assistance device for vehicles 100 which is one Embodiment of this invention. It is an operation | movement flow of the driving assistance apparatus 100 for vehicles. It is the figure which showed the condition where there exists a fallen tree on the road surface ahead of a vehicle. It is the figure which showed the condition where a hole exists in the road surface ahead of a vehicle.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 Vehicle periphery monitoring part 20 Image processing part 30 Obstacle determination part 40 Running state detection part 50 Obstacle overcoming determination part 60 Navigation part 70 Driving support part

Claims (6)

Monitoring means for monitoring the road surface in the traveling direction of the vehicle;
Obstacle detection means for detecting an obstacle that hinders the progress of the vehicle on the road surface monitored by the monitoring means;
A vehicular travel support device, comprising: travel condition deriving means for deriving a travel condition necessary for passing through the obstacle based on the form of the obstacle detected by the obstacle detection means.   The vehicle travel support device according to claim 1, wherein the travel condition deriving unit derives the travel condition based on a shape of the obstacle.   The vehicle travel support device according to claim 1, wherein the travel condition deriving unit derives a course of the vehicle as the travel condition.   The vehicle travel support apparatus according to any one of claims 1 to 3, further comprising drive support means for supporting driving of the vehicle based on the travel condition derived by the travel condition deriving means.   The vehicle driving support device according to claim 4, wherein the driving support means is information providing means for providing the driving condition derived by the driving condition deriving means to a driver of the vehicle.   The vehicle travel support apparatus according to claim 5, wherein the information providing unit is a display unit that displays a simulated running image of the vehicle created based on the traveling condition derived by the traveling condition deriving unit.

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