JP2009277179A - Obstacle detector for vehicle - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an obstacle detector for a vehicle, which determines, under a situation where a vehicle cannot travel due to idle running of driving wheels when the vehicle starts running, precisely and surely that an obstacle in front of the vehicle is a stationary object. <P>SOLUTION: A radar unit 2 detects a relative position and a relative speed of the obstacle in front of the vehicle C with respect to the vehicle. Operation equipment of the vehicle C is controlled based on obstacle detection information. Whether the driving wheels of the vehicle C are rotated or not and whether the vehicle C is moved are detected. The obstacle having no change in the relative speed of the detected obstacle to the vehicle is determined to be the stationary object, when the rotation of the driving wheels is detected and when the movement of the vehicle C is not detected. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an obstacle detection device for a vehicle, and in particular, when a driving wheel is idled when the host vehicle starts, an obstacle that is a stationary object in front of the host vehicle is not erroneously determined to be a moving object.

  In recent years, a vehicle such as an automobile detects a relative position and a relative speed of an obstacle ahead of the own vehicle with respect to the own vehicle using a radar unit such as a millimeter wave radar, and detects the obstacle from the obstacle detection information. A so-called pre-crash safety system (PCS) that performs collision determination and outputs a collision prediction alarm, activates a brake, or tightens a seat belt in use when a collision is predicted is becoming widespread. Yes (see, for example, Patent Document 1).

  In this PCS, in order to predict a collision with an obstacle, the vehicle speed and yaw rate of the own vehicle are further detected, the course of the own vehicle is estimated from the detected information, and the position of the own vehicle with respect to the obstacle after a predetermined time. Is generally performed. Patent Document 1 discloses that whether or not an obstacle is a stationary object is determined based on the vehicle speed of the host vehicle and the relative speed of the obstacle detected by the radar unit with respect to the host vehicle. ing.

JP 2007-278892 A

  For example, when the road surface is frozen, such as in winter when the average temperature is low, it is possible to assume a situation in which the driving wheel idles when the vehicle starts and the vehicle cannot travel (move). If it is determined that the host vehicle is traveling based on the vehicle speed obtained from the wheel speed of the idle driving wheel of the vehicle, and there is an obstacle that is stationary in front of the host vehicle, the vehicle speed of the host vehicle and the radar unit From the relative speed of the obstacle detected in step 1 with respect to the vehicle, it cannot be accurately and reliably determined that the obstacle is a stationary object. Therefore, the collision prediction with the obstacle is erroneously performed, and a collision prediction warning is output. There is a possibility that the brakes are actuated or the seat belt in use is tightened inappropriately.

  The purpose of the present invention is to assume a situation in which the driving wheel is idled when the host vehicle is started and the host vehicle cannot travel, and when there is an obstacle that is a stationary object in front of the host vehicle, Make sure that the obstacle is stationary so that the collision prediction with the obstacle is not performed in error and the collision prediction alarm is output, the brake is activated, and the seat belt is tightened. An object of the present invention is to provide a vehicle obstacle detection device capable of accurately and reliably determining.

  The obstacle detection device of the present invention receives obstacle detection information from the obstacle detection means and obstacle detection means capable of detecting the relative position and relative speed of the obstacle ahead of the own vehicle with respect to the own vehicle. An obstacle detection device for a vehicle comprising an operation device control means for controlling the operation device of the host vehicle.

  The invention according to claim 1 is driven by the driving wheel rotation detecting means for detecting the presence or absence of rotation of the driving wheel of the own vehicle, the own vehicle movement detecting means for detecting the presence or absence of the movement of the own vehicle, and the driving wheel rotation detecting means. An obstacle in which the relative speed of the obstacle detected by the obstacle detecting means does not change when the rotation of the wheel is detected and the movement of the own vehicle is not detected by the own vehicle movement detecting means. The object includes a stationary object determination unit that determines that the object is a stationary object.

  When the driving wheel idles at the start of the host vehicle and the host vehicle cannot travel, the driving wheel rotation detecting means detects the rotation of the driving wheel of the host vehicle, and there is an obstacle that is a stationary object in front of the host vehicle. Although there is no change in the relative speed of the obstacle detected by the obstacle detection means with respect to the own vehicle, the vehicle movement detection means does not determine whether the obstacle ahead of the own vehicle is a moving object. The presence or absence of movement of the own vehicle is detected by this, and when the rotation of the driving wheel of the own vehicle is detected and the movement of the own vehicle is not detected, the self-detection of the obstacle detected by the obstacle detection means by the stationary object determination means. An obstacle whose relative speed with respect to the vehicle does not change is determined to be a stationary object. Therefore, based on the obstacle detection information from the obstacle detection means and further based on the determination result by the stationary object determination means, the operation equipment control means controls the operation equipment of the host vehicle to operate appropriately. .

  According to a second aspect of the present invention, the operating device control means receives the determination result when the stationary object determining means determines that the obstacle is a stationary object at the start of rotation of the driving wheel of the host vehicle. According to a third aspect of the present invention, in the invention of the first or second aspect, the own vehicle movement detection means is configured to detect the own vehicle movement when the own vehicle is a two-wheel drive. Driven wheel rotation detecting means for detecting the presence or absence of rotation of the driven wheel of the vehicle is provided, and the movement of the host vehicle is detected by detecting the rotation of the driven wheel by the driven wheel rotation detecting means.

  According to a fourth aspect of the present invention, the own vehicle movement detection means includes a GPS device for acquiring the current location of the own vehicle, and when the drive shaft starts to rotate with respect to the current location acquired by the GPS device when the drive wheels of the own vehicle start to rotate. The presence or absence of movement of the host vehicle is detected by calculating the amount of movement of the current location acquired by the GPS device after a short time from the start of the operation. An image pickup means for picking up the front of the vehicle is provided, and the image picked up by the image pickup means at the start of rotation of the drive wheel of the own vehicle is compared with the image picked up by the image pickup means after a short time from the start of drive shaft rotation. It is characterized by detecting the presence or absence of movement of the vehicle.

  The invention according to claim 6 is characterized in that the operating device comprises a collision prediction warning device that outputs a warning when a collision with an obstacle ahead of the host vehicle is predicted. The actuating device comprises a brake device that activates a brake of the host vehicle when a collision with an obstacle ahead of the host vehicle is predicted. It is characterized by comprising a seat belt pretensioner that tightens the seat belt in use of the host vehicle when a collision with an obstacle is predicted or detected.

  According to the vehicle obstacle detection device of the first aspect, the driving wheel rotation detecting means detects the presence or absence of rotation of the driving wheel of the own vehicle, and the own vehicle movement detecting means detects whether or not the own vehicle moves. When the rotation of the driving wheel of the vehicle is detected and the movement of the own vehicle is not detected, for example, when the road surface is frozen, such as in winter where the average temperature is low, the driving wheel is idled when the vehicle starts. Although it is possible to assume a situation in which the host vehicle cannot travel, an obstacle in which the relative speed of the obstacle detected by the obstacle detection unit with respect to the host vehicle does not change by the stationary object determination unit is a stationary object. Therefore, it can be accurately and reliably determined that the obstacle is a moving object such as another vehicle, that is, the obstacle in front of the host vehicle is a stationary object. To detect obstacle detection information from the obstacle detection means. Based on further, based on the determination result by the stationary object determination unit can be controlled so as to operate properly operational device of the vehicle.

  According to the vehicle obstacle detection device of the second aspect, the operating device control means determines the obstacle when the stationary object determination means determines that the obstacle is a stationary object at the start of rotation of the driving wheel of the host vehicle. Since the control is performed so that the operating device does not malfunction due to the result, when the driving wheel idles when the host vehicle starts and the host vehicle cannot run, particularly when the operating device is used in a so-called pre-crash safety system, It is possible to reliably prevent the operating device from operating inappropriately.

  According to the vehicle obstacle detection device of the third aspect, the own vehicle movement detecting means includes driven wheel rotation detecting means for detecting the presence or absence of rotation of the driven wheel of the own vehicle when the own vehicle is two-wheel drive. Since the movement of the own vehicle is detected by detecting the rotation of the driven wheel by the driven wheel rotation detecting means, it can be easily and reliably detected that the own vehicle is moving.

  According to the obstacle detection device for a vehicle of claim 4, the own vehicle movement detection means includes a GPS device for acquiring the current location of the own vehicle, and the current location acquired by the GPS device at the start of driving wheel rotation of the own vehicle. Thus, the presence or absence of movement of the host vehicle is detected by calculating the amount of movement of the current location acquired by the GPS device after a short time from the start of driving shaft rotation. If it does not move, it can be detected using a GPS device.

  According to the vehicle obstacle detection device of the fifth aspect, the own vehicle movement detection means includes an image pickup means for picking up an image ahead of the own vehicle, and drives the image picked up by the image pickup means when the driving wheel of the own vehicle starts rotating. Since the presence or absence of movement of the own vehicle is detected by comparing with the image captured by the imaging means after a short time from the start of shaft rotation, the presence or absence of the movement of the own vehicle, particularly when the own vehicle does not move, Can be detected using an imaging means.

  According to the vehicle obstacle detection device of the sixth aspect, since the operating device includes the collision prediction alarm device that outputs an alarm when a collision with an obstacle ahead of the host vehicle is predicted, When the driving wheel is idle and the host vehicle cannot travel, it is possible to reliably prevent the alarm from being output by improperly operating the collision prediction alarm device.

  According to the vehicle obstacle detection device of the seventh aspect, the operating device includes the brake device that operates the brake of the host vehicle when a collision with an obstacle ahead of the host vehicle is predicted. In some cases, when the driving wheels are idle and the host vehicle cannot travel, it is possible to reliably prevent the brakes of the host vehicle from being operated by inappropriately operating the brake device.

  According to the vehicle obstacle detection device of claim 8, the operating device is a seat belt pretensioner that tightens a seat belt in use of the host vehicle when a collision with an obstacle ahead of the host vehicle is predicted or detected. Therefore, if the vehicle is not able to run because the drive wheels are idle when the vehicle is starting, the seat belt pretensioner can be operated improperly to prevent the seat belt being used from being tightened. it can.

  In the vehicle obstacle detection device of the present invention, the relative position and relative speed of the obstacle ahead of the host vehicle are detected with respect to the host vehicle, and the operating device of the host vehicle is controlled based on the obstacle detection information. However, when the presence or absence of rotation of the driving wheel of the own vehicle and the presence or absence of movement of the own vehicle is detected and the rotation of the driving wheel is detected, and the movement of the own vehicle is not detected, the detected fault Obstacles in which the relative speed of an object with respect to the vehicle does not change are determined to be stationary objects.

  As shown in FIGS. 1 and 2, the vehicle C (automobile C) includes an ECU 1, a radar unit 2, an in-vehicle camera 3, a GPS device 4, wheel speed sensors 5a and 5b, an acceleration sensor 6, a yaw rate sensor 7, and a collision prediction. The alarm device 8, the brake device 9, and the seat belt pretensioner 10 are provided through the electrical connection shown in FIG. 2 in the arrangement shown in FIG.

  When the devices 1 to 10 predict a collision with an obstacle ahead of the host vehicle, the collision prediction alarm device 8, the brake device 9, and the seat belt pretensioner 10 are operated, and the obstacle ahead of the host vehicle is operated. When a collision with the vehicle is detected, a so-called pre-crash safety system 11 (PCS 11) is further configured to operate the seat belt pretensioner 10 and the PCS 11 includes devices 1 to 7 that are unique to the present invention. 12 is provided.

  The radar unit 2 corresponds to obstacle detection means that can detect the relative position and relative speed of an obstacle ahead of the host vehicle C with respect to the host vehicle C. It consists of a millimeter-wave radar attached to the front. The radar unit 2 includes a transmitting unit 2a that transmits a radar wave (millimeter wave), a receiving unit 2b that receives the reflected wave, and processes information on the transmitted wave and the received wave to detect an obstacle in front of the host vehicle. An information processing unit 2c that calculates a relative position and a relative speed with respect to the vehicle C is provided, and this obstacle detection information (information on the relative position and relative speed of the obstacle ahead of the host vehicle with respect to the host vehicle C) is supplied to the ECU 1. Is done.

  The collision prediction alarm device 8, the brake device 9, and the seat belt pretensioner 10 correspond to operating devices, and the ECU 1 (operating device control unit 21) receives the obstacle detection information from the obstacle detection means (radar unit 2) and receives the obstacle detection information. This corresponds to the operating device control means for controlling the operating device of the vehicle C.

  The in-vehicle camera 3 corresponds to an imaging unit that images the front of the host vehicle C, and includes, for example, a CCD camera attached to the upper rear side of the windshield of the host vehicle CA, and this image information is stored in the ECU 1. Supplied. In the case of the first embodiment, the in-vehicle camera 3 can be omitted, but can be used so that the accuracy of the collision prediction determination performed by the ECU 1 can be improved.

  The GPS device 4 receives radio waves from a plurality of artificial satellites, measures and acquires the current location of the host vehicle C based on the difference in radio wave arrival times, and supplies information on the current location to the ECU 1. The GPS device 4 and the ECU 1 (own vehicle movement determination unit 24) are acquired by the GPS device 4 after a short time from the start of driving shaft rotation with respect to the current location acquired by the GPS device 4 when starting driving wheel rotation of the own vehicle C. It is equivalent to own vehicle movement detection means for detecting the presence or absence of movement of the own vehicle C by calculating the amount of movement of the present location.

  The vehicle C is a two-wheel drive (2WD) in which one of the front wheel 13a and the rear wheel 13b is a driving wheel and the other is a driven wheel, and both the front wheel 13a and the rear wheel 13b are driving wheels. The four-wheel drive (4WD) is selectively switched. However. As the vehicle C, a vehicle C that is always driven by two wheels or a vehicle C that is always driven by four wheels may be employed.

  The wheel speed sensors 5a and 5b detect wheel speeds of the front wheel 13a and the rear wheel 13b, respectively, and information on the wheel speed is supplied to the ECU 1. At least one of the wheel speed sensors 5a and 5b corresponding to the drive wheel and the ECU 1 (drive wheel rotation determination unit 22) correspond to drive wheel rotation detection means for detecting the presence or absence of rotation of the drive wheel of the host vehicle C, and the driven wheel. One of the wheel speed sensors 5a and 5b and the ECU 1 (driven wheel rotation determining unit 23) corresponding to the above corresponds to driven wheel rotation detecting means for detecting the presence or absence of rotation of the driven wheel of the host vehicle C. Here, the own vehicle movement detection means detects the movement of the own vehicle C by detecting the rotation of the driven wheel when the own vehicle C is two-wheel drive.

  The acceleration sensor 6 detects the acceleration of the host vehicle C, the yaw rate sensor 7 detects the yaw rate (turning speed) of the host vehicle C, and information on the acceleration and yaw rate is supplied to the ECU 1.

  The collision prediction warning device 8 outputs a warning when a collision with an obstacle ahead of the host vehicle is predicted, and includes, for example, at least one of a speaker, a buzzer, a lamp, and a display. The brake device 9 activates a brake of the host vehicle C that applies a braking force to the front wheels 13a and 13b when a collision with an obstacle ahead of the host vehicle is predicted.

  The seat belt pretensioner 10 tightens the seat belt in use of the host vehicle C when a collision with an obstacle ahead of the host vehicle is predicted, and automatically detects when a collision with an obstacle ahead of the host vehicle is detected. The seat belt in use of the vehicle C is tightened more strongly, and is provided, for example, in each of four seat belt devices equipped for two rows of front seats and two rows of rear seats.

  The ECU 1 is a control unit provided with a computer. The computer processing unit includes a collision determination unit 20, an operating device control unit 21, a drive wheel rotation determination unit 22, a driven wheel rotation determination unit 23, a host vehicle movement determination unit 24, A stationary object determination unit 25 is provided.

  The collision determination unit 20 collides with an obstacle ahead of the host vehicle based on information from the radar unit 2, the (vehicle camera 3) GPS device 4, the wheel speed sensors 5a and 5b, the acceleration sensor 6, and the yaw rate sensor 7. When the collision with the obstacle is predicted by the determination by the collision determination unit 20, the operating device control unit 21 detects the collision prediction alarm device 8, the brake device 9, and the seat belt pre- The tensioner 10 is controlled to operate, and when a collision with an obstacle is detected by the determination by the collision determination unit 20, the seatbelt pretensioner 10 is further controlled to operate.

  The drive wheel rotation determination unit 22 detects the presence / absence of rotation of the drive wheel based on the wheel speed information from at least one of the wheel speed sensors 5a and 5b corresponding to the drive wheel. When it is 0, it is determined that there is no driving wheel rotation, and when the wheel speed of the driving wheel is higher than 0, it is determined that there is driving wheel rotation. The driven wheel rotation determination unit 23 determines the presence or absence of rotation of the driven wheel based on the wheel speed information from one of the wheel speed sensors 5a and 5b corresponding to the driven wheel. For example, the wheel speed of the driven wheel is 0. Alternatively, it is determined that there is no driving wheel rotation when the wheel speed is close to 0 or less, and it is determined that driven wheel rotation is present when the wheel speed of the driven wheel is greater than 0 or a wheel speed close to 0.

  The own vehicle movement determination unit 24 receives the determination result of the driven wheel rotation determination unit 23 and detects the rotation of the driven wheel when the own vehicle C is two-wheel drive (2WD). When the rotation of the driven wheel is not detected, and when the host vehicle C is four-wheel drive (4WD), the driving wheel of the host vehicle C is determined based on the current location information from the GPS device 4. By calculating the amount of movement of the current location acquired by the GPS device 4 after a very short time from the start of driving shaft rotation with respect to the current location acquired by the GPS device 4 at the start of rotation, the presence or absence of movement of the host vehicle C is determined. For example, when the moving amount of the own vehicle C is 0 or less than the moving amount close to 0, it is determined that the own vehicle does not move, and when the moving amount of the own vehicle C is larger than 0 or the moving amount close to 0, the own vehicle It is determined that there is movement.

  The stationary object determination unit 25 is a case where the rotation of the driving wheel is detected by the driving wheel rotation detection unit (the driving wheel rotation determination unit 22 determines that there is driving wheel rotation), and the own vehicle movement detection unit detects the host vehicle C. In which the relative speed of the obstacle detected by the obstacle detecting means (radar unit 2) with respect to the own vehicle C does not change. Corresponds to stationary object determination means for determining that the object is a stationary object.

  That is, the stationary object determination unit 25 receives the determination results of the driving wheel rotation determination unit 22, the driven wheel rotation determination unit 23, and the own vehicle movement determination unit 24, and determines whether or not the obstacle ahead of the own vehicle is a stationary object. When the rotation of the driving wheel is detected, the movement of the own vehicle C is detected in the case of four-wheel driving or the rotation of the driven wheel is not detected (the movement amount of the own vehicle C is 0 or 0). If the obstacle ahead of the own vehicle is a moving object, the movement of the own vehicle C is not detected (the movement amount of the own vehicle C is 0 or less than the movement amount close to 0). In the case of (), it is determined that the obstacle ahead of the host vehicle is a stationary object.

  Then, the operating device control unit 21 receives the determination result when the stationary object determination unit 25 determines that the obstacle ahead of the host vehicle is a stationary object at the start of driving wheel rotation of the host vehicle C. The collision determination unit 20 controls the collision prediction alarm device 8, the brake device 9, and the seat belt pretensioner 10 so as not to malfunction by preventing the collision prediction from being determined.

  Next, the process and control which ECU1 performs is demonstrated in detail based on the flowchart of FIGS. A program for executing this processing / control is stored in the computer ROM of the ECU 1 or the like.

  As shown in FIG. 3, this processing / control is started when the ignition switch of the host vehicle C is turned on. First, the wheel speeds, accelerations detected by the wheel speed sensors 5a, 5b, the acceleration sensor 6, and the yaw rate sensor 7, The yaw rate is read (S1), then the obstacle detection information detected by the radar unit 2 (information on the relative position and relative speed of the obstacle ahead of the host vehicle with respect to the host vehicle C) is read, and then in step S3 Then, the stationary object determination process and the collision prediction process are executed, and the collision detection process is executed in S6.

  When a collision with an obstacle ahead of the host vehicle is predicted as a result of the collision prediction process in S3 (S4; Yes), the collision prediction alarm device 8, the brake device 9, and the seat belt pretensioner 10 are controlled to operate. (S5) When a collision with an obstacle ahead of the host vehicle is detected as a result of the collision detection process in S6 (S7; Yes), the seat belt pretensioner 10 is further controlled to operate (S8). The seat belt pretensioner 10 includes a first seat belt pretensioner driven by a motor and a second seat belt pretensioner driven by gas expansion. In S5, the first seat belt pretensioner operates. In S8, the second seat belt pretensioner operates.

  As shown in FIG. 4, in the collision prediction process of S3, the course of the host vehicle C is estimated from the vehicle speed and yaw rate of the host vehicle C (S10), and a predetermined time later from the information on the estimated course and the obstacle detection information. The position of the host vehicle C with respect to the obstacle ahead of the host vehicle is estimated (S11), and then it is determined whether or not the position of the host vehicle C and the obstacle coincide with each other within a predetermined time (S12). In this case, the process returns without predicting the collision. If S12; Yes, the process proceeds to S13. The vehicle speed of the host vehicle C is obtained from the wheel speeds detected by the wheel speed sensors 5a and 5b corresponding to the drive wheels.

  Here, when the own vehicle C starts and the driving wheel idles and the own vehicle C cannot travel, there may be S12; Yes when there is a stationary obstacle near the front of the own vehicle. Conventionally, a collision is predicted (S14), and the vehicle returns. Under this situation, the host vehicle C and the stationary object do not collide. Here, in S13, the stationary object set in the stationary object determination process described later is set. When the object flag SF is referred and SF = 1 (S13; Yes), that is, when it is determined that the obstacle ahead of the host vehicle is a stationary object, the collision is returned without being predicted, and S13; If so, a collision is predicted (S14) and the process returns.

  As shown in FIG. 5, in the stationary object determination process of S3, it is determined from the obstacle detection information whether there is an obstacle ahead of the host vehicle (S20). If S20; Yes, the wheel speed of the drive wheel is determined. It is determined whether or not the driving wheel is rotating (S21). If S21: Yes, it is determined whether or not 4WD (four-wheel drive) is selected (S22). If S22; No, it is determined whether or not the driven wheel is rotating (S23). In the case of S20; No, S21; No, and S23; Yes, it is determined that the obstacle ahead of the host vehicle is not a stationary object, and when SF = 1, SF ← 0 is returned.

  In the case of S22; Yes and S23; No, the current location information of the host vehicle C is read from the GPS device 4 (S24). Here, the current location information and the current location information read in S24 over the past several times. Is stored in memory, and then obtained from the current location information by the GPS device after a minute time from the start of the drive shaft rotation with respect to the current location obtained by the GPS device 4 at the start of driving wheel rotation of the host vehicle C. The amount of movement of the current location is calculated (S25).

  If the movement amount calculated in S25 is 0 or larger than the movement amount close to 0, it is determined that there is movement (S26; Yes), and the obstacle ahead of the host vehicle is not a stationary object. Return to 0 and return, and if the movement amount calculated in S25 is 0 or less than the movement amount close to 0, it is determined that there is no movement (S26; No), and the obstacle ahead of the host vehicle is determined to be a stationary object (S27) If SF = 0, set SF ← 1 (S28) and return.

The PCS 11 described above and including the obstacle detection device 12 has the following actions and effects.
In the case where the presence or absence of rotation of the driving wheel of the own vehicle C is detected, the presence or absence of movement of the own vehicle C is detected, the rotation of the driving wheel of the own vehicle C is detected, and the movement of the own vehicle C is not detected. When the road surface is frozen, such as in winter when the temperature is low, it is possible to assume a situation in which the driving wheel idles when the vehicle C starts and the vehicle C cannot travel. Since the obstacle whose relative speed with respect to the own vehicle C does not change is determined to be a stationary object, it is not erroneously determined that the obstacle is a moving object such as another vehicle. It is possible to accurately and reliably determine that the obstacle ahead of the vehicle is a stationary object. Therefore, based on the obstacle detection information from the radar unit 2 and further based on the determination result of the stationary object, the collision of the host vehicle C Prediction alarm device 8, brake device 9, seat belt prete Can be controlled so as to operate properly tensioner 10.

  That is, when it is determined that the obstacle is a stationary object at the start of driving wheel rotation of the host vehicle C, the collision prediction warning device 8, the brake device 9, and the seat belt pretensioner 10 of the host vehicle C are received in response to the determination result. Therefore, when the driving wheel is idled and the host vehicle cannot run when the host vehicle C starts, the collision prediction alarm device 8, the brake device 9, and the seat belt pretensioner 10 are inappropriately operated. Can be surely prevented.

  When the host vehicle C is a two-wheel drive, the presence or absence of rotation of the driven wheel of the host vehicle C is detected, and the movement of the host vehicle C is detected by detecting the rotation of the driven wheel. It is possible to detect easily and reliably. The GPS device 4 that acquires the current location of the host vehicle C is provided, and is acquired by the GPS device 4 after a minute time from the start of driving shaft rotation with respect to the current location acquired by the GPS device 4 when the driving wheel of the host vehicle C starts rotating. By calculating the amount of movement of the current location, the presence or absence of movement of the host vehicle C is detected, and therefore the presence or absence of movement of the host vehicle C is detected using the GPS device 4 when the host vehicle C does not move. It can be detected.

  In the second embodiment, the own vehicle movement detection means and the stationary object determination means of the first embodiment are changed. The in-vehicle camera 3 and the ECU 1 (the own vehicle movement determination unit 24) corresponding to the own vehicle movement detection unit of the second embodiment are an image captured by the in-vehicle camera 3 at the start of driving wheel rotation of the own vehicle C and the start of driving shaft rotation. In comparison with the image captured by the in-vehicle camera 3 after a short period of time, the presence or absence of movement of the host vehicle C is detected. In this case, the host vehicle movement determination unit 24, for example, changes in the image due to travel of the host vehicle C If there is no movement, it is determined that there is no movement of the own vehicle.

  The stationary object determination unit 25 of the ECU 1 corresponding to the stationary object determination unit receives the determination results of the drive wheel rotation determination unit 22, the driven wheel rotation determination unit 23, and the own vehicle movement determination unit 24, and detects the rotation of the drive wheel. In the case of four-wheel drive or when the rotation of the driven wheel is not detected, if the movement of the host vehicle C is detected (there is an image change due to the traveling of the host vehicle C), an obstacle ahead of the host vehicle Is determined to be a moving object, and if the movement of the host vehicle C is not detected (there is no image change due to traveling of the host vehicle C), it is determined that the obstacle ahead of the host vehicle is a stationary object.

  Next, the stationary object determination process executed by the ECU 1 is as shown in FIG. As shown in FIG. 6, in this stationary object determination process, S30 to S33 are the same as S20 to S23 of the first embodiment. When S32: Yes and S33; In rare cases (S34), it is assumed that the image information and the image information read in S34 for the past several times are stored and held, and then image processing (S35) is executed from these image information. Then, the image captured by the vehicle-mounted camera 3 at the start of rotation of the driving wheel of the host vehicle C is compared with the image captured by the vehicle-mounted camera 3 after a short time from the start of rotation of the drive shaft (S36), as described above. If it is determined that there is movement (S37; Yes), the obstacle in front of the host vehicle returns as not a stationary object, and if it is determined that there is no movement (S37; No), the obstacle in front of the host vehicle is stationary. (S3 ), In the SF ← 1 (S39), to return.

  In this way, the vehicle-mounted camera 3 that images the front of the host vehicle C is provided, and the image captured by the vehicle-mounted camera 3 when the driving wheel of the host vehicle C starts rotating and the image captured by the vehicle-mounted camera 3 after a short time from the start of driving shaft rotation. Since the presence / absence of movement of the own vehicle C is detected in comparison with the captured image, the presence / absence of the movement of the own vehicle C is detected by using the in-vehicle camera 3 particularly when the own vehicle C does not move. it can. Except for the configuration, operation, and effects associated with the above change, the configuration, operation, and effect are basically the same as those of the first embodiment.

  In the third embodiment, the stationary object determination process of FIG. 5 of the first embodiment is changed. As shown in FIG. 7, this stationary object determination process is for vehicle C, which is always two-wheel drive (P at 2W), and S40, S41, and S42 that perform the same processes as S20, S21, and S23 of FIG. Have. If S40; No or S41; No or S42; Yes, the process returns. If S40; Yes, S41; Yes, S42; No, the obstacle ahead of the host vehicle is determined to be a stationary object (S43). SF ← 1 (S44), and the process returns.

  In the fourth embodiment, the stationary object determination process of FIG. 5 of the first embodiment is changed. As shown in FIG. 8, this stationary object determination process is for vehicle C, which is always four-wheel drive (4W, P), and performs the same processes as S20, S21, S24, S25, and S26 of FIG. S51, S52, S53, S54. And in S50; No or S51; No, it returns. If S51; Yes, S52, S53, and S54 are executed in sequence, but if S54; Yes, the process returns. If S54; No, it is determined that the obstacle ahead of the host vehicle is a stationary object (S55). SF ← 1 (S56), and the process returns.

  In the fifth embodiment, the stationary object determination process of FIG. 5 of the first embodiment is changed. As shown in FIG. 9, in this stationary object determination process, first, based on the information on the wheel speed from at least one of the wheel speed sensors 5a, 5b corresponding to the drive wheels, it is determined whether or not the host vehicle C is starting. It is determined (S60). At the start of rotation of the drive wheels, it is determined that the host vehicle C is starting (S60; Yes), but if not (S60; No), the process returns.

  If S60; Yes, then it is determined whether there is an obstacle ahead of the host vehicle (S61). If S61; No, the process returns. If S61: Yes, it is next determined whether or not the drive wheel is rotating (S62). If S62; No, the process returns. S62: In the case of Yes, the acceleration detected by the acceleration sensor 6 is read, provided that this acceleration and the acceleration read over the past several times are stored and held, and the driving wheel rotation of the host vehicle C is started. With respect to the acceleration at that time, a change in acceleration after a minute time from the start of driving shaft rotation is calculated, and it is determined whether or not there is a change in acceleration (S63). If S63: Yes, the process returns. If S63; No, the obstacle ahead of the host vehicle is determined to be a stationary object (S64), SF ← 1 is set (S65), and the process returns.

  In addition, various modifications can be added without departing from the spirit of the present invention, and the vehicle obstacle detection device of the present invention can be applied to vehicles such as various automobiles.

It is a top view which shows the apparatus of PCS of the own vehicle. It is a block diagram of the apparatus of PCS of the own vehicle. It is a flowchart of the process and control in PCS. It is a flowchart of a collision prediction process. 3 is a flowchart of stationary object determination processing according to the first embodiment. 6 is a flowchart of stationary object determination processing according to the second embodiment. 10 is a flowchart of stationary object determination processing according to the third embodiment. 10 is a flowchart of stationary object determination processing according to the fourth embodiment. 10 is a flowchart of stationary object determination processing according to the fifth embodiment.

Explanation of symbols

C Vehicle (own vehicle)
1 ECU
2 Radar unit 3 Vehicle-mounted camera 4 GPS device 5a, 5b Wheel speed sensor 8 Collision prediction alarm device 9 Brake device 10 Seat belt pretensioner 12 Obstacle detection device

Claims (8)

Obstacle detection means capable of detecting the relative position and relative speed of the obstacle ahead of the own vehicle with respect to the own vehicle, and controls the operating equipment of the own vehicle in response to the obstacle detection information from the obstacle detection means In an obstacle detection device for a vehicle provided with operating device control means,
Drive wheel rotation detection means for detecting the presence or absence of rotation of the drive wheel of the host vehicle;
Own vehicle movement detection means for detecting the presence or absence of movement of the own vehicle;
When the rotation of the driving wheel is detected by the driving wheel rotation detecting means and the movement of the own vehicle is not detected by the own vehicle movement detecting means, the own vehicle of the obstacle detected by the obstacle detecting means A stationary object judging means for judging that an obstacle having no change in relative speed with respect to a stationary object,
An obstacle detection device for a vehicle, comprising:   The actuating device control means prevents the actuating device from malfunctioning in response to the determination result when the stationary object determining means determines that the obstacle is a stationary object at the start of driving wheel rotation of the host vehicle. The vehicle obstacle detection device according to claim 1, wherein the vehicle obstacle detection device is controlled as follows.   The own vehicle movement detecting means includes driven wheel rotation detecting means for detecting the presence or absence of rotation of the driven wheel of the own vehicle when the own vehicle is a two-wheel drive, and the driven wheel rotation detecting means detects the rotation of the driven wheel. The vehicle obstacle detection device according to claim 1, wherein movement of the host vehicle is detected by being detected.   The own vehicle movement detection means includes a GPS device that acquires the current location of the own vehicle, and the GPS device uses a GPS device after a short time from the start of driving shaft rotation with respect to the current location acquired by the GPS device when starting driving wheel rotation of the own vehicle. The vehicle obstacle detection device according to any one of claims 1 to 3, wherein the presence or absence of movement of the host vehicle is detected by calculating a movement amount of the acquired current location.   The own vehicle movement detection means includes an image pickup means for picking up an image of the front of the own vehicle, and is picked up by the image pickup means after a minute time from the start of rotation of the drive shaft and the image picked up by the image pickup means when the drive wheel rotation of the own vehicle starts The vehicle obstacle detection device according to any one of claims 1 to 3, wherein the presence or absence of movement of the host vehicle is detected in comparison with the captured image.   The vehicle obstacle according to any one of claims 1 to 5, wherein the operating device includes a collision prediction warning device that outputs a warning when a collision with an obstacle ahead of the host vehicle is predicted. Detection device.   6. The vehicle obstacle according to claim 1, wherein the operating device includes a brake device that operates a brake of the host vehicle when a collision with an obstacle ahead of the host vehicle is predicted. Object detection device.   6. The actuating device comprises a seat belt pretensioner that tightens a seat belt in use of the host vehicle when a collision with an obstacle ahead of the host vehicle is predicted or detected. The obstacle detection device for a vehicle according to any one of the above.