JP2009023481A - Vehicle control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To securely prevent accidents without actuating operation equipment more than necessary in the case of careless driving and enable smooth and safe driving, in a vehicle control device. <P>SOLUTION: By a target recognition determination means 5, it is determined whether or not a sight line vector of a driver detected by an eye camera 4 (sight line detection means) corresponds to a target 50 detected by a millimeter wave radar 3 (target detection means). When it is determined by the target recognition determination means 5 that the driver does not recognize the target, control is performed so that an operation timing switching means 12 quickens operation timing of the operation equipment 7, 13, 14, 15a compared to the case where the driver recognizes the target. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a vehicle control device that controls an operation device of a vehicle in accordance with a detection state of a target by a target detection means.

  2. Description of the Related Art Conventionally, a vehicle control apparatus that includes a target detection unit that detects a target in front of the host vehicle and controls the operation device of the vehicle according to the target detection state by the target detection unit is known.

For example, Patent Document 1 discloses a vehicle alarm device that sends an alarm signal from a notification device when the obstacle detection device detects an obstacle to the vehicle. The vehicle alarm device includes a gaze direction detection device that detects the direction of the driver's gaze, an obstacle direction detection device that detects the direction of the obstacle, and the direction of the obstacle and the direction of the driver's gaze are the same direction. When it is determined that the direction determination device and the direction determination device are not in the same direction, a warning signal is output from the notification device, and when it is determined that the direction determination device is in the same direction, no warning signal is output from the notification device. Or a warning output device that outputs a weak warning signal.
JP 2004-295472 A

  However, if the direction determination device determines that the direction is the same as a conventional vehicle control device, the alarm device does not output a warning signal or a weak warning signal is output. When the obstacle is watched and the attention is insufficient, there is a problem that the driver cannot fully recognize the danger and the vehicle may collide with the obstacle.

  The present invention has been made in view of such points, and the object of the present invention is to switch the operation timing of the operating device between when the driver recognizes the target and when it does not recognize the target. It is to prevent accidents and to enable safe and smooth operation when attention is deficient without operating the operating equipment more than necessary.

  In order to achieve the above object, in the present invention, when it is determined that the driver does not recognize the target, the operation timing of the operating device is made earlier than when the driver recognizes the target.

Specifically, in the first invention,
Target detection means for detecting a target in front of the host vehicle;
The present invention is directed to a vehicle control device including an operation control unit that controls an operation device of the vehicle in accordance with a detection state of a target by the target detection unit.

And the vehicle control device
Gaze detection means for detecting the driver's gaze direction;
Target recognition determination means for determining whether or not the driver's line-of-sight vector detected by the line-of-sight detection means matches the target detected by the target detection means;
An operation timing switching means for switching the operation timing of the operating device from the detection result obtained by the target recognition determination means,
The operation timing switching means is configured to make the operation timing of the operating device earlier when the driver recognizes that the target is not recognized by the target recognition determination means than when it is recognized. Yes.

  According to the above configuration, when the target recognition determination unit determines that the driver's line-of-sight vector detected by the line-of-sight detection unit coincides with the target detected by the target detection unit, the driver normally Is considered to recognize the target, so that the operation timing switching means does not advance the operation timing of the operating device, and it prevents the smooth operation by operating the operating device to an unnecessary scene. There is no. Even if the driver's attention is insufficient, such as when the driver is only looking at the target, the operating equipment operates reliably at the normal timing, so the vehicle may collide with the target. Is prevented. On the other hand, when it is determined that the driver does not recognize the target, the driver's reaction is delayed compared to when the driver recognizes the target. To be prevented.

In the second invention, in the first invention,
The target recognition determination unit determines that the target is not recognized when a state in which the line-of-sight vector detected by the line-of-sight detection unit does not match the target target continues for a predetermined time or longer. It is configured.

  According to the above configuration, the driver does not follow the target with his eyes when he / she is drowsy, absentminded, snoozing, or looking away. Does not match the target. If such a time continues for a predetermined time or more, it is determined that the driver has not recognized the target, and the operation timing of the operating device is advanced by the operation timing switching means, and an accident is reliably prevented.

In the third invention, in the first or second invention,
The actuating device is a follow-up running control means for following up with a predetermined inter-vehicle distance with respect to a preceding vehicle detected by the target detecting means,
The operation timing switching means is configured to be longer by a predetermined distance than when the driver recognizes the inter-vehicle distance when it is determined by the target recognition determination means that the driver does not recognize the target. .

  According to the above configuration, if you are drowsy, dull, dozing, or looking away, by increasing the inter-vehicle distance of the following traveling control means by the operation timing switching means, It is possible to prevent a driver who is slow in reaction from colliding with the preceding vehicle after a time until the vehicle collides with the preceding vehicle. Further, when the target is recognized, the distance between the vehicles is not unnecessarily increased, so that smooth driving is not hindered.

In the fourth invention, in the first or second invention,
A collision prediction means for predicting whether or not the target detected by the target detection means collides with the host vehicle;
The operating device is configured by alarm means for giving an alarm to the driver when a collision is predicted by the collision prediction means,
The operation timing switching means is configured to be earlier when the driver recognizes that the target is not recognized by the target recognition judging means than when the detection timing of the collision predicting means is recognized. ing.

  According to the above configuration, when it is predicted that the target will collide with the host vehicle when it is drowsy and vague, asleep or looking away, By making the operation timing of the warning means earlier by the operation timing switching means, it is possible to make the driver who is slow in reaction recognize early that the collision with the target is predicted, and to reliably collide with the target. Is prevented. Further, when the target is recognized, the alarm means does not operate unnecessarily, so that smooth operation is not hindered.

In the fifth invention, in the first or second invention,
A collision prediction means for predicting whether or not the target detected by the target detection means collides with the host vehicle;
The operating device is configured by a brake unit that applies a braking force to the vehicle when a collision is predicted by the collision prediction unit.
The operation timing switching means is configured to be earlier when the driver recognizes that the target is not recognized by the target recognition judging means than when the detection timing of the collision predicting means is recognized. ing.

  According to the above configuration, when it is predicted that the target will collide with the host vehicle when it is drowsy and vague, asleep or looking away, By making the operation timing of the brake means earlier by the operation timing switching means, the driver can recognize early that a collision is predicted, and forcibly applies a braking force to the vehicle to reliably collide with the target. Is prevented. Further, when the target is recognized, the braking force is not unnecessarily applied to the vehicle, so that smooth driving is not hindered.

In a sixth invention, in the first or second invention,
A collision prediction means for predicting whether or not the target detected by the target detection means collides with the host vehicle;
The operating device is composed of a seat belt pretensioner that restrains the driver with a predetermined tension when a collision is predicted by the collision prediction means.
The operation timing switching means is configured to be earlier when the driver recognizes that the target is not recognized by the target recognition judging means than when the detection timing of the collision predicting means is recognized. ing.

  According to the above configuration, when it is predicted that the target will collide with the host vehicle when it is drowsy and vague, asleep or looking away, By making the operation timing of the seat belt pretensioner earlier by the operation timing switching means, the driver is restrained with a predetermined tension to ensure safety, and the driver is made to recognize early that a collision is predicted. Collision with the mark is prevented. In addition, when the target is recognized, the driver is not unnecessarily restrained and uncomfortable, so that smooth driving is not hindered.

  As described above, according to the present invention, the target recognition determination unit recognizes the target when the driver's line-of-sight vector detected by the line-of-sight detection unit coincides with the target detected by the target detection unit. When it is determined that the operating device is operating, the operating timing switching means does not advance the operating timing of the operating device. When it is determined that the operating device is not recognized, the operating timing of the operating device is advanced. For this reason, it is possible to prevent accidents reliably and operate safely and smoothly when the attention is lacking without operating the operating device more than necessary.

  According to the second aspect of the invention, it is determined that the driver has not recognized the target when the time when the line-of-sight vector does not coincide with the target is continued for a predetermined time or longer, and the operating timing switching means Since the operation timing is advanced, accidents can be reliably prevented and safe and smooth operation can be performed.

  According to the third aspect of the present invention, when it is determined that the driver does not recognize the target, the inter-vehicle distance of the follow-up travel control unit is increased by the operation timing switching unit to allow time for collision with the preceding vehicle. By doing so, it is possible to reliably prevent a collision with the preceding vehicle and to drive safely and smoothly.

  According to the fourth aspect of the invention, when it is determined that the driver has not recognized the target and it is predicted that the target will collide with the host vehicle, the operation timing switching means alerts the user. Since the operation timing of the means is advanced so that the collision with the target is predicted at an early stage, the collision with the target can be surely prevented and the operation can be performed safely and smoothly. .

  According to the fifth aspect, when the driver determines that the target is not recognized and when it is predicted that the target will collide with the own vehicle, the brake is applied by the operation timing switching means. Since the operation timing of the means is advanced and the braking force is applied to the vehicle at an early stage, the collision with the target can be surely prevented and the operation can be performed safely and smoothly.

  According to the sixth aspect, when the driver determines that the target is not recognized and when it is predicted that the target will collide with the host vehicle, the seat is operated by the operation timing switching means. Since the operation timing of the belt pretensioner is advanced to restrain the driver and ensure safety, the collision with the target can be surely prevented and the operation can be performed safely and smoothly.

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

  FIG. 1 shows a host vehicle 1 including a vehicle control device 2 according to an embodiment of the present invention. The control device 2 includes a millimeter wave radar 3 as a target detection unit that detects a target ahead of the host vehicle 1. Millimeter waves have features such as having sharp directivity, ensuring a wide band for high-speed communication, and miniaturizing and micro-parts. As indicated by a thick line in FIG. 3, the detection range of the millimeter wave radar 3 is such that the distance is within about 100 m and spreads radially. In the present embodiment, the millimeter wave radar 3 is arranged to be offset to the right side of the center in the width direction of the host vehicle 1, but it is not always necessary to be offset. Further, the target detection means may be constituted by an infrared laser or the like.

  The control device 2 includes an eye camera 4 as line-of-sight detection means for detecting the line-of-sight direction of the driver. The eye camera 4 is arranged on an instrument panel or a dashboard upper part (both not shown) in the passenger compartment, and the driver's eyes and the like are photographed in the visible light region and the infrared region. The driver's facial expression and gaze vector (gaze direction) are detected using the image.

  Further, as shown in FIG. 2, the control device 2 includes a control unit 10 as an operation control unit that controls an operation device of the host vehicle 1 to be described later according to the detection state of the target by the millimeter wave radar 3. Yes. The control device 2 includes target recognition determination means 5 that determines whether or not the driver's line-of-sight vector detected by the eye camera 4 matches the target detected by the millimeter wave radar 3. In this target recognition determination means 5, the driver does not recognize the target 50 when the line-of-sight vector detected by the eye camera 4 does not match the target 50 for a predetermined time or longer. It is comprised so that it may determine.

  The control device 2 includes a collision prediction means 8 for predicting whether or not the target 50 detected by the millimeter wave radar 3 collides with the host vehicle 1. The collision predicting means 8 is provided in the control unit 10 and calculates the relative speed and relative acceleration between the host vehicle 1 and the target 50 based on the output of the millimeter wave radar 3 to obtain the safe inter-vehicle distance of the host vehicle 1. A collision is predicted when the distance between the host vehicle 1 and the target 50 is equal to or less than the safe inter-vehicle distance. That is, the distance between the host vehicle 1 and the target 50 is determined by the time until the radar wave emitted from the millimeter wave radar 3 is reflected by the target 50 and returns. Further, the relative speed and the relative acceleration are obtained based on the time change of the distance, and a preset safe inter-vehicle distance corresponding to the relative speed and the relative acceleration is given.

  The control device 2 includes an operation timing switching unit 12 that switches the operation timing of the operating device from the detection result obtained by the target recognition determination unit 5. The operation timing switching unit 12 is provided in the control unit 10, and when the target recognition determination unit 5 determines that the driver has not recognized the target 50, the operation timing switching unit 12 operates the operation device more than when it recognizes it. It is configured to speed up the timing.

  As shown in FIG. 3, the control device 2 has a predetermined inter-vehicle distance (first safety inter-vehicle distance P1) with respect to the preceding vehicle (target 50) detected by the millimeter wave radar 3 as the operating device. A cruise controller 7 is provided as follow-up running control means for following-up running. Although not shown in detail, the cruise controller 7 receives information from the millimeter wave radar 3, steering angle sensor, yaw rate sensor, vehicle speed sensor, and the like. The cruise controller 7 controls the engine ECU and a DSC (dynamic stability control) unit based on these input information, so that when the preceding vehicle 50 does not exist, the host vehicle 1 travels at a constant speed at the target vehicle speed. On the other hand, when the preceding vehicle 50 exists, the following traveling control is performed so that the host vehicle 1 follows the preceding vehicle 50 so as to maintain the first safe inter-vehicle distance P1. ing. That is, the cruise controller 7 performs ACC (Adaptive Cruise Control) control.

  The region in the vehicle width direction of the first safety inter-vehicle distance P1 is limited to the region substantially the same as the vehicle width L, and the tip thereof leaves a region of ± 10% of the vehicle width L from the left and right center line, and extends rearward therefrom. This is a mountain-shaped region up to the tip of the vehicle 1 cut in this way. For example, the ACC control area A1 that defines the first safe inter-vehicle distance P1 is a line connecting the offset 40% and the distance P1 from the end in the vehicle width direction of the host vehicle 1 with the offset 0% and the distance P7 until the collision. Also the outside is cut. The left and right corners on the front end side are cut in this way because the target 50 at a short distance from the host vehicle 1 is difficult to avoid by operating the steering wheel 30, but at a long distance and on the left and right center side of the host vehicle 1. This is because the target 50 can be easily avoided by operating the steering wheel 30. The operation timing switching means 12 is longer by a predetermined distance than when the driver recognizes the target 50 when the target recognition determination means 5 determines that the driver does not recognize the target 50. For example, 1.2 times. Specifically, P4 is also set to 1.2 times, and the ACC control area A1 is widened forward while maintaining the vehicle width L.

  The control device 2 includes an alarm device 13 as an alarm device that issues an alarm to the driver when a collision is predicted by the collision prediction unit 8 as the operating device. That is, the alarm device 13 is activated when the distance between the host vehicle 1 and the target 50 is equal to or less than the second safe inter-vehicle distance P2 (when entering the alarm area A2). The alarm means may be constituted by a warning lamp on the instrument panel, a warning display on the car navigation system, or the like.

  The area in the vehicle width direction of the alarm area A2 that defines the second safe inter-vehicle distance P2 is limited to the same area as the vehicle width L, and the tip thereof leaves an area of ± 10% of the vehicle width L from the left and right center line. Then, it is a mountain-shaped region extending from there to the front end of the host vehicle 1 cut so as to spread rearward. For example, the alarm area A2 that defines the second safe inter-vehicle distance P2 connects an offset 40% from the vehicle width direction end of the host vehicle 1 and the distance P2 to the collision with an offset 0% and the distance P7 to the collision. It is the area where the outside is cut off from the line. When the operation timing switching means 12 determines that the driver does not recognize the target 50 by the target recognition determination means 5, the operation timing switching means 12 is earlier than when the operation timing of the alarm device 13 is recognized. That is, the second safe inter-vehicle distance P2 is increased by, for example, 1.2 times, and the alarm area A2 is widened forward as in the ACC control area A1.

  The control device 2 includes, as the operating device, a brake unit 14 that applies a braking force to the vehicle when a collision is predicted by the collision prediction unit 8. That is, first, when the distance between the host vehicle 1 and the target 50 is equal to or less than the third safe inter-vehicle distance P3 (when entering the primary brake area A3), the brake means 14 is operated as a primary brake, When the distance between the host vehicle 1 and the target 50 is equal to or smaller than the fourth safe inter-vehicle distance P4 (when entering the secondary brake area A4), the brake means 14 is operated as a secondary brake. . The primary brake is relatively weak and is intended to alert the driver, and the secondary brake provides a strong braking force for avoiding a collision.

  The primary brake area A3 and the secondary brake area A4 of the primary brake and the secondary brake are also cut off at the left and right tip sides in the same manner as the ACC control area A1 and the alarm area A2. Specifically, the primary brake area A3 and the secondary brake area A4 are narrower than the vehicle width L, and the primary brake area A3 includes a steering avoidance time point (not shown) with an offset of 10%, an offset of 40% and It is a mountain-shaped area to the front end of the host vehicle 1 whose outer side is cut from the line connecting the distance P3 to the collision. The secondary brake area A4 is a mountain shape up to the tip of the host vehicle 1 that is cut outside the line connecting the steering avoidance distance (not shown) with an offset of 30% and the offset P40 and the distance P5 to the collision. It has become an area. Further, the secondary brake area A4 includes a range up to 0.2 seconds, for example, in terms of time after the collision. This is a control continuation time for absorbing the measurement variation of the millimeter wave radar 3, and is provided for reasons such as preventing the brake means 14 from being released after a collision. The operation timing switching means 12 is made earlier than when the operation timing of the brake means 14 is recognized when it is determined by the target recognition determination means 5 that the driver has not recognized the target. The third safe inter-vehicle distance P3, the point of steering avoidance time of 10% offset, the fourth safe inter-vehicle distance P4 and the steering avoidance distance of 30% offset are multiplied by 1.2, and the primary brake area A3 and the secondary brake area A4 are It is configured to spread forward. Only the primary brake area A3 may be expanded and the secondary brake area A4 may be left as it is.

  The control device 2 includes, as the operating device, a seat belt pretensioner 15 that restrains the driver with a predetermined tension when a collision is predicted by the collision prediction unit 8. That is, the brake means 14 is activated when the distance between the host vehicle 1 and the target 50 is equal to or less than the fifth safe inter-vehicle distance P5 (when the seat belt area A5 is entered).

  The seat belt pretensioner 15 includes a first seat belt pretensioner 15a and a second seat belt pretensioner 15b, and the millimeter wave radar 3 detects that the target 50 has approached the seat belt area A5. The first seat belt pretensioner 15a sometimes pulls the seat belt 16 into a retractor (not shown) to restrain the occupant with a predetermined tension (a degree that does not affect the collision avoiding operation). The seat belt area A5 is an area that can be detected by the millimeter wave radar 3 from the own vehicle 1 to the fifth safe inter-vehicle distance P5. When the collision sensor 11 detects that the vehicle has collided, the second seat belt pretensioner 15b further retracts the seat belt 16 to restrain the occupant with a strong restraining force. The first seat belt pretensioner 15a is configured to retract the seat belt 16 by an electric motor (not shown). The second seat belt pretensioner 15b is configured to retract the seat belt 16 by an inflator (not shown) such as gunpowder. The operation timing switching means 12 is made earlier than the time when the operation timing of the seat belt pretensioner 15 is recognized when the target recognition determination means 5 determines that the driver does not recognize the target 50. That is, the fifth safety inter-vehicle distance P5 is increased by, for example, 1.2 times, and the seat belt area A5 is widened forward within the detection range of the millimeter wave radar 3.

-PCS control-
Next, PCS control (PRE CLASH SAFTY SYSYTEM) performed by the control unit 10 of the vehicle control apparatus 2 according to the present embodiment will be described with reference to FIG.

  First, in step S1, the state of the driver is recognized. That is, the eye camera 4 detects the driver's facial expression and line-of-sight vector.

  Next, in step S2, the surrounding environment and the target are recognized. That is, the target 50 is detected by the millimeter wave radar 3.

  Next, in step S3, it is determined whether the driver is asleep or drowsy. That is, if the driver detected by the eye camera 4 closes his eyes or lies down, the process jumps to step S9, and if there is no such expression, the process proceeds to step S4.

  In step S <b> 4, the target recognition determination unit 5 determines whether the viewpoint focal length of the driver detected by the eye camera 4 is the same distance as the target 50 detected by the millimeter wave radar 3. For example, if it is within an error range of 10%, it is determined that they match. If they match, the driver is normally considered to recognize the target 50, and therefore the operation jumps to step S10 and the operation timing switching means 12 does not advance the operation timing of the operating device. On the other hand, if they do not match, the process proceeds to step S5.

  In step S <b> 5, the target recognition determination unit 5 determines whether the driver's line-of-sight direction detected by the eye camera 4 matches the direction of the target 50 detected by the millimeter wave radar 3. If they match, the driver is normally considered to recognize the target 50, and therefore the operation jumps to step S10 and the operation timing switching means 12 does not advance the operation timing of the operating device. On the other hand, if they do not match, the process proceeds to step S6. In this way, the target recognition determination unit 5 determines that the driver's line-of-sight vector detected by the eye camera 4 matches the target 50 detected by the millimeter wave radar 3 and recognizes the target 50. Then, since the operating device is operated under the conventional operating conditions, the operating device is not operated to an unnecessary scene and smooth operation is not hindered. Even if the driver is merely looking at the target 50 gently, the operating device reliably operates at the normal timing, so that the host vehicle 1 is prevented from colliding with the target 50.

  In step S6, the first safety inter-vehicle distance P1 of the cruise controller 7 is lengthened by the operation timing switching means 12, and the ACC control area A1 is widened. As a result, it is possible to prevent a driver who is slow in reaction from colliding with the preceding vehicle after a time until it collides with the preceding vehicle. Next, the process proceeds to step S7.

  In step S7, it is determined whether the foot is on the brake. If it is on, the operation jumps to step S10 and the operation timing switching means 12 does not advance the operation timing of the operating device. If not, the process proceeds to step S8.

  In step S8, it is determined whether the accelerator is OFF. When it is OFF, the process proceeds to step S10, and when it is ON, the process proceeds to step S9.

  In step S9, the early operation condition is satisfied, the second to fifth safe inter-vehicle distances P2 to P5 are lengthened, and the corresponding areas A2 to A5 are widened. As described above, the operation timing of the operation device is advanced by the operation timing switching means 12.

  Hereinafter, an operation procedure of the operating device will be described. In both of the conventional operating condition and the early operating condition, the flow is the same with only the operation timing being different.

  First, in step S <b> 11, the control unit 10 receives the output from the millimeter wave radar 3 and performs calculation for estimating the target position and distance of the target 50.

  Next, in step S12, it is determined whether or not the target 50 is in the seat belt area A5. If it is in the seat belt area A5, the first seat belt pretensioner 15a is immediately activated in step S13, and the process proceeds to return, and if not in the seat belt area A5, the process proceeds to step S14.

  Next, in step S14, it is determined whether or not the target 50 is in the secondary brake area A4. If it is in the secondary brake area A4, the secondary brake is immediately executed in step S15, the brake means 14 is operated strongly, and the process proceeds to return.

  On the other hand, if it is not in the secondary brake area A4, it is determined in step S16 whether or not a brake pedal (not shown) is depressed. If the brake pedal 14 is depressed and the brake means 14 is operating, the process jumps to return. Conversely, when the brake is not depressed, the process proceeds to step S17.

  In step S17, it is determined whether or not the target 50 is in the primary brake area A3. If it is within the range, the process proceeds to step S18, and if it is out of the range, the process proceeds to step S19.

  In step S18, a signal is sent to the brake means 14, the primary brake is executed, a light braking force is applied to the host vehicle 1 by the brake means 14, and the process proceeds to return.

  In step S19, it is determined whether or not the target 50 is in the alarm area A2. If it is within the range, the process proceeds to step S20, and if it is out of the range, the process proceeds to step S21.

  In step S20, a signal is sent to the alarm device 13, an alarm is executed, and the driver is notified. Then proceed to return.

  In step S21, it is determined whether or not the target (preceding vehicle) 50 is in the ACC control area A1. If it is within the range, ACC control is executed, and if it is outside the range, the process proceeds to return.

-Effect of the embodiment-
Therefore, according to the vehicle control device 2 according to the present embodiment, the target recognition determination unit 5 matches the target 50 detected by the millimeter wave radar 3 with the driver's line-of-sight vector detected by the eye camera 4. When it is determined that the target 50 is recognized, the operation timing switching means 12 does not advance the operation timing of the operating device. When it is determined that it is not recognized, the operation timing of the operating device is advanced. Yes. For this reason, it is possible to prevent accidents reliably and operate safely and smoothly when the attention is lacking without operating the operating device more than necessary.

  According to the above embodiment, it is determined that the driver has not recognized the target 50 when the time when the line-of-sight vector does not coincide with the target 50 continues for a predetermined time or longer. Since the operation timing of the vehicle is advanced, accidents can be reliably prevented and the operation can be performed safely and smoothly.

  According to the above-described embodiment, when it is determined that the driver does not recognize the target 50, the inter-vehicle distance of the cruise controller 7 is increased by the operation timing switching means 12 to allow time for collision with the preceding vehicle. By doing so, it is possible to reliably prevent a collision with a preceding vehicle and to drive safely and smoothly.

  According to the above embodiment, when it is determined that the driver does not recognize the target 50 and when it is predicted that the target 50 will collide with the host vehicle 1, the operation timing switching means 12 is used. As a result, the operation timing of the alarm device 13 is advanced so that the collision with the target 50 is predicted at an early stage, thereby reliably preventing the collision with the target 50 and driving safely and smoothly. It can be performed.

  According to the above embodiment, when it is determined that the driver does not recognize the target 50 and when it is predicted that the target 50 will collide with the host vehicle 1, the operation timing switching means 12 is used. Thus, the operation timing of the brake means 14 is advanced and the braking force is applied to the vehicle at an early stage, so that the collision with the target 50 can be reliably prevented and the vehicle can be operated safely and smoothly.

  According to the above embodiment, when it is determined that the driver does not recognize the target 50 and when it is predicted that the target 50 will collide with the host vehicle 1, the operation timing switching means 12 is used. As a result, the operation timing of the seat belt pretensioner 15 is advanced to restrain the driver and to ensure safety, so that the collision with the target 50 can be surely prevented and the operation can be performed safely and smoothly. it can.

(Other embodiments)
The present invention may be configured as follows with respect to the above embodiment.

  That is, in the above embodiment, when the target recognition determination unit 5 determines that the driver does not recognize the target 50, all of the first to fifth safety inter-vehicle distances P1 to P5 are increased by 1.2 times. However, only one of the safe inter-vehicle distances may be increased. Moreover, you may make it add each fixed length.

  In addition, the above embodiment is an essentially preferable illustration, Comprising: It does not intend restrict | limiting the range of this invention, its application thing, or a use.

  As described above, the present invention is a vehicle including a target detection unit such as a millimeter wave radar, and an operation control unit that controls an operation device of the vehicle according to a target detection state by the target detection unit. It is useful for the target detection apparatus.

It is a key map of vehicles provided with a control device of vehicles concerning an embodiment of the present invention. It is a block diagram which shows the control apparatus of a vehicle. It is a conceptual diagram which shows the detection range of a millimeter wave radar. It is a flowchart which shows PCS control. It is a flowchart which shows control of an action | operation apparatus.

Explanation of symbols

1 own vehicle 2 control device (operation control means)
3 Millimeter wave radar (target detection means)
4 Eye camera (Gaze detection means)
5 Target recognition judging means 7 Cruise controller (following running control means, operating equipment)
8 Collision prediction means 10 Control unit 12 Operation timing switching means 13 Alarm device (alarm means, operation equipment)
14 Brake means 15 Seat belt pretensioner (operating device)
50 Target, preceding vehicle

Claims (6)

Target detection means for detecting a target in front of the host vehicle;
In a vehicle control apparatus comprising: an operation control unit that controls an operation device of the vehicle according to a target detection state by the target detection unit;
Gaze detection means for detecting the driver's gaze direction;
Target recognition determination means for determining whether or not the driver's line-of-sight vector detected by the line-of-sight detection means matches the target detected by the target detection means;
An operation timing switching means for switching the operation timing of the operating device from the detection result obtained by the target recognition determination means,
The operation timing switching means is configured to make the operation timing of the operating device earlier when the driver recognizes that the target is not recognized by the target recognition determination means than when it is recognized. A control apparatus for a vehicle. The vehicle control device according to claim 1,
The target recognition determination unit determines that the target is not recognized when a state in which the line-of-sight vector detected by the line-of-sight detection unit does not match the target target continues for a predetermined time or longer. A control apparatus for a vehicle characterized by being configured. The vehicle control device according to claim 1 or 2,
The actuating device is a follow-up running control means for following up with a predetermined inter-vehicle distance with respect to a preceding vehicle detected by the target detecting means,
The operation timing switching means is configured to be longer by a predetermined distance than when the driver recognizes the inter-vehicle distance when it is determined by the target recognition determination means that the driver does not recognize the target. A control apparatus for a vehicle. The vehicle control device according to claim 1 or 2,
A collision prediction means for predicting whether or not the target detected by the target detection means collides with the host vehicle;
The operating device is configured by alarm means for giving an alarm to the driver when a collision is predicted by the collision prediction means,
The operation timing switching means is configured to be earlier when the driver recognizes that the target is not recognized by the target recognition judging means than when the detection timing of the collision prediction means is recognized. A control device for a vehicle. The vehicle control device according to claim 1 or 2,
A collision prediction means for predicting whether or not the target detected by the target detection means collides with the host vehicle;
The operating device is configured by a brake unit that applies a braking force to the vehicle when a collision is predicted by the collision prediction unit.
The operation timing switching means is configured to be earlier when the driver recognizes that the target is not recognized by the target recognition judging means than when the detection timing of the collision predicting means is recognized. A control apparatus for a vehicle. The vehicle control device according to claim 1 or 2,
A collision prediction means for predicting whether or not the target detected by the target detection means collides with the host vehicle;
The operating device is composed of a seat belt pretensioner that restrains the driver with a predetermined tension when a collision is predicted by the collision prediction means.
The operation timing switching means is configured to be earlier when the driver recognizes that the target is not recognized by the target recognition judging means than when the detection timing of the collision predicting means is recognized. A control apparatus for a vehicle.

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