JP2010039718A - Vehicle control device, vehicle control method, and vehicle control processing program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To control a vehicle so as to surely and safely pass an obstacle existing on the route of the vehicle or near the route. <P>SOLUTION: When detecting an obstacle existing on the road of a vehicle or near the route on the basis of input from various radars, a vehicle control device obtains , for example, obstacle information related to the detected obstacle and vehicle relevant information related to the vehicle from the various radars or the like. After acquiring the obstacle information and the vehicle relevant information, the vehicle control device determines whether or not it is possible to safely pass the detected obstacle. Concretely, the driver or a fellow passenger of the vehicle makes a decision about, as a reference, whether or not it is possible to maintain a distance between the obstacle and the vehicle so than the driver or the fellow passenger of the vehicle feels safe by using the obstacle information and vehicle relevant information acquired from the various radars or the like. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a vehicle control device, a vehicle control method, and a vehicle control processing program.

  Conventionally, various techniques for preventing a collision with an obstacle during vehicle travel have been proposed. For example, in Patent Document 1, when a pedestrian is detected during traveling of a vehicle, the driver can detect driving characteristics that can be taken as an avoidance action, and execute braking control according to the driving characteristics, thereby driving the driver. For this reason, there has been proposed a technique for providing braking control that does not cause a sense of incongruity.

JP 2002-59820 A

  By the way, in the above-described conventional technology, for example, when it becomes necessary to pass through the side of an obstacle existing on the course of the vehicle, such as both a road parking lot, a bicycle, and a pedestrian, each driver Based on the driving skill (driving skill) and experience, it is common to pass the obstacle side, relying on the sense that it can safely pass without touching the obstacle.

  However, the sense of being able to pass safely without touching the obstacle is due to the driving operation skill (driving skill) and experience of each driver, so the driver may accidentally touch the obstacle. There is.

  In addition, for example, a skilled driver who is skilled in driving operation and a driver who is not familiar with driving operation have a different sense of being able to pass safely without touching obstacles. Even if it passes through the immediate side of the obstacle based on the senses, it is fully conceivable that the passenger who is a driver of the beginning may feel anxiety that it will contact the obstacle.

  Accordingly, the present invention has been made to solve the above-described problems of the prior art, and controls the host vehicle so that an obstacle present in the course of the host vehicle or in the vicinity of the course is securely and safely passed. It is an object of the present invention to provide a vehicle control device, a vehicle control method, and a vehicle control processing program capable of performing the above.

  In order to solve the above-described problems and achieve the object, the present invention provides obstacle detection means for detecting an obstacle present on the course of the host vehicle and in the vicinity of the course, and the obstacle detected by the obstacle detection means. Obstacle information acquisition means for acquiring obstacle information about an object, road information about a road on which the host vehicle is traveling, driver information related to a driving operation of the driver of the host vehicle, and the host vehicle indicating a traveling state of the host vehicle The own vehicle related information acquisition means for acquiring information as own vehicle related information, the obstacle information acquired by the obstacle information acquisition means, and the own vehicle related information acquired by the own vehicle related information acquisition means And passage determining means for determining whether or not the obstacle detected by the obstacle detecting means can be safely passed.

  Further, the present invention provides an obstacle detection step for detecting an obstacle present on the course of the host vehicle and in the vicinity of the course, and an obstacle for acquiring obstacle information about the obstacle detected by the obstacle detection step. Information acquisition step, and information on the road on which the host vehicle is traveling, driver information related to the driving operation of the driver of the host vehicle, and host vehicle information indicating the driving state of the host vehicle as host vehicle related information Detected by the obstacle detection step using the related information acquisition step, the obstacle information acquired by the obstacle information acquisition step, and the own vehicle related information acquired by the own vehicle related information acquisition step. And a passage determination step for determining whether or not the obstacle can be safely passed.

  The present invention also provides an obstacle detection procedure for detecting an obstacle present on the course of the host vehicle and in the vicinity of the course, and an obstacle for acquiring obstacle information about the obstacle detected by the obstacle detection procedure. Information acquisition procedure, road information related to the road on which the vehicle is traveling, driver information related to the driving operation of the driver of the vehicle, and vehicle information indicating the traveling state of the vehicle as vehicle related information Detected by the obstacle detection procedure using the related information acquisition procedure, the obstacle information acquired by the obstacle information acquisition procedure, and the own vehicle related information acquired by the own vehicle related information acquisition procedure. And a passage determination procedure for determining whether or not the obstacle can be safely passed.

  ADVANTAGE OF THE INVENTION According to this invention, the own vehicle can be controlled so that the obstruction which exists in the course of the own vehicle or the course vicinity passes through reliably.

  Exemplary embodiments of a vehicle control device, a vehicle control method, and a vehicle control processing program according to the present invention will be described below in detail with reference to the accompanying drawings. In addition, below, after describing Example 1 as one embodiment of the vehicle control device according to the present invention, other embodiments included in the present invention will be described.

  In the following first embodiment, the outline and features of the vehicle control device according to the first embodiment, the configuration and processing of the vehicle control device will be described in order, and finally the effects of the first embodiment will be described.

[Outline and Features of Vehicle Control Device (Example 1)]
First, the outline and characteristics of the vehicle control apparatus according to the first embodiment will be described with reference to FIG. FIG. 1 is a diagram for explaining the outline and features of the vehicle control device according to the first embodiment.

  The vehicle control apparatus according to the first embodiment outlines preventing a collision with an obstacle while the vehicle is traveling, but the obstacle present in the course of the host vehicle or in the vicinity of the course is passed reliably and safely. The main feature is in controlling the own vehicle.

  This main feature will be specifically described. The vehicle control apparatus according to the first embodiment is mounted on a vehicle together with various radars, various cameras, and a communication terminal as shown in FIG.

  Then, for example, when the vehicle control device detects an obstacle on the course of the host vehicle or in the vicinity of the course based on inputs from various radars (see (1) in FIG. 1), the obstacle information regarding the detected obstacle is detected. , And information related to the host vehicle is acquired from various radars (see (2) in FIG. 1).

  Here, the obstacle information is, for example, information such as road parking, bicycles and pedestrians, types of obstacles such as protective fences indicating construction, distance to obstacles, lateral position, and movement speed of obstacles. It is. The own vehicle related information includes, for example, road information related to a running road such as lane width and road surface condition, driver information related to the driving operation of the own vehicle driver such as skill level (driving history) and driver's line-of-sight direction. This is information such as own vehicle information indicating the traveling state of the own vehicle such as the own vehicle speed and the position in the lane.

  After acquiring the obstacle information and the own vehicle related information, the vehicle control device executes a passage determination for determining whether or not the detected obstacle can be safely passed (see (3) in FIG. 1). Specifically, using the obstacle information and vehicle-related information acquired from various radars, the distance between the obstacle and the vehicle is greater than the distance that the driver or passenger of the vehicle feels safe. Judgment based on whether or not it can be maintained.

  As a result of the determination, when the detected obstacle cannot be safely passed, the vehicle control device calculates the collision risk with the detected obstacle using the obstacle information and the own vehicle related information (see FIG. 1 (4)). Then, the vehicle control device determines whether or not the calculated degree of collision risk exceeds a threshold value (see (5) in FIG. 1).

  As a result of the determination, if the collision risk exceeds the threshold value, the vehicle control device notifies the driver of the need to avoid an obstacle ahead of the course, for example, Vehicle travel control is executed by controlling the passing interval with the obstacle (see (6) in FIG. 1).

  For this reason, the vehicle control apparatus according to the first embodiment can control the host vehicle so that an obstacle existing in the course of the host vehicle or in the vicinity of the course can be passed safely and safely like the main feature described above. .

[Configuration of Vehicle Control Device (Example 1)]
Next, the configuration of the vehicle control device according to the first embodiment will be described with reference to FIG. FIG. 2 is a diagram illustrating the configuration of the vehicle control device according to the first embodiment.

  As shown in the figure, the vehicle control device 400 according to the first embodiment is mounted on a vehicle together with various radar groups 310, various camera groups 320, a communication terminal 330, a navigation device 340, and the like.

  The various radar groups 310 include a microwave radar, a millimeter wave radar, a laser radar, a sound sensor, an ultrasonic sensor, a vehicle status monitoring sensor, and the like. For example, the various radar groups 310 output a sensing result (for example, the presence or absence of a reflected wave with respect to the irradiation wave) of the course of the host vehicle that is in the sensing range or in the vicinity of the path of the host vehicle to the vehicle control device 400.

  Further, the various radar groups 310 acquire information on the distance to the oncoming vehicle, the position in the lane of the oncoming vehicle, and the speed (acceleration) and output the information to the vehicle control device 400.

  The various camera groups 320 include a visible camera, a far-infrared camera, a near-infrared camera, and the like, and take an image of the course of the host vehicle or the vicinity of the course of the host vehicle and the driver's line of sight. The various camera groups 320 capture an image obtained by photographing the course of the own vehicle or the vicinity of the course of the own vehicle, and an image obtained by photographing the driver's line-of-sight direction and the boarding situation in the vehicle (only the driver is present). Output to.

  The communication terminal 330 performs inter-vehicle communication with the oncoming vehicle 100 and road-to-vehicle communication with the roadside device 200, and outputs information on the oncoming vehicle directly from the oncoming vehicle or via the roadside device 200 to the vehicle control device 400. To do. For example, the communication terminal 330 acquires information regarding the skill level (driving calendar) of the driver of the oncoming vehicle and outputs the information to the vehicle control device 400.

  The navigation device 340 communicates with a GPS (Global Positioning System) artificial satellite, and outputs navigation information created using map data and the like included in the vehicle control device 400. For example, the navigation device 340 outputs information such as the lane width, the curve R, the past accident occurrence history, the road surface condition, the weather, and the like of the host vehicle route to the vehicle control device 400.

  The vehicle control device 400 includes a template storage unit 410, an obstacle detection unit 420, an information acquisition unit 430, a passage determination unit 440, a risk level calculation unit 450, a risk level determination unit 460, and a notification / vehicle control unit. 470.

  The template storage unit 410 stores an object recognition template used in the information acquisition unit 430, which will be described later, to identify an obstacle detected from the course of the host vehicle or from the vicinity of the course of the host vehicle.

  The obstacle detection unit 420 detects an obstacle from the route of the host vehicle or the vicinity of the route based on information input from the various radar groups 310 and the navigation device 340.

  Specifically, the obstacle detection unit 420 analyzes the sensing results input from the various radar groups 310, and when there is a reflected wave with respect to the irradiation wave, the obstacle such as both a road parking lot, a bicycle, and a pedestrian. Is detected as existing in the course of the host vehicle or in the vicinity of the course. In addition, the obstacle detection unit 420 analyzes the navigation information input from the navigation device 340 and detects that an obstacle such as a guard fence is present in the course of the host vehicle or in the vicinity of the course.

  The information acquisition unit 430 acquires obstacle information related to the obstacle detected by the obstacle detection unit 420 and host vehicle related information related to the host vehicle.

  Here, the obstacle information is, for example, information such as road parking, bicycles and pedestrians, types of obstacles such as protective fences indicating construction, distance to obstacles, lateral position, and movement speed of obstacles. It is. The own vehicle related information includes, for example, road information related to a running road such as lane width and road surface condition, driver information related to the driving operation of the own vehicle driver such as skill level (driving history) and driver's line-of-sight direction. This is information such as own vehicle information indicating the traveling state of the own vehicle such as the own vehicle speed and the position in the lane.

  Specifically, when the obstacle detection unit 420 detects an obstacle from the course of the host vehicle or in the vicinity of the course, the information acquisition unit 430 first detects an object photographed in an image input from the various camera groups 320. The contour is extracted, and the object recognition is performed by applying the extracted contour of the object to the object recognition template read from the template storage unit 410. Then, the information acquisition unit 430 specifies, based on the object recognition result, whether the obstacle detected by the obstacle detection unit 420 is, for example, a road parking lot, a bicycle or a pedestrian, or a road structure. .

  Next, for example, when the obstacle is both road parking, the information acquisition unit 430, based on information input from the various radar groups 310, the distance to both road parking, the position in the lane of both road parking, The size of both road parking is acquired as obstacle information. Subsequently, the information acquisition unit 430 recognizes whether or not there is a driver in both the road parking lots based on images input from the various camera groups 320, and the vehicle state of both the road parking lots (stopped, idling). And the recognition result is acquired as obstacle information.

  For example, when the obstacle is a bicycle or a pedestrian, the information acquisition unit 430 calculates the distance to the bicycle or the pedestrian, the position in the lane, and the size based on information input from the various radar groups 310. Obtained as obstacle information. Further, the information acquisition unit 430 recognizes the state of the bicycle or pedestrian (movement direction, line-of-sight direction, and sidewalk) based on images input from the various camera groups 320 and acquires the recognition result as obstacle information.

  For example, when the obstacle is a road structure such as a guard fence, the information acquisition unit 430 determines the distance to the road structure, the position in the lane, the size based on the information input from the various radar groups 310. Is acquired as obstacle information.

  Simultaneously with the acquisition of the obstacle information, the information acquisition unit 430 acquires information such as the lane width, curve R, past accident occurrence history, road surface condition, weather, and the like while the host vehicle is traveling from the navigation device 340 as road information.

  In addition, the information acquisition unit 430 acquires the skill level (driving history) of the driver of the host vehicle as driver information from an internally provided database (not shown), and based on images input from various camera groups 320. The driver's line-of-sight direction is acquired as driver information.

  Furthermore, the information acquisition unit 430 acquires information such as the speed and acceleration of the host vehicle, the brake pressure and the steering angle, and the position in the lane of the host vehicle as host vehicle information based on information input from the various radar groups 310. Based on the images input from the various camera groups 320, the in-vehicle boarding situation (only the driver, with the passenger) is acquired.

  Then, the information acquisition unit 430 outputs the acquired obstacle information and host vehicle related information to the passage determination unit 440.

  The passage determination unit 440 is based on whether or not the distance between the obstacle detected by the obstacle detection unit 420 and the host vehicle can be maintained at a distance that is greater than the degree that the driver or passenger of the host vehicle feels safe. Determine if the obstacle can be passed safely.

  Specifically, as shown in FIG. 3, the passage determination unit 440 uses the obstacle information and the own vehicle related information input from the information acquisition unit 430 and the own vehicle when the own vehicle passes the obstacle. The passing interval (H) with the obstacle is calculated. Then, the passage determination unit 440 internally includes a passage determination as shown in FIG. 4, for example, at locations corresponding to the calculated passing interval (H), obstacle type, and driver's skill level (+ boarding situation). By referring to the table, it is determined whether or not the obstacle can be safely passed.

  For example, as shown in FIG. 4, the obstacle detected by the obstacle detection unit 420 is “both road parking”, and the calculated passing interval (H) is “0.5 ≦ H <1 (m)”. When the driver is an experienced driver (+ driver only) (condition 1), it is determined that the obstacle can be safely passed, and the determination result is “◯”. On the other hand, if both the road parkings detected as an obstacle are “riding on the driver” under the same condition 1, it is determined that the obstacle cannot be safely passed, and the determination result is “x”. That is, when the driver is on both road parkings, it is difficult to safely pass through both road parkings due to factors such as the driver suddenly opening the door.

  In addition, in the above-described condition 1, when only the point that the own vehicle driver is “primary driver” and the own vehicle driver is “skilled driver (+ passenger of the original driver)” is different, As shown in FIG. 4, it is determined that the obstacle cannot be safely passed, and the determination result is “x”.

  When the passage determination unit 440 determines that the obstacle can be safely passed (when the determination result is “◯”), the passage determination unit 440 ends the determination process and determines that the obstacle cannot be safely passed. If it is determined (when the determination result is “x”), the passing interval (H) between the host vehicle and the obstacle is output to the risk level calculation unit 450.

  FIG. 3 is a diagram illustrating a passing interval between the host vehicle and the obstacle according to the first embodiment, and FIG. 4 is a diagram illustrating a configuration example of a passage determination table according to the first embodiment.

  The risk level calculation unit 450 uses the obstacle information and the vehicle-related information acquired by the information acquisition unit 430 to output a calculation instruction for the collision risk level with the obstacle.

  Specifically, upon receiving the passing interval (H) from the passage determination unit 440, the risk level calculation unit 450 acquires obstacle information and host vehicle related information from the information acquisition unit 430. Then, the risk level calculation unit 450 calculates the risk level provided internally, for example, as shown in FIG. 5, at locations corresponding to the passing interval (H), the obstacle type, and the driver's skill level (+ boarding situation). By referring to the table, the risk of collision with an obstacle is calculated.

  For example, as shown in FIG. 5, the obstacle detected by the obstacle detection unit 420 is “both road parking”, the passing interval (H) received from the passage determination unit 440 is “0.4”, and the vehicle driver Is a skilled driver (+ driver only) (condition 2), the collision risk is calculated as “0.7”. On the other hand, if both the road parkings detected as obstacles are “on the driver” under the same condition 2, the collision risk is calculated as “0.8”. The collision risk is preset in increments of 0.1 in the range of “0 to 1.0”, and the closer to the maximum value “1.0”, the higher the collision risk.

  Further, in the above-described condition 2, when the own vehicle driver is different from the “initial driver”, as shown in FIG. 5, the collision risk is calculated as “1.0”. Further, in the above-described condition 2, when only the point that the own vehicle driver is “experienced driver (+ passenger of the original driver)” is different, as shown in FIG. .7 ".

  Then, the risk level calculation unit 450 outputs the calculated collision risk level to the risk level determination unit 460. FIG. 5 is a diagram illustrating a configuration example of a risk calculation table according to the first embodiment.

  The risk determination unit 460 determines whether or not the collision risk received from the risk calculation unit 450 is greater than a predetermined threshold. Specifically, the risk determination unit 460 determines whether or not the collision risk received from the risk calculation unit 450 is greater than a predetermined threshold “0.6”. As a result of the determination, if the collision risk is greater than “0.6”, the risk determination unit 460 outputs a notification / vehicle control execution instruction to the notification / vehicle control unit 470.

  On the other hand, if the risk of collision is “0.6” or less as a result of the determination, for example, the risk level determination unit 460 issues a notification / vehicle control execution instruction via an input unit (not shown). It is determined whether or not the vehicle driver has already set before the start of traveling.

  As a result of the determination, if the notification / vehicle control execution instruction has been set, the risk determination unit 460 outputs the notification / vehicle control execution instruction to the notification / vehicle control unit 470. On the other hand, when the notification / vehicle control execution instruction is not set, the risk determination unit 460 terminates the risk determination process and returns the process to the obstacle detection unit 420.

  The notification / vehicle control unit 470 performs warning notification to the driver via the display 370 and the speaker 380 and vehicle control by the brake 350 and the steering 360 according to the execution instruction received from the risk determination unit 460. Specifically, the notification / vehicle control unit 470 notifies the driver of a warning that an obstacle ahead of the course needs to be avoided, for example.

  In addition, the notification / vehicle control unit 470 inputs the distance from the various radar groups 310 to the oncoming vehicle, the position in the lane and the speed (acceleration), and the skill level (driving calendar) of the driver of the oncoming vehicle 100 from the communication terminal 330. Etc.). Then, the notification / vehicle control unit 470 controls the passing distance to the obstacle (see FIG. 3) and the speed of the host vehicle while taking into account the distance to the oncoming vehicle, the position and speed of the oncoming vehicle in the lane, and the like. Carry out vehicle travel control.

[Processing by Vehicle Control Device (Example 1)]
Then, the process by the vehicle control apparatus which concerns on Example 1 is demonstrated using FIG. FIG. 6 is a diagram illustrating a flow of processing by the vehicle control device according to the first embodiment. Note that the processing by the vehicle control device shown in the figure is repeatedly executed while the vehicle control device is activated (during vehicle travel).

  As shown in the figure, the obstacle detection unit 420 detects an obstacle from the course of the host vehicle or near the course based on information input from the various radar groups 310 and the navigation device 340 (step S1). When the obstacle detection unit 420 detects an obstacle from the course of the host vehicle or near the course (Yes in step S1), the information acquisition unit 430 detects the obstacle information about the detected obstacle and the host vehicle about the host vehicle. Vehicle related information is acquired (step S2).

  Specifically, when the obstacle detection unit 420 detects an obstacle from the course of the host vehicle or in the vicinity of the course, the information acquisition unit 430 first detects an object photographed in an image input from the various camera groups 320. The contour is extracted, and the object recognition is performed by applying the extracted contour of the object to the object recognition template read from the template storage unit 410. Then, the information acquisition unit 430 specifies whether the obstacle detected by the obstacle detection unit 420 is, for example, a road parking lot, a bicycle or a pedestrian, or a road structure based on the object recognition result.

  Next, for example, when the obstacle is both road parking, the information acquisition unit 430, based on information input from the various radar groups 310, the distance to both road parking, the position in the lane of both road parking, The size of both road parking is acquired as obstacle information. Subsequently, the information acquisition unit 430 recognizes whether or not there is a driver in both the road parking lots based on images input from the various camera groups 320, and the vehicle state of both the road parking lots (stopped, idling). And the recognition result is acquired as obstacle information.

  Simultaneously with the acquisition of the obstacle information, the information acquisition unit 430 acquires information such as the lane width, curve R, past accident occurrence history, road surface condition, weather, and the like while the host vehicle is traveling from the navigation device 340 as road information. In addition, the information acquisition unit 430 acquires the skill level (driving history) of the driver of the host vehicle as driver information from an internally provided database (not shown), and based on images input from various camera groups 320. The driver's line-of-sight direction is acquired as driver information. Furthermore, the information acquisition unit 430 acquires information such as the speed and acceleration of the host vehicle, the brake pressure and the steering angle, and the position in the lane of the host vehicle as host vehicle information based on information input from the various radar groups 310. Based on the images input from the various camera groups 320, the in-vehicle boarding situation (only the driver, with the passenger) is acquired.

  Then, the information acquisition unit 430 outputs the acquired obstacle information and host vehicle related information to the passage determination unit 440.

  After acquiring the obstacle information and the vehicle-related information by the information acquisition unit 430, the passage determination unit 440 detects the distance more than a degree that the driver or passenger of the vehicle feels safe by the obstacle detection unit 420. Whether or not the obstacle can be safely passed is determined based on whether or not the obstacle can be maintained between the obstacle and the host vehicle (step S3).

  Specifically, as shown in FIG. 3, the passage determination unit 440 uses the obstacle information and the own vehicle related information input from the information acquisition unit 430 and the own vehicle when the own vehicle passes the obstacle. The passing interval (H) with the obstacle is calculated. Then, the passage determination unit 440 internally includes a passage determination as shown in FIG. 4, for example, at locations corresponding to the calculated passing interval (H), obstacle type, and driver's skill level (+ boarding situation). By referring to the table, it is determined whether or not the obstacle can be safely passed. For example, as shown in FIG. 4, the obstacle detected by the obstacle detection unit 420 is “both road parking”, and the calculated passing interval (H) is “0.5 ≦ H <1 (m)”. When the driver is an experienced driver (+ driver only) (condition 1), it is determined that the obstacle can be safely passed, and the determination result is “◯”.

  When it is determined by the passage determination unit 440 that the obstacle cannot be safely passed (No at Step S3), the risk calculation unit 450 acquires the obstacle information and the vehicle related information acquired by the information acquisition unit 430. Is used to output an instruction to calculate the risk of collision with an obstacle (step S4).

  Specifically, upon receiving the passing interval (H) from the passage determination unit 440, the risk level calculation unit 450 acquires obstacle information and host vehicle related information from the information acquisition unit 430. Then, the risk level calculation unit 450 calculates the risk level provided internally, for example, as shown in FIG. 5, at locations corresponding to the passing interval (H), the obstacle type, and the driver's skill level (+ boarding situation). By referring to the table, the risk of collision with an obstacle is calculated. For example, as shown in FIG. 5, the obstacle detected by the obstacle detection unit 420 is “both road parking”, the passing interval (H) received from the passage determination unit 440 is “0.4”, and the vehicle driver Is a skilled driver (+ driver only) (condition 2), the collision risk is calculated as “0.7”.

  Then, the risk level calculation unit 450 outputs the calculated collision risk level to the risk level determination unit 460.

  The risk determination unit 460 determines whether or not the collision risk received from the risk calculation unit 450 is greater than a predetermined threshold (step S5). Specifically, the risk determination unit 460 determines whether or not the collision risk received from the risk calculation unit 450 is greater than a predetermined threshold “0.6”. As a result of the determination, if the collision risk is greater than “0.6”, the risk determination unit 460 outputs a notification / vehicle control execution instruction to the notification / vehicle control unit 470.

  As a result of the determination by the risk level determination unit 460, when it is determined that the collision risk level is greater than “0.6” (Yes at Step S5), the notification / vehicle control unit 470 accepts from the risk level determination unit 460. Notification / vehicle control is executed in accordance with the execution instruction (step S6).

  Specifically, for example, the notification / vehicle control unit 470 notifies the driver of a warning that it is necessary to avoid an obstacle ahead of the course, and also passes the obstacle interval (see FIG. 3) and the vehicle. The vehicle traveling control is executed by controlling the vehicle speed. And the alerting | reporting / vehicle control part 470 returns a process to step S1 shown in FIG.

  Here, returning to the description of step S5, when the collision risk is “0.6” or less (No in step S5), the risk determination unit 460, for example, via an input unit (not shown). Then, it is determined whether or not the notification / vehicle control execution instruction has been set by the driver of the vehicle before the start of traveling (step S7).

  When it is determined that the notification / vehicle control execution instruction has been set as a result of the determination by the risk determination unit 460 (Yes in step S7), the notification / vehicle control unit 470 is similar to step S6 described above. The notification / vehicle control is executed in accordance with the execution instruction received from the risk determination unit 460. On the other hand, when the execution instruction of the notification / vehicle control is not set (No at Step S7), the risk determination unit 460 returns the process to Step S1 shown in FIG.

  Returning to the description of step S3, the passage determination unit 440 returns the processing to step S1 shown in FIG. 6 when the determination result shows that the obstacle can be safely passed (Yes in step S3).

[Effects of Example 1]
As described above, according to the first embodiment, when an obstacle existing on the course of the host vehicle and in the vicinity of the course is detected, the obstacle information and the vehicle related information regarding the detected obstacle are acquired and acquired. If the obstacle information and the vehicle-related information are used to determine whether the obstacle can be safely passed, and if it is determined that the obstacle cannot be passed safely, the driver is notified and the vehicle travel control is performed. Therefore, by using this judgment result, it is possible to reliably and safely check the obstacles that exist in the course of the vehicle or in the vicinity of the course rather than the driver's obstacle avoidance operation that relies on their own driving experience and feeling. The host vehicle can be controlled to pass.

  In addition, according to the first embodiment, since the driver or passenger of the own vehicle performs a passage determination based on whether or not the distance greater than the degree that the driver feels safe can be maintained between the obstacle and the own vehicle, It is possible to realize vehicle travel control that does not give anxiety to the driver or passengers.

  Further, according to the first embodiment, when the notification / vehicle travel control execution instruction from the driver is already set, the notification / vehicle travel control is executed even when the collision risk is low. Alternatively, the host vehicle can be controlled so that an obstacle present in the vicinity of the route passes more reliably.

  Now, the first embodiment has been described as an embodiment of the vehicle control device according to the present invention, but the present invention may be implemented in various different forms other than the above-described embodiments. In the following, other embodiments included in the present invention will be described.

(1) Device Configuration, etc. Each component of the vehicle control device 400 shown in FIG. 2 described in the first embodiment is functionally conceptual and does not necessarily need to be physically configured as illustrated. .

  That is, the specific form of dispersion / integration of the vehicle control device 400 is not limited to the illustrated one. For example, the obstacle detection unit 420 and the information acquisition unit 430 are integrated, and the passage determination unit 440 and the risk calculation unit 450 are integrated. The whole or a part of the risk determination unit 460 may be integrated and functionally or physically distributed and integrated in arbitrary units according to various loads and usage conditions.

  Furthermore, each processing function (for example, see FIG. 6) performed in the vehicle control device 400 is realized by a CPU and a program that is analyzed and executed by the CPU, or a wired function. It can be realized as hardware by logic.

(2) Vehicle Control Processing Program Various processes (for example, see FIG. 6) of the vehicle control device 400 described in the first embodiment described above are executed by a computer system (for example, an in-vehicle control ECU). It can be realized by executing with a mounted microcomputer or the like.

  Therefore, in the following, an example of a computer that executes a vehicle control processing program having the same function as the vehicle control device 400 described in the first embodiment will be described with reference to FIG. FIG. 7 is a diagram illustrating a computer that executes a vehicle control processing program.

  As shown in the figure, the computer 500 is configured by connecting an input unit 510, an output unit 520, an HDD 530, a RAM 540, and a CPU 550 via a bus 600.

  Here, the input unit 510 receives input of various data from the user. The output unit 520 displays various information. The HDD 530 stores information necessary for the CPU 550 to execute various processes. The RAM 540 temporarily stores various information. The CPU 550 executes various arithmetic processes.

  As shown in FIG. 7, the HDD 530 includes a vehicle control processing program 531 that exhibits the same function as each processing unit of the vehicle control device 400 shown in the first embodiment, and vehicle control processing data 532. Is stored in advance. Note that the vehicle control processing program 531 can be appropriately distributed and stored in a storage unit of another computer that is communicably connected via a network.

  Then, the CPU 550 reads out the vehicle control processing program 231 from the HDD 530 and expands it in the RAM 540, so that the vehicle control processing program 531 functions as a vehicle control processing process 541 as shown in FIG.

  That is, the vehicle control processing process 541 reads out the vehicle control processing data 532 and the like from the HDD 530, expands them in the area allocated to itself in the RAM 540, and executes various processes based on the expanded data and the like. The vehicle control process 541 includes an obstacle detection unit 420, an information acquisition unit 430, a passage determination unit 440, a risk level calculation unit 450, and a risk level determination unit 460 of the vehicle control device 400 illustrated in FIG. And the notification / vehicle control unit 470, respectively.

  The vehicle control processing program 531 described above does not necessarily need to be stored in the HDD 530 from the beginning. For example, a flexible disk (FD), a CD-ROM, a DVD disk, a magneto-optical disk inserted into the computer 500, Each program is stored in a “portable physical medium” such as an IC card, and “another computer (or server)” connected to the computer 500 via a public line, the Internet, a LAN, a WAN, or the like. Alternatively, the computer 500 may read out and execute each program from these.

(3) Vehicle Control Method The following vehicle control method is realized by the vehicle control device 400 described in the first embodiment.

  That is, an obstacle detection step for detecting an obstacle existing on the course of the host vehicle and in the vicinity of the course (see step S1 in FIG. 6), and obstacle information about the obstacle detected by the obstacle detection step is acquired. Obstacle information acquisition step (see step S2 in FIG. 6), road information regarding the road on which the host vehicle is traveling, driver information related to the driving operation of the driver of the host vehicle, and host vehicle information indicating the traveling state of the host vehicle Vehicle-related information acquisition step for acquiring the vehicle-related information (see step S2 in FIG. 6), the obstacle information acquired by the obstacle information acquisition step, and the vehicle acquired by the vehicle-related information acquisition step A passage determination step for determining whether or not the obstacle detected by the obstacle detection step can be safely passed by using the related information; Tsu see flop S3), the vehicle control method including a is achieved.

  As described above, the vehicle control device, the vehicle control method, and the vehicle control processing program according to the present invention are useful for preventing a collision with an obstacle during traveling of the vehicle, and in particular, the course of the host vehicle or the vicinity of the course. It is suitable for controlling the own vehicle so that the obstacle existing in the vehicle can pass through securely and safely.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure for demonstrating the outline | summary and the characteristic of the vehicle control apparatus which concern on Example 1. FIG. 1 is a diagram illustrating a configuration of a vehicle control device according to a first embodiment. It is a figure which shows the passing space | interval of the own vehicle and obstacle based on Example 1. FIG. It is a figure which shows the structural example of the passage determination table which concerns on Example 1. FIG. It is a figure which shows the structural example of the risk degree calculation table which concerns on Example 1. FIG. It is a figure which shows the flow of the process by the vehicle control apparatus which concerns on Example 1. FIG. It is a figure which shows the computer which performs a vehicle control processing program.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100 Oncoming vehicle 200 Roadside device 310 Various radar groups 320 Various camera groups 330 Communication terminal 340 Navigation device 350 Brake 360 Steering 370 Display 380 Speaker 410 Template memory | storage part 420 Obstacle detection part 430 Information acquisition part 440 Passing judgment part 450 Risk degree calculation part 460 Risk determination unit 470 Notification / vehicle control unit 500 Computer 510 Input unit 520 Output unit 530 HDD (Hard Disk Drive)
531 Vehicle control processing program 532 Vehicle control processing data 540 RAM (Random Access Memory)
541 Vehicle Control Processing Process 550 CPU (Central Processing Unit)
600 buses

Claims (8)

Obstacle detection means for detecting obstacles present on and near the course of the own vehicle;
Obstacle information acquisition means for acquiring obstacle information about the obstacle detected by the obstacle detection means;
Own vehicle related information acquisition means for acquiring road information relating to a road on which the own vehicle is traveling, driver information relating to a driving operation of the driver of the own vehicle, and own vehicle information indicating a running state of the own vehicle as own vehicle related information; ,
Using the obstacle information acquired by the obstacle information acquisition means and the own vehicle related information acquired by the own vehicle related information acquisition means, the obstacle detected by the obstacle detection means can be safely Passage determination means for determining whether or not the vehicle can pass through;
A vehicle control device comprising:   The vehicle control device according to claim 1, further comprising notification travel control means for performing notification to the driver of the host vehicle or traveling control of the host vehicle according to a determination result by the passage determination unit.   The passage determination means includes an obstacle situation derived from the obstacle information acquired by the obstacle information acquisition means for the obstacle detected by the obstacle detection means, and the vehicle related information acquisition means. 3. The vehicle according to claim 1, wherein it is determined whether or not the obstacle can be safely passed according to the own vehicle traveling state derived from the own vehicle related information acquired by the vehicle. Control device. Execution instruction receiving means for receiving in advance an instruction to execute the notification or the travel control by the notification traveling control means;
When the passage determining means determines that the obstacle cannot be safely passed, the obstacle information acquired by the obstacle information acquiring means and the own vehicle related information acquiring means acquired by the obstacle information acquiring means. A risk degree calculating means for calculating a collision risk degree with the obstacle using vehicle-related information;
A risk determination means for determining whether or not the collision risk is greater than a predetermined threshold by the risk calculation means;
Further comprising
The notification travel control means is configured such that when the risk determination means determines that the collision risk is greater than a predetermined threshold, or the risk determination means determines that the collision risk is not greater than a predetermined threshold. The vehicle according to any one of claims 1 to 3, wherein the notification or the travel control is executed when the execution instruction is received by the execution instruction receiving unit. Control device.   The passage determination means is based on whether or not the obstacle can be maintained between the obstacle and the own vehicle by a distance more than a degree that a skilled driver of the own vehicle feels safe when passing the obstacle. The vehicle control device according to any one of claims 1 to 4, wherein it is determined whether or not the obstacle detected by the object detection means can be safely passed.   The passage determination means is based on whether or not the obstacle can be maintained between the obstacle and the vehicle by a distance that is greater than or equal to the degree that the passenger of the own vehicle feels safe when passing the obstacle. The vehicle control device according to any one of claims 1 to 4, wherein it is determined whether or not the obstacle detected by the detection means can be safely passed. An obstacle detection step for detecting obstacles present on and near the course of the vehicle;
Obstacle information acquisition step for acquiring obstacle information about the obstacle detected by the obstacle detection step;
Own vehicle related information acquisition step for acquiring road information relating to a road on which the own vehicle is traveling, driver information relating to a driving operation of the driver of the own vehicle, and own vehicle information indicating a running state of the own vehicle as own vehicle related information; ,
Using the obstacle information acquired in the obstacle information acquisition step and the own vehicle related information acquired in the own vehicle related information acquisition step, the obstacle detected in the obstacle detection step is safely A passage determination step for determining whether or not the vehicle can pass through;
The vehicle control method characterized by including. Obstacle detection procedure for detecting obstacles present on and near the course of the host vehicle,
Obstacle information acquisition procedure for acquiring obstacle information about the obstacle detected by the obstacle detection procedure;
Own vehicle related information acquisition procedure for acquiring road information relating to a road on which the own vehicle is traveling, driver information relating to a driving operation of the driver of the own vehicle, and own vehicle information indicating the running state of the own vehicle as own vehicle related information; ,
Using the obstacle information acquired by the obstacle information acquisition procedure and the own vehicle related information acquired by the own vehicle related information acquisition procedure, the obstacle detected by the obstacle detection procedure is safely A passage determination procedure for determining whether or not the vehicle can pass,
A vehicle control processing program for causing a computer to execute.

Images