JP2010030354A - Collision prediction device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a collision prediction device capable of properly supporting a driver. <P>SOLUTION: This collision prediction device includes an information acquisition means, a collision prediction means and a support means. The information acquisition means acquires traveling information on the other vehicle. The collision prediction means predicts the positional relation between one's own vehicle and the other vehicle in a collision based on the traveling information on the other vehicle and traveling information on the own vehicle. The support means is capable of executing support operations including an avoiding support to avoid a collision, and performs the support operations based on the prediction result by the collision prediction means. The collision prediction means predicts the positional relation between the own vehicle and the other vehicle when traveling of the own vehicle is changed by at least one of speed reduction of the own vehicle or a change of a steering direction by the avoiding support. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a collision prediction apparatus for a vehicle, and more particularly to a collision prediction apparatus that predicts a collision form based on a positional relationship between a host vehicle and another vehicle.

In recent years, many techniques have been proposed for the purpose of avoiding a collision of a vehicle or the like or reducing an impact at the time of the collision. For example, in the technique described in Patent Document 1, when a collision with another vehicle is unavoidable, a lateral impact received from the other vehicle is reduced, and a collision load applied to the occupant is reduced. Specifically, the distance, relative speed vector, and angle with another vehicle are measured by a radar mounted on the host vehicle, and the absolute speed of the other vehicle is calculated from the speed of the host vehicle and the relative speed of the other vehicle obtained by the vehicle speed sensor. Measuring. Then, from these measurement results, the collision position and the distance to the collision position are calculated, and when it is determined that the collision is unavoidable, steering control and brake control are performed to reduce the impact at the time of the collision.
JP 2006-188129 A

  The technique described in Patent Document 1 reduces the impact at the time of collision when collision is unavoidable, and does not predict whether side collision can be avoided by deceleration or the like. When the host vehicle can avoid a side collision to the host vehicle by performing deceleration or steering control, the host vehicle should decelerate as much as possible. On the other hand, when the side collision cannot be avoided even by deceleration, the impact on the occupant may be increased by decelerating. That is, when the avoidance operation such as the brake control or the steering control is performed, the positional relationship between the own vehicle and the other vehicle changes, and the damage caused by the collision may increase. In such a case, occupant protection support for reducing damage at the time of collision is more appropriate than support for avoidance. As described above, there are cases in which it is not possible to appropriately provide support for safety simply by predicting the positional relationship at the time of collision without considering the avoidance operation.

  SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a collision prediction apparatus capable of providing appropriate assistance to a driver.

  The present invention employs the following configuration in order to solve the above problems. That is, 1st invention is a collision prediction apparatus which estimates the collision with the other vehicle which moves toward the course of the own vehicle, and the own vehicle. The collision prediction apparatus includes information acquisition means, collision prediction means, and support means. The information acquisition means acquires travel information of other vehicles. The collision prediction means predicts a positional relationship at the time of collision between the host vehicle and the other vehicle based on the traveling information of the other vehicle and the traveling information of the host vehicle. The support means can execute a support action including avoidance support for avoiding a collision, and performs the support action based on a prediction result by the collision prediction means. The collision prediction means predicts a positional relationship at the time of collision between the own vehicle and another vehicle when the traveling of the own vehicle is changed by at least one of deceleration of the own vehicle or change of the steering direction by avoidance support. To do.

  According to the present invention, it is possible to predict the positional relationship at the time of collision between the host vehicle and another vehicle when avoidance assistance is performed. In other words, when the host vehicle decelerates or is controlled by steering, and when the driving of the host vehicle is changed, it is predicted how the host vehicle and other vehicles collide with each other. Can do.

  In the second invention, in the first invention, the support means may perform avoidance support when the positional relationship predicted by the collision prediction means is a positional relationship in which no other vehicle collides with the side surface of the host vehicle. .

  According to this invention, the side collision to the host vehicle can be avoided by performing the avoidance support. Further, by performing avoidance support, it is possible to avoid a side collision with another vehicle or reduce an impact at the time of collision with another vehicle.

  In the third invention, in the first invention, the support means can further execute occupant protection support for protecting the occupant as the support operation, and at least one of avoidance support and occupant protection support is performed according to the positional relationship. One of the support operations may be executed.

  According to this invention, various support can be performed according to the prediction result of the positional relationship between the own vehicle and the other vehicle when avoidance support is performed. That is, by performing avoidance support, it is possible to avoid collision or reduce impact. Further, by providing occupant protection support, it is possible to reduce the impact in the event of a collision. Furthermore, more appropriate support can be performed by combining these.

  In a fourth aspect, in the third aspect, the support means may perform occupant protection support when the positional relationship predicted by the collision prediction means is a positional relationship in which another vehicle collides with the side surface of the host vehicle. .

  According to the present invention, by providing occupant protection support, it is possible to reduce the impact on the occupant of the host vehicle due to a side collision with the host vehicle.

  According to a fifth aspect, in the third aspect, the support means is the occupant protection support when the positional relationship predicted by the collision prediction means is a positional relationship in which another vehicle collides with a predetermined position on the side surface of the host vehicle. Avoidance assistance may be provided.

  According to this invention, when another vehicle collides with a part of the side surface of the host vehicle, avoidance assistance can be performed together with occupant protection assistance. Thereby, more appropriate support can be performed.

  In a sixth invention, in the first to fifth inventions, the information acquisition means may acquire a predicted arrival time until the other vehicle reaches the predicted collision position as travel information of the other vehicle. The collision prediction unit may include an arrival time calculation unit. The arrival time calculating means calculates the arrival prediction time of the host vehicle. The collision prediction means determines whether the position of the own vehicle collides with the side of the other vehicle or the position of the other vehicle collides with the side of the own vehicle based on the predicted arrival time of the other vehicle and the predicted arrival time of the own vehicle. Predict.

  According to this invention, whether the own vehicle collides with the side surface of the other vehicle or the other vehicle collides with the side surface of the own vehicle is predicted based on the difference in the predicted arrival time of the own vehicle and the other vehicle to the predicted collision position. be able to.

  In a seventh aspect based on the sixth aspect, the arrival time calculating means may calculate the predicted arrival time of the host vehicle from the distance and speed to the predicted collision position.

  According to the present invention, the predicted arrival time of the host vehicle can be calculated.

  In an eighth invention, in the sixth or seventh invention, the arrival time calculating means may calculate an estimated arrival time when the host vehicle decelerates.

  According to the present invention, it is possible to calculate the predicted arrival time of the host vehicle in consideration of the deceleration of the host vehicle, and thereby to predict the positional relationship at the time of collision between the host vehicle and the other vehicle.

  In a ninth invention, in the first to fifth inventions, the information acquisition means acquires at least the distance from the other vehicle to the predicted collision position and the speed of the other vehicle as travel information of the other vehicle, A predicted arrival time until the collision predicted position is reached may be calculated. In addition, the collision predicting means is a positional relationship in which the own vehicle collides with the side surface of the other vehicle or a positional relationship in which the other vehicle collides with the side surface of the own vehicle, depending on the predicted arrival time of the other vehicle and the predicted arrival time of the own vehicle. May be predicted.

  According to the present invention, the predicted arrival time of the other vehicle can be calculated, and thereby the positional relationship at the time of collision between the host vehicle and the other vehicle can be predicted.

  In a tenth aspect, in the ninth aspect, the collision prediction means may obtain the predicted arrival time of the other vehicle by further considering the deceleration of the other vehicle.

  According to this invention, it is possible to obtain the time required to reach the predicted collision position when the other vehicle decelerates.

  In an eleventh aspect, in the first to tenth aspects, the support means may perform at least one of notification to the driver, brake assist control, intervention brake control, or steering control as avoidance support. Good.

  According to the present invention, assistance for avoiding a side collision can be provided to the driver.

  In a twelfth invention, in the third to fifth inventions, the support means may perform at least one of cancellation of safing of the airbag device on the side of the vehicle or change of the occupant seat position as occupant protection support. Good.

  According to this invention, a passenger | crew can be protected when another vehicle collides with the side surface of the own vehicle.

  In a thirteenth aspect, in the first to twelfth aspects, the other vehicle irradiates a road surface in the traveling direction of the other vehicle with a light beam having a predetermined pattern corresponding to the traveling information of the other vehicle. May be. In addition, the information acquisition unit may include a detection unit and a specifying unit. A detection part detects the light beam of the predetermined pattern which the other vehicle irradiated with the predetermined area on the road surface of the own vehicle advancing direction as a detection area. The specifying unit specifies traveling information of another vehicle from the light beam having a predetermined pattern detected by the detecting unit.

  According to this invention, when the own vehicle detects the light beam of the predetermined pattern irradiated by the other vehicle, the own vehicle can acquire the travel information of the other vehicle.

  In a fourteenth aspect based on the thirteenth aspect, the irradiation means may further be provided. The irradiation unit irradiates a road surface in the traveling direction of the host vehicle with a light beam having a predetermined pattern corresponding to the traveling information of the host vehicle.

  According to this invention, the own vehicle can inform the other vehicle including the information acquisition means of the existence of the own vehicle and can acquire the travel information of the own vehicle.

  In a fifteenth aspect, in the thirteenth or fourteenth aspect, the light beam having a predetermined pattern may include a plurality of light beam spots irradiated at predetermined time intervals.

  According to this invention, the own vehicle can acquire the traveling information of the other vehicle by detecting a plurality of light beam spots irradiated by the other vehicle at predetermined time intervals.

  In a sixteenth aspect, in the fifteenth aspect, the traveling information of the other vehicle may indicate a time until the position of the light beam spot irradiated by the other vehicle is reached.

  According to the present invention, the host vehicle detects a plurality of light beam spots irradiated by the other vehicle at predetermined time intervals, thereby obtaining a time until the other vehicle reaches the position of the detected light beam spot. be able to.

  In a seventeenth aspect, in the first to twelfth aspects, travel information of another vehicle may be acquired by a radar or a camera image.

  According to the present invention, travel information of other vehicles can be acquired by a well-known simple method.

  In an eighteenth aspect, in the first to twelfth aspects, the travel information of the other vehicle may be acquired by acquiring the position of the other vehicle acquired by the GPS of the other vehicle by inter-vehicle communication.

  According to this invention, it is possible to acquire travel information of other vehicles by a well-known method.

  According to this invention, it is possible to predict the positional relationship at the time of collision between the host vehicle and the other vehicle when avoidance assistance is performed, from the travel information between the host vehicle and the other vehicle. In other words, when the host vehicle decelerates or is controlled by steering, and when the driving of the host vehicle is changed, it is predicted how the host vehicle and other vehicles collide with each other. Can do.

  Hereinafter, a collision prediction apparatus according to an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a block diagram showing a configuration of a collision prediction apparatus according to an embodiment of the present invention. The collision prediction apparatus 1 predicts a collision between another vehicle that moves toward the course of the host vehicle and the host vehicle. The collision prediction apparatus 1 includes information acquisition means 2, collision prediction means 3, irradiation means 4, and support means 5. The information acquisition unit 2 acquires travel information of other vehicles. The collision prediction means 3 predicts the positional relationship at the time of collision between the host vehicle and the other vehicle based on the traveling information of the other vehicle and the traveling information of the host vehicle. The irradiation unit 4 irradiates a road surface in the traveling direction of the host vehicle with a light beam having a predetermined pattern corresponding to the traveling information of the host vehicle. The support means 5 can execute support actions including avoidance support and occupant protection support, and performs the support actions based on the prediction result by the collision prediction means 3. There are various methods for acquiring the travel information of the other vehicle, as will be described later. Here, when the own vehicle detects the light beam spot irradiated by the other vehicle having the irradiation unit 4 using the irradiation unit 4 by the information acquisition unit 2, the own vehicle acquires the traveling information of the other vehicle. Details of each part will be described below.

(Description of each part of the collision prediction apparatus 1)
The information acquisition unit 2 includes a detection unit 11 and a specification unit 12. The detection unit 11 detects a light beam having a predetermined pattern irradiated by another vehicle using a predetermined region on the road surface in the traveling direction of the host vehicle as a detection region. The specifying unit 12 specifies traveling information of another vehicle from the light beam having a predetermined pattern detected by the detecting unit 11. In the present embodiment, the light beam having the predetermined pattern is a plurality of light beam spots irradiated at predetermined time intervals. Moreover, in this embodiment, the specific | specification part 12 specifies time until another vehicle arrives at the position of a light beam spot as driving information of another vehicle from the time interval of said several light beam spot. Details of the information acquisition unit 2 will be described later.

  The collision prediction unit 3 predicts the positional relationship at the time of collision between the host vehicle and the other vehicle based on the traveling information of the other vehicle acquired by the information acquisition unit 2, and determines the deceleration or steering direction of the host vehicle by avoidance support. Positional relationship at the time of collision between the own vehicle and the other vehicle when the traveling of the own vehicle is changed by at least one of the changes (the own vehicle collides with the side surface of the other vehicle, or the other vehicle To collide with the side of The collision prediction unit 3 controls the operation of the collision prediction device 1. The collision prediction unit 3 transmits a command for acquiring travel information of another vehicle to the information acquisition unit 2. The collision prediction unit 3 also controls the operation of the irradiation unit 4 described later. Furthermore, the collision prediction unit 3 transmits a command for performing predetermined support to the support unit according to the result of the collision prediction. Here, the predetermined assistance is avoidance assistance for avoiding a side collision between the own vehicle and another vehicle, and occupant protection assistance for protecting an occupant when the own vehicle collides with another vehicle. Details of the collision prediction means 3 will be described later.

  The irradiation unit 4 irradiates a road surface in the traveling direction of the host vehicle with a light beam having a predetermined pattern corresponding to the traveling information of the host vehicle. In this embodiment, the irradiation unit 4 irradiates a plurality of light beam spots irradiated at predetermined time intervals as a light beam having a predetermined pattern. Specifically, the irradiating means 4 uses, as travel information of the host vehicle, a plurality of light beams corresponding to the predetermined time interval as the time until the host vehicle reaches the position of the light beam spot irradiated by the host vehicle. Irradiate a beam spot. As shown in FIG. 1, the irradiation unit 4 includes a beam generator 16, a beam shaping lens 17, a polarization shaper 18, and a scan actuator 19. The beam generator 16 is composed of, for example, a semiconductor laser device, and generates light having a predetermined wavelength. In the present embodiment, the beam generator 16 generates light having a wavelength in the infrared region. The beam generator 16 generates a light pulse. The timing for generating the light pulse is controlled by the collision prediction means 3. The beam shaping lens 17 shapes the light beam generated by the beam generator 16. The polarization shaper 18 polarizes the light beam by reflecting a part of the component perpendicular to the incident surface of the light beam output from the beam shaping lens 17. The scan actuator 19 emits the light beam polarized by the polarization shaper 18 in a desired direction. In this embodiment, the scanning actuator 19 and the beam generator 16 are controlled so that the irradiation unit 4 includes a plurality of sets of two light beam spots arranged in a direction perpendicular to the traveling direction of the host vehicle. Irradiate a light beam spot. Each set of light beam spots is irradiated at different positions on the road surface in the traveling direction of the host vehicle. The light generated by the beam generator 16 is not limited to light having an infrared wavelength, and may be light having any wavelength.

  Next, with reference to FIG. 2A to FIG. 6, the light beam spot irradiated by the irradiation unit 4 will be described. 2A and 2B are diagrams showing a detailed configuration of the scan actuator 19. 2A is a view of the scan actuator 19 as viewed from the side, and FIG. 2B is a view of the scan actuator 19 as viewed from above. 2A and 2B (and FIG. 3), the left side of the figure corresponds to the front of the vehicle. As shown in FIGS. 2A and 2B, the scan actuator 19 includes a polygon mirror 21 and a reflecting mirror 22. The polygon mirror 21 has a columnar shape composed of an upper surface, a lower surface, and six side surfaces 21a to 21f. As shown in FIG. 2A, the side surface of the polygon mirror 21 is in contact with the bottom surface at an angle θ1 that is perpendicular to the direction perpendicular to the bottom surface. Each side surface is configured to have a different angle θ1. For example, the angle θ1 is different between the side surface 21a and the side surface 21b. Further, the polygon mirror 21 can rotate clockwise around the rotation shaft 21g. The polygon mirror 21 is not limited to the above configuration, and may have, for example, eight side surfaces.

  FIG. 3 is a view showing a state of a light beam irradiated to the front of the vehicle by the rotation of the polygon mirror 21. As shown in FIG. 3A, the light beam emitted from the beam generator 16 is reflected by the reflecting mirror 22 and further reflected by one side surface (side surface 21a in the figure) of the polygon mirror 21, and then the vehicle. It is emitted forward. At this time, the direction in which the light beam is emitted has an angle θ2 with the horizontal direction in front of the vehicle, and the light beam is irradiated onto the road surface in front of the vehicle. Here, since the angle θ1 of the side surface of the polygon mirror 21 is different from the side surface 21a to the side surface 21f, the incident angle of the light incident on each side surface is different. Accordingly, the angle θ2 of the light beam emission direction varies depending on each side surface of the polygon mirror 21. For this reason, the light beam reflected by each side surface is irradiated to a position where the traveling direction of the vehicle is different, and when the angle θ2 is small, the light beam is irradiated farther. For example, by making the angle θ1 of the side surface 21a of the polygon mirror 21 smaller than the angle of the side surface 21b, the angle θ2 is smaller when reflected by the side surface 21b than the side surface 21a, and therefore the side surface 21b is more than the side surface 21a. A light beam is irradiated far away. The angle θ1 of each side surface of the polygon mirror 21 is adjusted so that the light beam spot reflected from each side surface is irradiated to different positions on the road surface in front of the vehicle. The angle θ1 may be set so that the light beam reflected from each side surface is irradiated to a position at a predetermined distance in front of the vehicle, or the angle θ1 is set so that the distance is variable. It may be controlled.

  FIG. 3B is a diagram of the polygon mirror 21 as viewed from above, and is a diagram illustrating a direction in which the light beam is irradiated when the side surface 21 a of the polygon mirror 21 is irradiated with the light beam. As described above, the polygon mirror 21 can rotate around the rotation shaft 21g. As shown in FIG. 3B, the light beam reflected by the side surface 21a of the rotating polygon mirror 21 is emitted forward of the vehicle at a certain angle θ3 with respect to the traveling direction of the vehicle. This angle θ3 varies depending on the rotation angle of the polygon mirror 21. Therefore, for example, when two light pulses are applied to one side surface while rotating the polygon mirror 21, two light beam spots (one set) are arranged on the road surface in front of the vehicle in a direction substantially perpendicular to the vehicle traveling direction. Light beam spot). FIG. 4 shows a light beam spot drawn on the road surface at this time.

  FIG. 4 is a diagram showing light beam spots drawn on the road surface when two light pulses are irradiated on the two side surfaces while rotating the polygon mirror 21. The light beam spots A1 and A2 (hereinafter referred to as a light beam spot of the set A) are light beams that are irradiated on the road surface in the traveling direction of the host vehicle 41 when the side surface 21a of the polygon mirror 21 is irradiated with a light pulse. Is a spot. The light beam spots B1 and B2 (hereinafter referred to as a light beam spot of the set B) are light beams that are irradiated onto the road surface in the traveling direction of the host vehicle 41 when the side surface 21b of the polygon mirror 21 is irradiated with a light pulse. Is a spot. As shown in FIG. 4, the light beam spot of the set A is irradiated to a position at a predetermined distance in front of the vehicle, and the light beam spot of the set B is irradiated farther than that. Further, when the other side surfaces 21c to 21f are irradiated with the light pulse, the set of light beam spots is irradiated further away from the light beam spot of the set B. Here, the time interval between two light beam spots irradiated on one side surface of the polygon mirror 21 is β (sec). The time interval β is set to a different value depending on each side surface to be irradiated. Further, the time for which the polygon mirror 21 makes one rotation is α (sec). In addition, when two light pulses are irradiated on each of the side surfaces 21c, 21d, 21e, and 21f, a set of two light beam spots irradiated on the road surface is a light beam of a set C, a set D, a set E, and a set F, respectively. Call it a spot.

  The irradiating means 4 irradiates the light beam spot in correspondence with the time interval of the light beam spot to be irradiated and the time until the host vehicle reaches the irradiation position. FIG. 5 is a diagram showing that the time when the host vehicle reaches the position of the set of light beam spots to be irradiated corresponds to the time interval of the light beam spot and irradiates the light beam spot. . As shown in FIG. 5, the host vehicle 41 travels in the direction of the arrow while irradiating a plurality of sets of light beam spots at a predetermined distance in the traveling direction of the host vehicle 41. The other vehicle 42 has the detection unit 11 and detects the light beam spot irradiated by the own vehicle 41 in the detection region R. Td1 indicates the time (sec) until the host vehicle 41 reaches the position where the light beam spot of the set A is irradiated. Similarly, Td2 to Td6 indicate the time required to reach the positions irradiated with the light beam spots from the set B to the set F, respectively. Here, the time Td until the host vehicle 41 reaches the position irradiated with each set of light beam spots corresponds to the time interval β (sec) of each set of light beam spots. That is, the correspondence relationship between the time interval β of the light beam spot and the time Td is determined in advance, and the host vehicle irradiates the light beam spot according to the correspondence relationship. The other vehicle that has detected the light beam spot stores the correspondence relationship in advance, and can determine the time Td by measuring the time interval β. For example, when the time intervals of the light beam spot of the set A and the light beam spot of the set B are β1 and β2, respectively, the time Td1 corresponds to the time interval β1 and the time Td2 corresponds to the time interval β2. Similarly, the times Td3 to Td6 are made to correspond to the time intervals β3 to β6, respectively. As described above, when the time Td until the own vehicle 41 reaches the irradiation position of each set of light beam spots corresponds to the time interval β of each set of light beam spots, the two times irradiated to the detection region R The other vehicle 42 can know the time until the host vehicle 41 reaches the detection region R by measuring the time interval β of the light beam spot. Here, the time Td until the host vehicle 41 reaches the irradiation position of each set of light beam spots is the travel information of the host vehicle 41, that is, the speed of the host vehicle 41, and the light beam spot is irradiated from the host vehicle 41. It is determined in consideration of the distance to the position and the acceleration.

  In addition, when the time Td until the own vehicle 41 reaches the irradiation position of each set of light beam spots increases in order from Td1 to Td6, the time interval β of each set of light beam spots is in the order of β1 to β6. It is preferable to set a small value. The reason for this is that the distance between the two light beam spots in each set is determined by the distance from the vehicle 41 to the position where the light beam spot is irradiated (L) and the rotation angle θ3 of the polygon mirror 21. This is because if L is long, the distance between the two light beam spots becomes long. Further, since the polygon mirror 21 is rotated, the rotation angle θ3 is increased when the time interval β between the two light pulses is long. If the distance between the two light beam spots of each set is long, the two light beam spots are irradiated outside the range of the detection region R of the other vehicle 42. For the reasons described above, it is preferable to reduce the time interval β of the light beam spot as the irradiation position of the light beam spot is farther from the own vehicle 41.

  FIG. 6 is a diagram schematically showing the relationship between the time and the light beam when the light pulses are applied to the side surfaces 21a to 21c. The horizontal axis represents time t, and the vertical axis represents the intensity of the light beam. A1 and A2 represent the light beam spots of set A. Similarly, B1 and B2, C1 and C2 represent the light beam spots of the sets B and C, respectively. As shown in FIG. 6, the irradiation means 4 irradiates each side surface (side surfaces 21a to 21c in FIG. 6) of two light pulses at different time intervals (β1 to β3 in FIG. 6). As described above, the irradiation unit 4 irradiates each side surface with two light beam spots at different time intervals while the polygon mirror 21 rotates once (time α).

  In this embodiment, two light beam spots are formed (irradiated with two light pulses) on the road surface as the light beam pattern, but the number of light beam spots may be two or more. Good. In other embodiments, the light beam pattern is not limited to the light beam spot, and may include a light beam (a continuously irradiated light beam) formed linearly on the road surface. That is, the irradiation unit 4 may emit a plurality of light beams having different irradiation times. In this case, the time Td can be made to correspond to a pattern including a light beam and a light beam spot formed in a linear shape. For example, a pattern composed of three light beam spots may correspond to the time Td1, and a pattern composed of two light beam spots and a light beam formed in one line may correspond to the time Td2. The time Td can be made to correspond to the irradiation time of the light beam (the length of the light beam formed linearly on the road surface).

  In the present embodiment, the light beam spot is irradiated by the polygon mirror 21. However, any light beam spot having such a pattern may be irradiated. For example, a light beam spot having such a pattern may be irradiated using a galvanometer mirror.

  Returning to FIG. 1, the support means 5 includes an avoidance support unit 51 that performs avoidance support and an occupant protection support unit 52 that performs occupant protection support. When the collision prediction means 3 predicts that there is a collision between the own vehicle and another vehicle, and the positional relationship when the avoidance support is performed is predicted not to be a positional relationship where the other vehicle collides with the side surface of the own vehicle, The support means 5 performs avoidance support. The support means 5 provides the avoidance support by the avoidance support unit 51 by at least one of notification to the driver, brake assist control, intervention brake control, or steering control. In the present embodiment, the avoidance support unit 51 performs notification to the driver, for example, notification that prompts the driver to step on the brake by voice and / or video. On the other hand, the collision prediction means 3 predicts that there is a collision between the own vehicle and another vehicle, and the above positional relationship when the avoidance support is performed is predicted to be a positional relationship in which the other vehicle collides with the side surface of the own vehicle. In this case, the support means 5 performs occupant protection support. The support means 5 performs occupant protection support by the occupant protection support unit 52 by at least one of cancellation of safing of the airbag device on the side of the vehicle or change of the seat position by the occupant seat position changing means. In the present embodiment, the occupant protection support unit 52 cancels the safing of the airbag device on the side of the vehicle.

  Next, the information acquisition unit 2 will be described in detail. As illustrated in FIG. 1, the information acquisition unit 2 includes a detection unit 11 and a specification unit 12. The detection unit 11 detects a light beam spot irradiated by another vehicle using a predetermined region on the road surface in the traveling direction of the host vehicle as a detection region. The specifying unit 12 specifies travel information of another vehicle from the light beam spot detected by the detecting unit 11. Hereinafter, each part will be described in detail.

  The detection unit 11 is mounted in front of the vehicle and detects a light beam spot irradiated by another vehicle using a predetermined region on the road surface in the traveling direction of the host vehicle as a detection region. The light beam spot detected by the detection unit 11 is irradiated from another vehicle having the irradiation means 4 described above. The detection area is an area that is a predetermined distance away in front of the vehicle, and may be controlled such that the distance and area change according to the speed and environment of the vehicle. That is, when the vehicle is traveling at a high speed or the vehicle is traveling downhill, the detection area may be set to be farther and wider. The detection unit 11 does not need to be mounted on the front side of the vehicle, and may be mounted on the rear side of the vehicle, or may be mounted on either the front side or the rear side of the vehicle. That is, it is only necessary to detect a light beam spot existing in the traveling direction of the vehicle. For example, the front detection unit 11 is operated during forward traveling, and the rear detection unit 11 is operated during backward traveling. May be.

  As shown in FIG. 1, the detection unit 11 includes a lens 13, a filter 14, and a light receiving element 15. The lens 13 collects light incident from the detection area in front of the vehicle. The filter 14 transmits light of a predetermined wavelength among the collected light. Here, the light having a predetermined wavelength is light emitted from the irradiation means 4 by another vehicle. The light receiving element 15 receives the light transmitted through the filter 14. The light receiving element 15 does not have spatial resolution and converts received light into an electrical signal. The converted electrical signal is output to the specifying unit 12. As described above, the light beam spot irradiated on the detection region is detected through the lens 13, the filter 14, and the light receiving element 15. The light receiving element 15 may have a spatial resolution.

  Next, the specifying unit 12 will be described. The specifying unit 12 specifies the time until the other vehicle reaches the position irradiated with the light beam spot from the time intervals of the plurality of light beam spots detected by the detecting unit 11. The specifying unit 12 stores the time of the light beam spot detected by the detecting unit 11 in a memory. The specifying unit 12 calculates the time interval β between the two light beam spots from the time of each light beam spot stored in the memory. Next, the time Td until the other vehicle reaches the position where the light beam spot is irradiated is specified from the calculated time interval β between the two light beam spots. In the present embodiment, this time Td is associated with the time interval β by a correspondence table stored in advance on the memory of the specifying unit 12. For example, time Td1 is previously associated with time interval β1, and Td2 is associated with β2. As described above, the time until the other vehicle reaches the position where the light beam spot is irradiated can be acquired from the time interval between the two light beam spots detected by the detection unit 11. It should be noted that the time interval β between the two detected light beam spots is not necessarily coincident with values associated in advance (for example, β1 and β2), and is a value associated in advance in consideration of errors and the like. It may be within a predetermined range. Further, the time Td does not need to be specified by a correspondence table with a predetermined time interval β, and may be calculated by using a certain calculation formula and the detected time interval β. In this case, the other vehicle irradiates the light beam spot so that the time Td and the time interval β satisfy the above calculation formula.

  In addition, in the detection area of the own vehicle, a light beam spot irradiated by another vehicle is reflected by various objects and reaches the detection area, or a third vehicle different from the other vehicle and the other vehicle. And the like (which are called inappropriate light beam spots) may be included. The detection unit 11 of the host vehicle may detect these inappropriate light beam spots. The specifying unit 12 determines whether or not such an inappropriate light beam spot is included in the detected light beam spots, the time interval β of the detected light beam spots and the polygon mirror 21 by one rotation. It is possible to discriminate by the time α. That is, when the time interval β between the two detected light beam spots is different from the time interval associated with the memory of the specifying unit 12 (when it exceeds a predetermined range in consideration of errors). The two detected light beam spots can be determined as the inappropriate light beam spot. In addition, since the set of light beam spots is irradiated at the time α period in which the polygon mirror 21 rotates once, when a plurality of sets of light beam spots that are not at the time α interval are detected, the specifying unit 12 determines that these are inappropriate. It can be discriminated that the light beam spot. For example, if two sets of light beam spots are detected and the time interval between the sets is not time α, it can be determined that these are light beam spots emitted from different vehicles.

  Next, the details of the collision prediction means 3 will be described with reference to FIGS. FIG. 7 is a diagram illustrating that the positional relationship at the time of collision changes depending on the position of the other vehicle at the time when the host vehicle detects the other vehicle. As shown in FIG. 7, the host vehicle 41 includes the detection unit 11 described above, and travels in the direction indicated by the arrow while detecting the light beam spot irradiated by the other vehicle 42 on the detection region R in the host vehicle traveling direction. It is in. The other vehicle 42 includes the irradiation unit 4 described above. The other vehicle 42 irradiates the light beam spot in correspondence with the time interval β of the light beam spot to be irradiated and the time Td until the other vehicle reaches the irradiation position. The other vehicle 42 is traveling in a direction perpendicular to the traveling direction of the host vehicle 41 and is traveling toward the detection region R of the host vehicle 41.

  When the other vehicle 42 is farther from the detection region R than the position P1 (when it is on the left side of the position P1 in the figure), even when the other vehicle 42 and the own vehicle 41 travel while maintaining their respective speeds. 41 and the other vehicle 42 do not collide, and the own vehicle 41 passes through the detection region R first. Such a region is referred to as a C region. This region varies depending on the speeds of the host vehicle and other vehicles, the distance from each vehicle to the predicted collision position, and the like. FIG. 8 is a diagram illustrating a state where the host vehicle 41 and the other vehicle 42 pass each other when the host vehicle 41 and the other vehicle 42 travel while maintaining their speeds when the other vehicle 42 is in the C region. When the own vehicle 41 detects the other vehicle 42 and the other vehicle 42 is in the C region, before the other vehicle 42 reaches the detection region R, the own vehicle 41 is detected in the detection region R, as shown in FIG. Pass through. Here, the time from when the own vehicle 41 detects the other vehicle 42 to when the own vehicle 41 completely passes through the detection region R is T0 (sec). T0 is obtained from the distance from the host vehicle 41 to the detection region R and the speed of the host vehicle 41, and is set as a threshold for collision determination. The threshold value T0 may be obtained in consideration of the size of the host vehicle 41. When the time Td until the other vehicle 42 reaches the detection region R is equal to or greater than the threshold T0, the host vehicle 41 passes through the detection region R before the other vehicle 42 reaches the detection region R. That is, as shown in FIG. 7, when the other vehicle 42 exists in the C region when the own vehicle 41 detects the other vehicle 42, the own vehicle 41 and the other vehicle 42 do not collide. Therefore, the collision prediction means 3 determines that the host vehicle 41 and the other vehicle 42 do not collide, and does not provide assistance to the driver.

  On the other hand, as shown in FIG. 7, when the other vehicle 42 is located farther from the detection region R than the position P3 and closer to the detection region R than the position P1, the own vehicle 41 and the other vehicle 42 are respectively When traveling while maintaining the speed, the other vehicle 42 collides with the side surface of the host vehicle 41. Such a region is referred to as a B region. FIG. 9 is a diagram illustrating a state in which the other vehicle 42 collides with the side surface of the own vehicle 41 when the own vehicle 41 and the other vehicle 42 travel while maintaining their respective speeds when the other vehicle 42 is in the B region. It is. As shown in FIG. 9, after the host vehicle 41 reaches the detection region R, the other vehicle 42 reaches the detection region R before passing through the detection region R. Therefore, the other vehicle 42 collides with the side surface of the own vehicle 41.

  Here, the case where the host vehicle 41 decelerates when the host vehicle 41 recognizes the other vehicle 42 is considered. When the host vehicle 41 decelerates, when the other vehicle 42 reaches the detection region R, the host vehicle 41 is positioned on the opposite side of the traveling direction from the position shown in FIG. 9 (the position shown in FIG. 9). To the bottom). When the own vehicle 41 decelerates and the other vehicle 42 reaches the detection region R, the own vehicle 41 is positioned in front of the detection region R (that is, the other vehicle 42 reaches the detection region R first). The other vehicle 42 does not collide with the side surface of the host vehicle 41. In this case, the own vehicle 41 collides with the side surface of the other vehicle 42 or the other vehicle 42 passes through the detection region R before the own vehicle 41 reaches the detection region R. No collision with 42. That is, if the own vehicle 41 does not decelerate, the other vehicle 42 collides with the side surface of the own vehicle 41, but if the own vehicle 41 decelerates, collision with the side surface of the own vehicle 41 is avoided. On the other hand, even when the host vehicle 41 decelerates, when the other vehicle 42 reaches the detection region R, the host vehicle 41 is passing the detection region R (that is, the other vehicle 42 later reaches the detection region R). ), The other vehicle 42 collides with the side surface of the own vehicle 41. That is, even if the host vehicle 41 decelerates or does not decelerate, a collision with the side surface of the host vehicle 41 is not avoided. As described above, in the region B, there are a region where a side collision to the host vehicle 41 can be avoided by deceleration and a region where it cannot be avoided. In the B region, a region where side collision to the host vehicle 41 can be avoided by deceleration is referred to as a B1 region, and a region where it cannot be avoided is referred to as a B2 region. As shown in FIG. 7, the B2 region is located farther from the detection region R than the B1 region. The position of the boundary between the B1 area and the B2 area is P2.

  Generally, when vehicles collide with each other, it is more dangerous to collide with the side of the vehicle than to collide with the front of the vehicle. Therefore, it should be avoided as much as possible that other vehicles collide with the side surface of the own vehicle. On the other hand, when the host vehicle decelerates and another vehicle collides with the side of the host vehicle, it may be more dangerous than when the host vehicle does not decelerate. If the vehicle does not decelerate, the vehicle will collide with the rear side of the vehicle, but by decelerating, the vehicle may collide with the central side of the vehicle, increasing the impact on the passenger and causing a load on the passenger due to the deceleration. This is because there is a possibility that the impact on the occupant is increased by making a side collision. Therefore, when the host vehicle can avoid a side collision to the host vehicle by decelerating, the host vehicle should decelerate, and even if the host vehicle cannot be avoided by the deceleration The vehicle should not decelerate. When the host vehicle collides with the side surface of another vehicle, the vehicle should be decelerated as much as possible in order to reduce the impact on the other vehicle.

  Accordingly, in FIG. 7, when the own vehicle 41 detects the other vehicle 42 and the other vehicle 42 is in the B2 region, the collision prediction means 3 is in the position relationship at the time of the collision even if the avoidance support is performed. It is predicted that the other vehicle 42 collides with the side surface 41. Therefore, the collision prediction unit 3 does not perform avoidance support. In this case, the collision prediction unit 3 transmits a command for preparing for passenger protection support to the support unit 5. The occupant protection support is support by the occupant protection support unit 52 described above, and in the present embodiment, is support by the side airbag device. On the other hand, when the own vehicle 41 detects the other vehicle 42 and the other vehicle 42 is in the B1 region, the collision predicting means 3 performs avoidance support so that the own vehicle 41 and the other vehicle 42 do not collide. The positional relationship at the time of the collision is predicted to be a positional relationship in which the host vehicle 41 collides with the side surface of the other vehicle 42. Therefore, the collision prediction means 3 performs avoidance support. In this case, the collision prediction unit 3 transmits a command for avoidance support to the support unit 5. The avoidance support is support by the avoidance support unit 51 described above, and in this embodiment, is a notification that prompts the driver to brake. Here, as shown in FIG. 7, the time until the other vehicle 42 reaches the detection region R from the position P2 is defined as T1. The time T1 is a threshold value for the collision determination means 3 to determine whether to perform avoidance support or occupant protection support. Here, a method of calculating the threshold value T1 will be described.

FIG. 12 is a diagram for obtaining a region where a side collision can be avoided when the host vehicle 41 decelerates. As shown in FIG. 12, the host vehicle 41 is traveling at the speed v1, and the other vehicle 42 is traveling toward the detection region R at the speed v2. The front end of the host vehicle 41 and the front end of the other vehicle 42 collide in the detection region R after time T1 (sec). The distance between the host vehicle 41 and the detection region R is 1 (m), and the distance between the other vehicle 42 and the detection region R is x (m). In addition, the host vehicle 41 starts decelerating at an acceleration α from the time when the other vehicle 42 is detected. In such a case, the host vehicle 41 satisfies the following formula 1.
v1 · T1-α · (T1 -t0) 2/2 = l ( Equation 1)
Here, t0 is a delay time such as a time required for the person to recognize the danger and step on the brake. When the above equation 1 is solved for the time T1, the following equation 2 is obtained.
T1 = t0 + v1 / α ± √ ((v1 / α) ² + 2 · (v1 · t0−1) / α) (Formula 2)
Therefore, the time T1 is expressed by the following Equation 3.
T1 = t0 + v1 / α−√ ((v1 / α) ² + 2 · (v1 · t0−l) / α) (Formula 3)
Here, as apparent from Equation 3, the time T1 is obtained from the speed v1 and acceleration α of the host vehicle 41 and the distance l from the host vehicle 41 to the detection region R.

On the other hand, when the host vehicle 41 is traveling at a low speed and the other vehicle 42 is traveling at a high speed, when the host vehicle 41 and the other vehicle 42 are at the positions shown in FIG. 42 light beam spots may not be detected. This is because the light beam spot irradiated to the position farthest from the other vehicle 42 among the light beam spots irradiated by the other vehicle 42 does not reach the detection region R of the own vehicle 41. FIG. 13 is a diagram illustrating a case where the farthest light beam spot of the other vehicle 42 has not reached the detection region R of the host vehicle 41. After a time T1 (sec) from the time shown in FIG. 13, the host vehicle 41 and the other vehicle 42 collide in the detection region R. However, the host vehicle 41 cannot detect the light beam spot of the other vehicle 42 at the time shown in FIG. The own vehicle 41 detects the light beam spot farthest from the other vehicle 42 irradiated by the other vehicle 42 after a lapse of a predetermined time from the time point shown in FIG. Here, when the distance from the position where the other vehicle 42 is located to the position of the farthest light beam spot irradiated by the other vehicle 42 is s (m), the distance x−s (m) is the other vehicle for the predetermined time. It is the time until 42 runs. That is, the host vehicle 41 recognizes the other vehicle 42 with a delay of (x−s) / v2 (sec). Therefore, in this case, the delay time t0 is replaced with t0 + (x−s) / v2 in the above equation 1.
v1 · T1-α · (T1 -t0- (x-s) / v2) 2/2 = l ( Equation 4)
The time T1 satisfies the following formula 5.
T1 = x / v2 (Formula 5)
When the time T1 is obtained from Equation 4 and Equation 5, Equation 6 is obtained below.
T1 = (α · (s / v2-t0) 2/2 + l) / v1 ( Equation 6)
Here, s / v2 is the time during which the other vehicle 42 traveling at the speed v2 travels the distance s, and this value measures the time interval of the farthest light beam spot of the other vehicle 42. Is required. Accordingly, the host vehicle 41 can calculate the time T1 from the detected time interval of the light beam spot and information such as the speed and acceleration of the host vehicle 41. Whether the time T1 should be obtained from the above equation 3 or the above equation 6 depends on the speed v2 of the other vehicle, the distance s, and the speed v1 of the own vehicle. Here, the speed v1 of the own vehicle 41 is used. Is determined by the above equation 6 when the speed is slower than the predetermined speed.

  As described above, the host vehicle 41 can obtain the threshold value T1. The own vehicle 41 acquires the time Td until the other vehicle 42 reaches the detection region R by the information acquisition means described above. If the acquired time Td is equal to or greater than the threshold T1, a side collision to the host vehicle 41 cannot be avoided. On the other hand, if the time Td is smaller than the threshold value T1, a side collision with the host vehicle 41 can be avoided.

  Returning to FIG. 7, when the other vehicle 42 is located farther from the detection region R than the position P4 and closer to the detection region R side than the position P3, the host vehicle 41 and the other vehicle 42 maintain their respective speeds. When traveling, the host vehicle 41 collides with the side surface of the other vehicle 42. Such an area is referred to as an A area. FIG. 10 shows a situation where the own vehicle 41 collides with the side surface of the other vehicle 42 when the own vehicle 41 and the other vehicle 42 travel while maintaining their respective speeds when the other vehicle 42 is in the A region. It is a figure. When the own vehicle 41 detects the other vehicle 42 and the other vehicle 42 is in the A region, as shown in FIG. 10, before the own vehicle 41 reaches the detection region R, the other vehicle 42 is detected in the detection region. R is reached. In this case, since the own vehicle 41 collides with the side surface of the other vehicle 42, it is dangerous for the other vehicle 42. Therefore, the host vehicle 41 performs avoidance support. Thereby, the own vehicle 41 can avoid the side collision to the other vehicle, or can reduce the impact to the other vehicle 42 when it collides.

  Furthermore, when the other vehicle 42 is present on the detection region R side with respect to P4, that is, on the right side of the A region, the other vehicle 42 passes through the detection region R before the own vehicle 41. FIG. 11 shows that when the other vehicle 42 is on the right side of the area A and the own vehicle 41 and the other vehicle 42 travel while maintaining their respective speeds, the other vehicle 42 precedes the own vehicle 41 in the detection area. It is the figure which showed a mode that it passed R. FIG. As shown in FIG. 11, the other vehicle 42 passes through the detection region R before the host vehicle 41 reaches the detection region R. In this case, the collision prediction means 3 determines that the host vehicle 41 and the other vehicle 42 do not collide, and does not provide assistance to the driver. Here, when the host vehicle 41 and the other vehicle 42 travel while maintaining their respective speeds, a limit time during which the host vehicle 41 collides with the rear side surface of the other vehicle 42 is defined as T2. As shown in FIG. 7, the time T2 indicates the boundary between the A region and the detection region R side with respect to the A region, and is set as a threshold value for collision determination. The threshold T2 is determined in consideration of the speed of the host vehicle 41 and the other vehicle 42, the distance from each vehicle to the detection region R, the size of the other vehicle 42, and the like. Here, the host vehicle 41 is in the detection region R. It is set to a time shorter than the time required to reach by a predetermined time. When the time Td required for the other vehicle 42 to reach the detection region R is smaller than the threshold T2, the other vehicle 42 passes through the detection region R before the host vehicle 41 reaches the detection region R.

  In the present embodiment, the collision predicting means 3 causes the positional relationship at the time of collision between the own vehicle 41 and the other vehicle 42 to be different from the side surface of the own vehicle 41 when the own vehicle decelerates with a brake or the like as avoidance support. Although it is predicted whether or not the vehicle 42 is in a positional relationship with which the vehicle 42 collides, it may be predicted whether or not the positional relationship is satisfied by performing steering control as avoidance assistance. That is, when the other vehicle 42 is in the region B, the own vehicle 41 changes the traveling track of the own vehicle 41 by performing steering control, and the own vehicle 41 at the time when the own vehicle 41 reaches the predicted collision position. The collision prediction means 3 may predict the positional relationship by calculating the position of the vehicle and the position of the other vehicle 42. When the predicted positional relationship is a positional relationship in which the other vehicle 42 collides with the side surface of the host vehicle 41, the collision prediction unit 3 instructs the support unit 5 to perform occupant protection support. Send. On the contrary, when the predicted positional relationship is a positional relationship in which the other vehicle 42 does not collide with the side surface of the host vehicle 41, the collision prediction unit 3 instructs the support unit 5 to perform steering control as avoidance support. Send the command. The collision prediction unit 3 may predict the positional relationship by combining deceleration and steering control as avoidance assistance.

  The positional relationship at the time of a collision by performing steering control as avoidance support can be obtained as follows, for example. The host vehicle 41 has a plurality of detection areas arranged perpendicular to the traveling direction in consideration of steering control. The own vehicle 41 calculates a traveling trajectory that changes by performing the steering control, and calculates a new predicted collision position from the calculated traveling trajectory (of the own vehicle). Then, the time to reach the new predicted collision position is calculated from the speed and distance of the host vehicle 41. On the other hand, when a light beam spot from another vehicle is generated at a new predicted collision position and the predicted collision position is within the detection area (one of a plurality) of the own vehicle 41, the own vehicle 41 By detecting the light beam spot at the predicted collision position, the time until the other vehicle reaches the new predicted collision position can be calculated. As will be described later, when the speed of the other vehicle 42 and the distance to the light beam spot are associated with the light beam spot, the own vehicle 41 detects the light beam spot of the other vehicle 42, The host vehicle 41 can determine the speed and distance of the other vehicle 42. The own vehicle 41 can calculate the time until the other vehicle 42 reaches a new collision predicted position from the obtained speed and distance of the other vehicle 42. And based on the time until the own vehicle 41 arrives at the new collision predicted position and the time until the other vehicle 42 arrives at the new predicted collision position calculated as described above, It is possible to calculate whether or not the vehicle 41 and the other vehicle 42 collide, and the positional relationship at the time of the collision.

  The above is description of each part of the collision prediction apparatus 1.

(Operation of the collision prediction device 1)
Next, the operation of the collision prediction apparatus 1 will be described with reference to FIG. FIG. 14 is a flowchart showing the flow of collision determination of the collision prediction apparatus 1. The process according to the flowchart shown in FIG. 14 is controlled by the collision prediction unit 3. The flowchart shown in FIG. 14 is repeatedly executed while, for example, the ignition is ON or the host vehicle is traveling. Hereinafter, the flowchart shown in FIG. 14 will be described.

  First, in step S <b> 101, the collision prediction unit 3 transmits a command to the information acquisition unit 2 so as to acquire a time Td required for the other vehicle to reach the detection region R. The identification unit 12 of the information acquisition unit 2 activates the detection unit 11 and starts detecting the light beam spot detected in the detection region. The specifying unit 12 stores the detection time of the detected light beam spot on the memory. When the identifying unit 12 detects two light beam spots irradiated by another vehicle, the process proceeds to step S102. The identifying unit 12 repeatedly executes the process of step S101 until it detects two light beam spots irradiated by other vehicles.

  In step S102, the specifying unit 12 calculates the time interval β between the two light beam spots from the time of each light beam spot stored in the memory. Next, the time Td until the other vehicle reaches the position where the light beam spot is irradiated is specified from the calculated time interval β between the two light beam spots. The specifying unit 12 outputs the specified time Td to the collision prediction unit 3. The collision prediction means 3 that has received the time Td from the specifying unit 12 advances the processing to step S103.

  In step S103, the collision prediction unit 3 determines whether or not the vehicle speed of the host vehicle is greater than or equal to a predetermined value. Here, when the vehicle speed of the host vehicle is equal to or higher than a predetermined value, the above-described threshold value T1 is calculated by Equation 3, and when the vehicle speed is less than the predetermined value, the threshold value T1 is calculated by Equation 6. If the vehicle speed of the host vehicle is equal to or higher than the predetermined speed, the collision prediction unit 3 advances the process to step S104. When the vehicle speed of the host vehicle is less than the predetermined value, the collision prediction unit 3 advances the process to step S105.

  In step S104, the collision prediction unit 3 calculates the threshold values T0, T1, and T2 by the method described above. The threshold value T1 is calculated by the above-described equation 3.

  In step S105, the collision prediction unit 3 calculates threshold values T0, T1, and T2 by the method described above. The threshold value T1 is calculated by the above-described equation 6.

  In step S106, the collision prediction unit 3 determines whether or not the time Td is equal to or greater than the threshold value T0. When the time Td is equal to or greater than the threshold value T0, as described above, the host vehicle passes through the detection area before the other vehicle reaches the detection area. Therefore, in this case, the collision prediction unit 3 determines that the host vehicle and the other vehicle do not collide, and proceeds to step S107. If Td is smaller than T0, the collision prediction unit 3 advances the process to step S108.

  In step S107, the collision prediction unit 3 does not collide with the host vehicle and the other vehicle, and therefore does not provide support and ends the process.

  In step S108, the collision prediction unit 3 determines whether or not the time Td is equal to or greater than the threshold T1. If the time Td is equal to or greater than the threshold T1, the process proceeds to step S109. In this case, as shown in FIG. 7, the other vehicle exists in the B2 region. That is, as described above, the collision prediction unit 3 predicts that another vehicle will collide with the side surface of the host vehicle even when the host vehicle decelerates. When the time Td is smaller than the threshold value T1, the collision prediction unit 3 advances the process to step S110.

  In step S109, the collision prediction unit 3 transmits a command to the support unit 5 to operate the passenger protection support unit 52 in order to protect the passenger. The support means 5 that has received the command prepares the operation of the occupant protection support unit 52. The occupant protection support unit 52 is a side airbag device as described above. Thereafter, the collision prediction means 3 ends the process.

  In step S110, the collision prediction unit 3 determines whether or not the time Td is equal to or greater than the threshold T2. If the time Td is greater than or equal to the threshold T2, the process proceeds to step S111. In this case, as shown in FIG. 7, the other vehicle exists in the B1 area or the A area. That is, as described above, the collision prediction unit 3 predicts that the other vehicle does not collide with the side surface of the own vehicle when the own vehicle decelerates. On the other hand, when the time Td is smaller than the threshold value T2, the process proceeds to step S112. In this case, as shown in FIG. 7, the other vehicle exists on the detection area side with respect to the A area. Therefore, the own vehicle and the other vehicle do not collide, and the other vehicle passes through the detection area before the own vehicle.

  In step S111, the collision prediction unit 3 uses the support unit 5 to avoid a side collision to the host vehicle or to avoid a side collision to another vehicle (or to reduce an impact to the other vehicle). On the other hand, a command is transmitted to activate the avoidance support unit 51. Specifically, the avoidance support unit 51 notifies the driver of braking. Thereafter, the collision prediction means 3 ends the process.

  In step S112, the collision prediction means 3 does not collide with the host vehicle and the other vehicle, so the support is not performed and the process ends.

  As described above, the collision prediction apparatus 1 according to the present embodiment acquires the time Td until the other vehicle reaches the detection region from the time interval of the light beam spot irradiated by the other vehicle (step S102). Next, after calculating the threshold values T0, T1, and T2 (steps S104 and S105), it is determined in which region the other vehicle exists from the value of the time Td (steps S106, S108, and S110). Even when the host vehicle decelerates or the like, if a collision with the side surface of the host vehicle is unavoidable (Yes in step S108), the collision prediction device 1 prepares the side airbag device without decelerating (safe). (Step S109). When the host vehicle decelerates or the like, when collision with the side surface of the host vehicle is avoided (Yes in step S110), the collision prediction apparatus 1 provides support for deceleration or the like (step S111). When the host vehicle and the other vehicle do not collide (Yes in Step S106, No in Step S110), the collision prediction device 1 does not provide support (Step S107, Step S112).

  In this embodiment, the time Td for the other vehicle to reach the irradiation position of the light beam spot is made to correspond to the time interval β between the two light beam spots. However, in other embodiments, the other vehicle has a plurality of different times. By irradiating the light beam with the pattern, the other vehicle may irradiate the light beam with the predetermined pattern corresponding to the speed of the other vehicle, the distance to the irradiation position, and the acceleration. Furthermore, the size of the other vehicle may be made to correspond to the light beam pattern as information on the other vehicle. The own vehicle acquires the traveling information of these other vehicles by detecting the light beam of the pattern irradiated by the other vehicles. And the collision prediction apparatus in other embodiment calculates | requires the position (A area | region, B1 area | region, B2 area | region, C area | region) at the time of the said own vehicle detecting the other vehicle from the driving information of these other vehicles, Depending on the position, the support may be changed as described above.

  Further, the approach direction of the other vehicle may be obtained from the positions of the two light beam spots irradiated by the other vehicle by providing the detection unit of the own vehicle with spatial resolution. That is, in this embodiment, the other vehicle irradiates a set of two light beam spots so as to be aligned substantially perpendicular to the traveling direction of the other vehicle, and always irradiates the left light beam spot first as viewed from the other vehicle. . On the other hand, when the other vehicle approaches the detection area of the host vehicle, when the host vehicle approaches from the left side of the host vehicle at a substantially right angle with the traveling direction of the host vehicle, the host vehicle is one at a position away from the host vehicle in the traveling direction. The light beam spot of the eye is detected, and the second light beam spot is detected at a position closer to the host vehicle than that. When the detection unit of the own vehicle has spatial resolution, the positions of the two light beam spots can be distinguished. Therefore, when the first light beam spot is farther from the second light beam spot, the host vehicle determines that the other vehicle is approaching from the left side. Can do. Further, the angle of the traveling direction of the other vehicle with respect to the traveling direction of the own vehicle can also be determined from the positions of these two light beam spots. In this way, the own vehicle may determine from which direction the other vehicle moves on the course of the own vehicle, and may change the way of support. For example, when the collision prediction apparatus according to the present embodiment determines that the other vehicle cannot avoid colliding with the side surface of the host vehicle, when determining that the other vehicle is approaching from the left side, the collision prediction apparatus The safing of the left side airbag device may be canceled or the occupant seat position may be changed to the right side. In addition, it is possible to obtain the positional relationship at the time of collision between the host vehicle and the other vehicle in consideration of better avoidance support using the angle. For example, when the angle is a right angle, it is possible to predict whether or not a side collision with the host vehicle can be avoided by considering braking avoidance mainly. When the angle is an acute angle or obtuse angle, steering avoidance is mainly considered. Thus, it is possible to predict whether or not a side collision to the host vehicle can be avoided. And when it is predicted that side collision to the host vehicle can be avoided by performing more appropriate avoidance support, it is predicted that side collision to the host vehicle cannot be avoided by performing appropriate avoidance support. Can provide occupant protection assistance.

  As described above, when the own vehicle detects the light beam having a predetermined pattern irradiated by the other vehicle, the own vehicle can detect the traveling information of the other vehicle (in the above, the speed, distance, acceleration, direction, etc.). ) Can be obtained. Based on the traveling information of the other vehicle and the traveling information of the own vehicle, the own vehicle will collide in the positional relationship when the own vehicle and the other vehicle collide (the other vehicle collides with the side surface of the own vehicle). Or whether the host vehicle collides with a side surface of another vehicle). Depending on the predicted position relationship of the collision, the collision prediction apparatus can change the assistance for the occupant.

  In the present embodiment, when avoidance support is performed, the positional relationship at the time of collision between the host vehicle and another vehicle is predicted, and either avoidance support or occupant protection support is performed according to the prediction result. Any of these may be performed. That is, when the other vehicle collides with a part of the side surface of the host vehicle (a position where no occupant is present such as the front end or the rear end of the vehicle), there is a case where the impact on the occupant is not increased even if the avoidance support is performed. In such a case, avoidance assistance may be performed together with occupant protection assistance.

(Measuring method of other vehicle travel information in other embodiments)
In another embodiment, in addition to the above-described method for measuring other vehicle travel information, the travel information of the other vehicle may be measured using a radar or a camera image. An apparatus for measuring travel information of other vehicles using a radar is well known to those skilled in the art, and is disclosed in, for example, Japanese Patent Application Laid-Open No. 2004-295620. According to this, the transmitting antenna and the receiving antenna with high directivity are rotated, and the rotation angle θ and the radio wave transmitted from the transmitting antenna are reflected on the other vehicle and received by the receiving antenna. The relative distance and relative speed with other vehicles are obtained. Furthermore, the width of the other vehicle is taken into consideration using the image acquired by the camera. Thereby, the position, speed and angle of the other vehicle are measured. In addition to the above, there is a technique described in Japanese Patent Application Laid-Open No. 2007-253720 as a method for measuring travel information of other vehicles using a radar. According to this, one radar sensor is disposed on each of the right side and the left side of the vehicle. Each radar sensor transmits radio waves such as millimeter waves and microwaves to objects around the vehicle such as other vehicles and obstacles. Each radar sensor determines the position of the object (the distance between the vehicle and the object), the relative moving direction and moving speed (approaching speed) of the object with respect to the vehicle, based on the reflected wave from the object on the right or left side of the vehicle. Detected. In this way, the collision prediction apparatus according to the present invention described above may be used to perform the collision prediction using the traveling information of the other vehicle measured by the radar mounted on the vehicle.

  In addition, as a method for measuring other vehicle travel information, the positions of the host vehicle and the other vehicle may be measured by acquiring the other vehicle position acquired by GPS through inter-vehicle communication. A device that acquires the position of another vehicle acquired by GPS by inter-vehicle communication is well known to those skilled in the art, and is disclosed in, for example, Japanese Patent Application Laid-Open No. 2000-276696. According to this, the own vehicle acquires the position information of the other vehicle acquired by the other vehicle by the GPS of the other vehicle by inter-vehicle communication, and the own vehicle acquires the position information of the own vehicle by the GPS of the own vehicle and the other vehicle. There has been proposed an apparatus for avoiding a collision between vehicles by calculating a relative position between the host vehicle and another vehicle from the position information. In addition to the above, there is a technique described in Japanese Patent Application Laid-Open No. 2008-65483 as a method for acquiring the position of another vehicle by inter-vehicle communication. According to this, the vehicle driving support system relates to a vehicle-to-vehicle communication device that transmits / receives various information to / from one or a plurality of other vehicles equipped with the system, a car navigation device, and a traveling state of the own vehicle. And a traveling state detection device that outputs information. Range in which various information such as the position and speed of the own vehicle detected from the car navigation device and the traveling state detection device, the traveling direction (direction), the vehicle size of the own vehicle, the type of the vehicle, etc. can be communicated between predetermined vehicles It is distributed by the inter-vehicle communication device to other vehicles existing inside. The position of the host vehicle and the other vehicle is calculated by a method using GPS and inter-vehicle communication well known to those skilled in the art, and the collision prediction is performed by the above-described collision prediction apparatus according to the present invention using the calculated position. May be performed.

  As described above, in the present invention, a collision between the host vehicle and another vehicle can be predicted, and the positional relationship at the time of the collision can be predicted when avoidance support is considered. Can be used as

The block diagram which shows the structure of the collision prediction apparatus which concerns on embodiment of this invention. View of the scan actuator from the side View of scan actuator from above The figure which showed the mode of the light beam irradiated to the vehicle front by rotation of a polygon mirror The figure which shows the light beam spot drawn on the road surface when two light pulses are irradiated to each of the two side surfaces while rotating the polygon mirror The figure which shows irradiating a light beam spot by making the time until the own vehicle reaches | attains the position of the group of the light beam spot to irradiate corresponding to the time interval of a light beam spot. The figure which showed typically the relationship between time and a light beam at the time of irradiating the light pulse to the side surfaces 21a to 21c The figure which shows that the positional relationship at the time of a collision changes with the position of the other vehicle at the time of the own vehicle detecting another vehicle. A diagram showing how the host vehicle and the other vehicle pass each other when the host vehicle and the other vehicle travel while maintaining their respective speeds when the other vehicle is in the C region. The figure which showed a mode that the other vehicle collides with the side surface of the own vehicle, when the other vehicle exists in the B area and the own vehicle and the other vehicle travel while maintaining their respective speeds. The figure which showed a mode that the own vehicle collided with the side surface of an other vehicle, when the other vehicle exists in A area | region, when the own vehicle and an other vehicle drive | work each with maintaining speed The figure which showed a mode that the other vehicle passes the detection area | region R ahead of the own vehicle, when an other vehicle exists in the right side rather than A area | region, when the own vehicle and the other vehicle drive | work at speed, respectively. The figure which calculates | requires the area | region which can avoid a side collision when the own vehicle decelerate The figure which shows the case where the farthest light beam spot of another vehicle has not reached the detection area R of the own vehicle Flow chart showing the flow of collision judgment of the collision prediction device

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Collision prediction apparatus 2 Information acquisition means 3 Collision prediction means 4 Irradiation means 5 Support means 11 Detection part 12 Identification part 13 Lens 14 Filter 15 Light receiving element 16 Beam generator 17 Beam shaping lens 18 Polarization shaper 19 Scan actuator 21 Polygon mirror 22 Reflector 41 Own vehicle 42 Other vehicle 51 Avoidance support unit 52 Crew protection support unit

Claims (18)

A collision prediction apparatus for predicting a collision between another vehicle moving on the course of the own vehicle and the own vehicle,
Information acquisition means for acquiring travel information of other vehicles;
Collision prediction means for predicting the positional relationship at the time of collision between the host vehicle and the other vehicle based on the travel information of the other vehicle and the travel information of the host vehicle;
A support operation including avoidance support for avoiding a collision, and comprising a support means for performing the support operation based on a prediction result by the collision prediction means,
The collision prediction means predicts a positional relationship at the time of a collision between the host vehicle and another vehicle when the traveling of the host vehicle is changed by at least one of deceleration of the host vehicle or change of the steering direction by avoidance support. , Collision prediction device.   The collision prediction apparatus according to claim 1, wherein the support unit performs the avoidance support when the positional relationship predicted by the collision prediction unit is a positional relationship in which no other vehicle collides with a side surface of the host vehicle.   The support means can further execute an occupant protection support for protecting an occupant as the support operation, and performs an support operation by at least one of avoidance support or occupant protection support according to the positional relationship. The collision prediction apparatus according to claim 1.   The collision prediction apparatus according to claim 3, wherein the support means performs the occupant protection support when the positional relationship predicted by the collision prediction unit is a positional relationship in which another vehicle collides with a side surface of the host vehicle.   The support means performs the occupant protection support and the avoidance support when the positional relationship predicted by the collision prediction unit is a positional relationship in which another vehicle collides with a predetermined position on a side surface of the host vehicle. The collision prediction apparatus described in 1. The information acquisition means acquires the predicted arrival time until the other vehicle reaches the predicted collision position as the travel information of the other vehicle,
The collision prediction means includes arrival time calculation means for calculating a predicted arrival time of the own vehicle, and the own vehicle collides with a side surface of the other vehicle by the predicted arrival time of the other vehicle and the predicted arrival time of the own vehicle. The collision prediction apparatus according to any one of claims 1 to 5, which predicts a positional relationship or a positional relationship in which another vehicle collides with a side surface of the host vehicle.   The collision prediction device according to claim 6, wherein the arrival time calculation means calculates the predicted arrival time of the host vehicle from the distance and speed to the predicted collision position.   The collision prediction device according to claim 6 or 7, wherein the arrival time calculation means calculates an estimated arrival time when the host vehicle decelerates. The information acquisition means obtains an estimated arrival time until the other vehicle reaches the collision predicted position by acquiring at least the distance from the other vehicle to the predicted collision position and the speed of the other vehicle as travel information of the other vehicle. Calculate
Whether the collision prediction means is a positional relationship in which the own vehicle collides with the side surface of the other vehicle or a positional relationship in which the other vehicle collides with the side surface of the own vehicle based on the predicted arrival time of the other vehicle and the predicted arrival time of the own vehicle. The collision prediction device according to any one of claims 1 to 5, wherein:   The collision prediction apparatus according to claim 9, wherein the collision prediction unit obtains the predicted arrival time of the other vehicle in consideration of further deceleration of the other vehicle.   The collision according to any one of claims 1 to 10, wherein the support means performs at least one of notification to a driver, brake assist control, intervention brake control, and steering control as the avoidance support. Prediction device.   The collision according to any one of claims 3 to 5, wherein the support means performs at least one of safing cancellation of an airbag device on a side surface of the vehicle or change of a passenger seat position as the passenger protection support. Prediction device. The other vehicle irradiates the road surface in the traveling direction of the other vehicle with a light beam having a predetermined pattern corresponding to the traveling information of the other vehicle,
The information acquisition means includes
A detection unit that detects a light beam of the predetermined pattern irradiated by another vehicle, with a predetermined region on the road surface in the traveling direction of the host vehicle as a detection region;
The collision prediction apparatus according to claim 1, further comprising: a specifying unit that specifies travel information of the other vehicle from the light beam having the predetermined pattern detected by the detection unit.   The collision prediction device according to claim 13, further comprising irradiation means for irradiating a road surface in a traveling direction of the host vehicle with a light beam having a predetermined pattern that corresponds to the traveling information of the host vehicle.   The collision prediction apparatus according to claim 13 or 14, wherein the light beam having the predetermined pattern includes a plurality of light beam spots irradiated at predetermined time intervals.   The collision prediction device according to claim 15, wherein the travel information of the other vehicle indicates a time until the position of the light beam spot irradiated by the other vehicle is reached.   The collision prediction apparatus according to any one of claims 1 to 12, wherein the information acquisition unit acquires travel information of the other vehicle by a radar or a camera image.   The collision prediction according to any one of claims 1 to 12, wherein the information acquisition means acquires the travel information of the other vehicle by acquiring the other vehicle position acquired by the other vehicle by GPS through inter-vehicle communication. apparatus.

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