JP2009301146A - Sensor control system and sensor controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To detect over a wide range the risks of collision that could occur with a vehicle being driven, while compensating the driver's viewing field. <P>SOLUTION: A sensor control system includes: a sensor holding unit (right) for holding a monitoring sensor unit horizontally and/or vertically movably, the monitoring sensor unit being disposed in a position where it monitors the front and the left side of a vehicle along its direction of travel and comprising one or more monitoring sensors; and a sensor holding unit (left) for holding another monitoring sensor unit horizontally and/or vertically movably, the monitoring sensor unit being disposed in a position where it monitors the front and the right side of the vehicle along its direction of travel. The sensor control system is configured so that a monitoring direction change instruction unit instructs the sensor holding unit (right) and the sensor holding unit (left) to independently change the monitoring directions of the monitoring sensor units based on map information and the vehicle's current position. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a sensor control system and a sensor control apparatus that control a monitoring sensor for monitoring the periphery of a vehicle, and in particular, to detect a wide range of possible collision risks in a traveling vehicle while supplementing the driver's field of view. The present invention relates to a sensor control system and a sensor control device.

  In recent years, sensors for monitoring outside the vehicle such as millimeter wave radars, laser radars, ultrasonic sensors, and image sensors have been mounted on automobiles. Such monitoring sensors detect obstacles such as pedestrians and oncoming vehicles and notify the driver, and when there is a risk of collision, perform control such as brake operation and seat belt hoisting. Used for.

  However, each monitoring sensor has a limited distance or range that can be monitored according to the type of the monitoring sensor. Therefore, if the monitoring sensor is fixed to the vehicle, the monitorable area is limited. Therefore, a technique has been proposed in which a mechanism for dynamically changing the direction of the monitoring sensor is provided, and the direction of the monitoring sensor itself is changed according to the traveling state of the vehicle.

  For example, Patent Document 1 discloses a technique for changing the direction of a movable monitoring sensor provided so as to monitor the front of the vehicle in a normal direction to the traveling direction of the vehicle based on a winker operation or a signal value of a yaw rate sensor. ing. As a result, when the intersection is turned right or left, that is, when the traveling direction of the vehicle changes, it is possible to monitor a region in a new traveling direction.

JP 2007-58326 A

  However, even when the technique disclosed in Patent Document 1 is used, there is a problem that danger at an intersection or the like cannot be sufficiently avoided. For example, assuming that the host vehicle is about to turn left at an intersection, the vehicle or the like may approach not only from the left side of the vehicle but also from the front of the vehicle or from the right side of the vehicle. However, in the technique of Patent Document 1, since control is performed so as to monitor only the left front of the host vehicle that is going to turn left at the intersection, it is impossible to detect a danger coming from directions other than the left front.

  In general, it is said that the movement of the skilled driver's viewpoint is larger than the movement of the novice driver's viewpoint. In the case of an expert driver, even if he makes a left turn, he / she must be vigilant in the forward and right directions. . However, it is difficult for all drivers to acquire skills like skilled drivers.

  For these reasons, it is a major issue how to realize a sensor control system that can detect the danger of a collision that may occur in a running vehicle while supplementing the driver's field of view. Such a problem is also a problem that occurs similarly in a sensor control device such as an ECU (Engine Control Unit) included in the sensor control system.

  The present invention has been made to solve the above-described problems caused by the prior art, and is a sensor control system capable of widely detecting the risk of a collision that may occur in a running vehicle while supplementing the driver's field of view. And it aims at providing a sensor control apparatus.

  In order to solve the above-described problems and achieve the object, the present invention is a sensor control system that controls a monitoring sensor for monitoring the periphery of a vehicle, and is arranged at a position where the traveling direction and one side surface of the vehicle can be monitored. A first holding means for holding the monitoring sensor unit, which is provided and can change the orientation of the monitoring sensor unit composed of one or more monitoring sensors in the horizontal direction and / or the vertical direction, and the traveling direction of the vehicle and the other side surface can be monitored. A second holding means for changing the orientation of the monitoring sensor unit disposed at various positions in a horizontal direction and / or a vertical direction, and monitoring the monitoring sensor unit based on the map information and the current position of the vehicle. And a monitoring direction change instructing unit for independently instructing the first holding unit and the second holding unit to change the direction.

  The present invention is also a sensor control device that controls a monitoring sensor that monitors the periphery of a vehicle, and monitors a plurality of monitoring sensor units including one or more monitoring sensors based on map information and the current position of the vehicle. It is characterized by comprising monitoring direction change instructing means for instructing the direction change independently.

  According to the present invention, it is possible to change the direction of the monitoring sensor unit including one or more monitoring sensors in the horizontal direction and / or the vertical direction, which is disposed at a position where the traveling direction of the vehicle and one side surface can be monitored. First holding means for holding and second holding for holding the moving direction of the vehicle and the direction of the monitoring sensor unit disposed at a position where the other side surface can be monitored in a horizontal direction and / or a vertical direction. Means for independently instructing the first holding means and the second holding means to change the monitoring direction of the monitoring sensor unit based on the map information and the current position of the vehicle. There is an effect that it is possible to detect a wide range of possible dangers of a collision with a traveling vehicle while supplementing the field of view.

  Exemplary embodiments of a sensor control system according to the present invention will be described below in detail with reference to the accompanying drawings. In the following, the outline of the sensor control method according to the present invention will be described with reference to FIG. 1, and then an embodiment of the sensor control system to which the sensor control method according to the present invention is applied will be described with reference to FIGS. Will be explained.

  First, the outline of the sensor control method according to the present invention will be described with reference to FIG. FIG. 1 is a diagram showing an outline of a sensor control method according to the present invention. As shown in the figure, movable sensor units that can change the monitoring direction of the sensor in the vertical direction and the horizontal direction are respectively arranged in the right front portion and the left front portion of the vehicle.

  Here, each movable sensor unit is mounted with a combination of sensors for monitoring outside the vehicle such as millimeter wave radar, laser radar, ultrasonic sensor, and image sensor. Only one type of sensor may be mounted.

  The sensor mounted on each movable sensor unit can monitor a predetermined range centered on the “monitoring direction” shown in the figure (see “monitoring range” shown in the figure). Then, the movable sensor unit controls the monitoring direction within a predetermined range by changing the direction of the sensor itself (see “movable range in the monitoring direction” in the figure).

  The control of each movable sensor unit can be performed independently. For example, the monitoring direction of one movable sensor unit is directed toward the front of the vehicle while only the monitoring direction of the other movable sensor unit is controlled. It is also possible to turn to the left side of the vehicle.

  Moreover, although the case where the movable range in the monitoring direction is a perfect circle or an ellipse is shown in the figure, the movable range may be controlled to be a rectangle or the like. Moreover, although the case where each movable sensor unit is disposed in the vicinity of the bumper at the front corner of the automobile is shown in the same figure, it may be disposed in another place, for example, near each door mirror.

  Thus, in the sensor control method according to the present invention, the movable sensor unit for the front / right side and the movable sensor unit for the front / left side are arranged on the vehicle (see (1) in the figure). Based on the map information and the like, the monitoring direction of each movable sensor unit is controlled independently based on the map information and the output values of various vehicle sensors (see (2) in the figure). Therefore, it is possible to detect the danger of a collision that may occur in a traveling vehicle while supplementing the driver's field of view.

  Below, the Example about the sensor control system to which the sensor control method demonstrated in FIG. 1 is applied is described. In addition, although the Example shown below demonstrates the case where a sensor control system is applied to vehicles, such as a motor vehicle, it is good also as applying to mobile bodies, such as a rail vehicle, a ship, and an aircraft.

  FIG. 2 is a block diagram illustrating a configuration of the sensor control system 10 according to the present embodiment. As shown in the figure, the sensor control system 10 is connected to a navigation device 101, and is also connected to vehicle sensors such as a vehicle speed sensor 102 and a yaw rate sensor 103 that acquire a vehicle state.

  The navigation device 101 is a device that provides the current position of a vehicle, route information to a destination, and the like using a GPS (Global Positioning System) positioning function. The navigation device 101 stores map information 101a including road and building position information, and a current position 10b updated at any time using a GPS positioning function, a gyroscope, and various vehicle sensors in a storage unit (not shown). The information is provided to the sensor control system 10.

  The vehicle speed sensor 102 is a sensor that detects the speed of the vehicle, and the yaw rate sensor 103 is a sensor that detects the yaw movement of the vehicle. In FIG. 2, the vehicle speed sensor 102 and the yaw rate sensor 103 are shown as examples of the vehicle sensor, but sensors such as a pitch rate sensor that detects the pitch motion of the vehicle and a roll rate sensor that detects the roll motion of the vehicle are sensors. It may be connected to the control system 10.

  The sensor control system 10 includes a monitoring sensor unit 11a, a sensor holding unit (right) 12a that holds the monitoring sensor unit 11a movably, a monitoring sensor unit 11b, and a sensor that holds the monitoring sensor unit 11b movably. A holding unit (left) 12b and a sensor control device 13 are provided. And the sensor control apparatus 13 is further provided with the monitoring direction change instruction | indication part 13a, the monitoring direction correction | amendment part 13b, and the monitoring precision correction | amendment part 13c.

  The monitoring sensor unit 11a and the monitoring sensor unit 11b are configured by a predetermined combination of sensors for monitoring outside the vehicle such as a millimeter wave radar, a laser radar, an ultrasonic sensor, and an image sensor, or any one sensor. The monitoring sensor unit 11a and the monitoring sensor unit 11b output detection results to the control direction correction unit 13b and the monitoring accuracy correction unit 13c, and monitor each sensor according to a monitoring accuracy change instruction from the monitoring accuracy correction unit 13c. Perform processing to change accuracy.

  The sensor holding unit (right) 12a and the sensor holding unit (left) 12b hold the monitoring sensor unit 11a and the monitoring sensor unit 11b movably, and monitor from the monitoring direction change instruction unit 13a of the sensor control device 13, respectively. According to the direction change instruction, the monitoring direction of each unit is changed. For example, each sensor holding unit (12a and 12b) includes a servo motor and a movable mechanism that is linked to the servo motor, and operates each servo motor based on a signal from the monitoring direction change instruction unit 13a. Change the monitoring direction. When a plurality of sensors are included in each unit, the monitoring direction of each sensor is controlled independently.

  The sensor control device 13 controls the operation of each sensor holding unit (12a and 12b) based on the map information 101a and the current position 101b provided from the navigation device 101, and signal values from vehicle sensors such as the vehicle speed sensor 102 and the yaw rate sensor 103. It is processing parts, such as ECU. In addition, the sensor control device 13 corrects the monitoring direction once determined based on the sensor output value of each monitoring sensor unit (11a and 11b) and the sensor output value of each monitoring sensor unit (11a and 11b). It is also a processing unit that performs correction to change the monitoring accuracy of each monitoring sensor unit (11a and 11b) based on the above.

  The monitoring direction change instructing unit 13a is based on the map information 101a and the current position 101b provided from the navigation device 101, and signal values from vehicle sensors such as the vehicle speed sensor 102 and the yaw rate sensor 103, for each of the monitoring sensor units (11a and 11b). It is a processing unit that performs a process of outputting an instruction to change the monitoring direction to each sensor holding unit (12a and 12b). The monitoring direction change instruction unit 13a also performs a process of changing the once determined monitoring direction in accordance with an instruction from the monitoring direction correction unit 13b.

  Here, an example of the monitoring direction change control performed by the instruction of the monitoring direction change instruction unit 13a will be described with reference to FIGS. FIG. 3 is a diagram illustrating a positional relationship between the intersection and the host vehicle. In addition, 200 shown in the figure represents the own vehicle on which the sensor control system 10 is mounted.

  As shown in FIG. 3, the monitoring direction change instruction unit 13 a calculates the positional relationship with the intersection existing in the traveling direction of the host vehicle 200 based on the map information 101 a and the current position 101 b provided from the navigation device 101. Here, X1 is the distance from the left side surface of the host vehicle 200 to the left end of the running road, Y1 is the distance from the front end of the host vehicle 200 to the start point of the intersection, and X2 is the right side surface of the host vehicle 200. Y2 indicates the distance from the front end of the host vehicle 200 to the end point of the intersection.

  Based on the values of X1, X2, Y1, and Y2 shown in the figure, the monitoring direction change instructing unit 13a gives instructions to change the monitoring direction to the sensor holding unit (right) 12a and the sensor holding unit (left) 12b. Output independently. For example, in the case shown in the figure, the monitoring direction is instructed to the sensor holding part (left) 12b so that at least 31 shown in the figure is included in the monitoring range (see FIG. 1).

  Further, the monitoring direction is instructed to the sensor holding unit (right) 12a so that at least 32 shown in the figure is included in the monitoring range. In addition, each monitoring direction shall be changed in steps as the own vehicle 200 approaches an intersection so that 31 and 32 shown in the figure may be included.

  Next, an example of monitoring direction control when the host vehicle 200 passes through a cross-shaped intersection existing in the traveling direction will be described with reference to FIG. FIG. 4 is a diagram showing an overview of the monitoring direction control when passing through the cross intersection. As shown in (1) of the figure, when the host vehicle 200 approaches the intersection, the monitoring direction change instruction unit 13a is directed to the sensor holding unit (left) 12b in the monitoring direction toward the left corner on the near side of the intersection. To change. In addition, 41L shown in the figure has shown the monitoring range of the monitoring sensor unit 11b hold | maintained by the sensor holding | maintenance part (left) 12b.

  Further, the monitoring direction change instruction unit 13a instructs the sensor holding unit (right) 12a to change the monitoring direction toward the right corner on the near side of the intersection. In addition, 41R shown to the same figure has shown the monitoring range of the monitoring sensor unit 11a hold | maintained by the sensor holding | maintenance part (right) 12a.

  And as shown in (2) of the figure, when the own vehicle 200 enters the intersection, the monitoring direction change instruction unit 13a detects other vehicles approaching from the road intersecting with the road on which the own vehicle 200 travels. Therefore, the sensor holding unit (left) 12b is instructed to change the monitoring direction to the left side. Further, the monitoring direction change instruction unit 13a instructs the sensor holding unit (right) 12a to change the monitoring direction to the right side. In this way, the monitoring range 41L is changed to the monitoring range 42L, and the monitoring range 41R is changed to the monitoring range 42R.

  In addition, as shown in (3) of the figure, when the own vehicle 200 escapes from the intersection, the monitoring direction change instructing unit 13a returns each sensor holding unit (12a and 12b) so as to return each monitoring direction to the front. ) In this way, the monitoring range 42L is changed to the monitoring range 43L, and the monitoring range 42R is changed to the monitoring range 43R.

  Next, an example of monitoring direction control when the host vehicle 200 passes through a T-shaped intersection existing in the traveling direction will be described with reference to FIG. FIG. 5 is a diagram showing an overview of monitoring direction control when passing through a T-shaped intersection. As shown in (1) of the figure, when the host vehicle approaches the intersection, the monitoring direction change instruction unit 13a changes the monitoring direction toward the right corner on the front side of the intersection on the sensor holding unit (right) 12a. To instruct.

  In addition, 51L shown in the figure is the monitoring range of the monitoring sensor unit 11b held by the sensor holding part (left) 12b, and 51R shown in the figure is the monitoring sensor unit held by the sensor holding part (right) 12a. The monitoring range of 11a is shown respectively.

  And as shown in (2) of the figure, when the own vehicle enters the intersection, the monitoring direction change instruction unit 13a detects other vehicles approaching from the road intersecting with the road on which the own vehicle 200 travels. Therefore, the sensor holding unit (right) 12a is instructed to change the monitoring direction to the right side. Note that no instruction is given to the sensor holding unit (left) 12b. In this way, the monitoring range 51R is changed to the monitoring range 52R.

  In addition, as shown in (3) of the figure, when the own vehicle 200 escapes from the intersection, the monitoring direction change instruction unit 13a returns the monitoring direction of the monitoring sensor unit 11a to the sensor holding unit ( Right) Instruct to 12a. In this way, the monitoring range 52R is changed to the monitoring range 53R.

  Further, in the figure, a T-shaped intersection with a road intersecting with the right side of the traveling direction is shown, but in the case of a T-shaped intersection with a road intersecting with the left side of the traveling direction, the sensor holding unit (left) 12b The monitoring direction change instruction unit 13a instructs to change the monitoring direction of the monitoring sensor unit 11b.

  Next, an example of monitoring direction control when the host vehicle 200 passes a curve existing in the traveling direction will be described with reference to FIG. FIG. 6 is a diagram showing an overview of the monitoring direction control when passing a curve. As shown in the figure, the monitoring range 61L and the monitoring range 61R of the host vehicle 200a before entering the curve are the curvature of the curve (R) included in the map information 101a when passing the curve (see 200b in the figure). ) And the like, respectively, are changed to the monitoring range 62L and the monitoring range 62R.

  The monitoring range 62L is adjusted in a direction in which a preceding vehicle and a roadside obstacle can be detected, and the monitoring range 62R is adjusted in a direction in which an oncoming vehicle can be detected. In addition to the curvature (R) of the curve based on the map information 101a, each monitoring range is adjusted stepwise based on the vehicle steering angle, the vehicle position relative to the lane width, and the like.

  Next, an example of monitoring direction control accompanying a change in road gradient or a pitch movement of the host vehicle will be described with reference to FIG. FIG. 7 is a diagram showing an overview of the monitoring direction control when the road gradient changes and when the vehicle pitch angle changes. Note that the vertical monitoring direction change control shown in the figure is performed based on road gradient information included in the map information 101a and output values of vehicle sensors such as a pitch rate sensor.

  As shown in (1) of the figure, when the road gradient in the traveling direction changes to an uphill, the monitoring direction change instruction unit 13a monitors the monitoring direction of each monitoring sensor unit (11a and 11b). Is instructed to the respective sensor holding portions (12a and 12b) to change upward to the monitoring direction at the normal time. In this way, the normal monitoring range 71a is changed to the monitoring range 71b, and it becomes possible to monitor vehicles and pedestrians present on the uphill.

  Also, as shown in (2) of the figure, when the road gradient in the traveling direction changes to a downhill, the monitoring direction change instructing unit 13a sends the monitoring sensor units (11a and 11b) The sensor holding units (12a and 12b) are instructed to change the monitoring direction downward from the normal monitoring direction. In this way, the normal monitoring range 72a is changed to the monitoring range 72b, and vehicles and pedestrians present on the downhill can be monitored.

  Also, as shown in (3) of the figure, if the front of the vehicle is pushed up (or the rear of the vehicle is pushed down) due to the influence of unevenness or obstacles on the road, the monitoring direction The change instructing unit 13a instructs each sensor holding unit (12a and 12b) to change the monitoring direction of each monitoring sensor unit (11a and 11b) downward from the normal monitoring direction. In this way, the normal monitoring range 73a is changed to the monitoring range 73b, and the traveling direction can be monitored.

  In addition, as shown in (4) of the figure, in the case where the front side of the vehicle is pushed down (or the rear side of the vehicle is pushed up) due to the influence of unevenness or obstacles on the road, the monitoring direction The change instructing unit 13a instructs each sensor holding unit (12a and 12b) to change the monitoring direction of each monitoring sensor unit (11a and 11b) above the normal monitoring direction. In this way, the normal monitoring range 74a is changed to the monitoring range 74b, and the traveling direction can be monitored.

  Next, the monitoring direction correction unit 13b will be described. The monitoring direction correction unit 13b is a processing unit that corrects the monitoring direction based on the sensor value of each monitoring sensor unit (11a and 11b). The monitoring direction correction unit 13b then instructs each of the sensor holding units (12a and 12b) via the monitoring direction change instruction unit 13a by instructing the monitoring direction change instruction unit 13a with a monitoring direction correction amount. The monitoring direction of the monitoring sensor units (11a and 11b) is changed.

  Here, an operation example of the monitoring direction correction unit 13b will be described with reference to FIG. FIG. 8 is a diagram showing an overview of the monitoring direction correction process. In the case shown in the figure, each monitoring sensor unit (11a and 11b) includes an image sensor, and this image sensor can distinguish between a moving object and a stationary object on the road. To do.

  When the host vehicle 200 approaches the intersection, and once the monitoring direction of the monitoring sensor unit 11a is instructed toward the right corner on the near side of the intersection by the instruction of the monitoring direction change instruction unit 13a (the monitoring range in this case is shown in the figure) 81R) will be described. In this case, the monitoring direction correction unit 13b inspects the sensor value from the monitoring sensor unit 11a and acquires the position of the stationary object 300 shown in FIG.

  Then, the monitoring direction correction unit 13b changes the monitoring range 81R to the monitoring range 82R so that the other vehicle 400 or the like approaching while avoiding the stationary object 300 can be monitored. In addition, although the case where the stationary object 300 was detected by the monitoring sensor unit 11a was illustrated in the same figure, when the road which should exist in the map information 101a is not detected, the road which does not exist in the map information 101a is detected. In such a case, the monitoring direction correction process can be performed. In this way, by performing the monitoring direction correction process, it is possible to further reduce the blind spot viewed from the host vehicle 200.

  Next, the monitoring accuracy correction unit 13c will be described. The monitoring accuracy correction unit 13c is a processing unit that performs correction to increase or decrease the detection accuracy of each sensor based on the sensor value of each monitoring sensor unit (11a and 11b) and the sensor value of various vehicle sensors.

  For example, when the monitoring accuracy correction unit 13c detects that the vehicle is about to enter an intersection without decreasing the vehicle speed based on the vehicle speed acquired from the vehicle speed sensor 102, the map information 101a, and the current position 101b, the threshold value for sensing To improve the detection accuracy of the sensor. By doing in this way, it becomes possible to detect the danger with respect to the own vehicle more reliably.

  The monitoring accuracy correction unit 13c may perform control so as to improve the sensor accuracy in the vicinity of the accident frequent occurrence point based on the accident frequent occurrence point information included in the map information 101a. It is good also as controlling so that sensor accuracy may be improved.

  Further, when each of the monitoring sensor units (11a and 11b) detects a road sign, the sensor accuracy may be changed based on the content of the sign after detecting the content of the sign. 11a and 11b) may change the sensor accuracy when bad weather or road surface abnormality is detected.

  Next, a processing procedure executed by the sensor control system 10 will be described with reference to FIG. FIG. 9 is a flowchart showing a processing procedure executed by the sensor control system 10. As shown in the figure, the monitoring direction change instruction unit 13a determines whether or not there is an intersection ahead based on the map information 101a or the like (step S101). And when there is an intersection ahead (Step S101, Yes), it is judged whether the vehicle is decelerating (Step S102).

  And when there is no deceleration (step S102, Yes), the monitoring accuracy correction | amendment part 13c instruct | indicates to raise the monitoring accuracy of each monitoring sensor unit (11a and 11b) (step S103). On the other hand, when there is deceleration (No at Step S102), an instruction is given to maintain normal monitoring accuracy (Step S104). If the determination condition in step S101 is not satisfied (No in step S101), the process ends without performing the subsequent processes.

  Subsequently, the monitoring direction change instruction unit 13a acquires distance information about the intersection (step S105), and determines whether or not there is an area where the pop-up can be detected earlier (step S106). Here, areas that can detect popping out earlier are areas that are not included in the monitoring range in the current monitoring direction, such as intersection angles where cars and pedestrians may jump out. Point to.

  When there is an area where the pop-up can be detected earlier (step S106, Yes), the monitoring direction change instruction unit 13a instructs each sensor holding unit (12a and 12b) to change the monitoring direction. (Step S107). On the other hand, when the determination condition of step S106 is not satisfied (step S106, No), an instruction is given to maintain the monitoring direction (step S108).

  Then, it is determined whether or not the intersection has been escaped (step S109). If the intersection has not yet been escaped (No at step S109), the processing from step S105 is repeated. On the other hand, when exiting the intersection (step S109, Yes), the monitoring direction change instruction unit 13a instructs each sensor holding unit (12a and 12b) to change the monitoring direction to the normal state (step). S110), the process is terminated.

  As described above, in this embodiment, the front and left sides in the traveling direction of the vehicle are arranged at positions where monitoring is possible, and the direction of the monitoring sensor unit including one or more monitoring sensors is set to the left and / or right. The sensor holding part (right) that is movably held in the vertical direction and the direction of the monitoring sensor unit disposed at a position where the front and right sides in the traveling direction of the vehicle can be monitored can be moved left and right and / or up and down. The monitoring direction change instruction unit changes the monitoring direction of the monitoring sensor unit based on the map information and the current position of the vehicle, and the sensor holding unit (right) and the sensor holding unit ( The sensor control system was configured to instruct each independently for the left).

  Therefore, it is possible to detect the danger of a collision that may occur in a traveling vehicle while supplementing the driver's field of view. In addition, it is good also as providing the learning database which learns the driving | operation operation | movement for every driver, and adjusting the direction and detection accuracy of each monitoring sensor unit.

  For example, search the learning database using the current accelerator operation status, brake operation status, steering operation status, road status, and vehicle position information to predict vehicle movement, and then determine the direction and detection accuracy of each monitoring sensor unit. change. By doing in this way, it becomes possible to adjust the direction and accuracy of the sensor in accordance with the operation of each driver, and the danger to the host vehicle can be detected more reliably.

  As described above, the sensor control system according to the present invention is useful when it is desired to detect a wide range of dangers of a collision that may occur in a running vehicle while supplementing the driver's field of view. Moreover, this sensor control system may be used for intrusion monitoring of a suspicious person or the like.

It is a figure which shows the outline | summary of the sensor control method which concerns on this invention. It is a block diagram which shows the structure of the sensor control system which concerns on a present Example. It is a figure which shows the positional relationship of an intersection and the own vehicle. It is a figure which shows the outline | summary of the monitoring direction control at the time of cross-shaped intersection passage. It is a figure which shows the outline | summary of the monitoring direction control at the time of T-shaped intersection passage. It is a figure which shows the outline | summary of the monitoring direction control at the time of curve passing. It is a figure which shows the outline | summary of the monitoring direction control at the time of the gradient variation of a road, and the pitch angle variation of a vehicle. It is a figure which shows the outline | summary of the monitoring direction correction process. It is a flowchart which shows the process sequence which a sensor control system performs.

Explanation of symbols

10 Sensor control system 11a, 11b Monitoring sensor unit 12a Sensor holding part (right)
12b Sensor holding part (left)
DESCRIPTION OF SYMBOLS 13 Sensor control apparatus 13a Monitoring direction change instruction | indication part 13b Monitoring direction correction | amendment part 13c Monitoring accuracy correction | amendment part 101 Navigation apparatus 101a Map information 101b Current position 102 Vehicle speed sensor 103 Yaw rate sensor 200 Own vehicle 300 Still object 400 Other vehicle

Claims (5)

A sensor control system for controlling a monitoring sensor for monitoring a vehicle periphery,
A first direction which is disposed at a position capable of monitoring the traveling direction and one side surface of the vehicle and which can change the orientation of the monitoring sensor unit including one or more of the monitoring sensors in the horizontal direction and / or the vertical direction. Holding means;
Second holding means for holding the moving direction of the vehicle and the direction of the monitoring sensor unit disposed at a position where the other side surface can be monitored in a horizontal direction and / or a vertical direction;
Monitoring direction change instructing means for independently instructing the first holding means and the second holding means to change the monitoring direction of the monitoring sensor unit based on map information and the current position of the vehicle. A sensor control system. When the monitoring direction of the monitoring sensor unit is changed by an instruction from the change instruction unit, the monitoring direction correction unit further corrects the monitoring direction based on the sensor value of the monitoring sensor included in the monitoring sensor unit. The sensor control system according to claim 1. The sensor control system according to claim 1, further comprising: a monitoring accuracy correction unit that corrects the monitoring accuracy of each monitoring sensor based on a sensor value of the monitoring sensor included in the monitoring sensor unit. The monitoring direction change instruction means includes
4. The sensor control system according to claim 1, wherein when a posture change of the vehicle is detected, an instruction is given to maintain the monitoring direction before the posture change occurs. 5. A sensor control device that controls a monitoring sensor that monitors a vehicle periphery,
A sensor comprising a monitoring direction change instruction means for independently instructing a change in the monitoring direction of a plurality of monitoring sensor units composed of one or more monitoring sensors based on map information and a current position of the vehicle Control device.