JP2010247580A - Travel supporting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a travel supporting device capable of more safely supporting travel of an automobile, when the automobile is to avoid road surface covering material. <P>SOLUTION: The travel supporting device 1 includes a radar 12 for nearest side for acquiring a shape of a road 201; a front monitoring radar 11 for detecting snow 301, which covers the road 201 and for extracting a travelable area 211 which is not covered with the snow 301; and a vehicle control ECU 18 for performing travel support based on comparison information, acquired by comparing the shape of the road 201 and the travelable area 211. The vehicle control ECU 18 controls a brake actuator 21, a steering actuator 22, and an engine control ECU 23 by adding information whether the travelable area 211 which is an area which is not covered with the snow 301 is located on a travel lane 202, or on a fast lane 203. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a travel support system for traveling while avoiding road surface coverings such as snow and ice.

  2. Description of the Related Art Conventionally, a technique for detecting the road surface covering such as snow and ice and assisting the traveling of the automobile so as to avoid them is disclosed.

  For example, in Patent Document 1, it is easy to use the hail generated at the time of snowfall and compare the image data of the hail part and the non-hail part stored in advance with the image data of the hail part extracted by the edge extraction process. Discloses a technique for detecting a snow cover portion.

JP 2005-275691 A

  However, even if the position of the snow cover part is specified based on the detection result of the snow cover part by the conventional image processing apparatus and the snow cover part can be avoided, the avoidance destination is, for example, the facing as shown in FIG. If it is a lane or the like, there is a possibility that appropriate driving support cannot be performed.

  The subject of this invention is providing the driving assistance apparatus which can perform driving assistance of a motor vehicle appropriately, when avoiding road surface coverings, such as snow and ice.

  A travel support apparatus according to the present invention includes a road shape acquisition unit that acquires a shape of a travel path and a road surface that covers the travel path in a travel support apparatus that performs travel support so as to avoid the road surface covering that covers the travel path. Travel support based on the travel area acquisition means for detecting the cover and extracting the travelable area not covered by the road surface cover, and the comparison information obtained by comparing the shape of the travel path and the travelable area Driving support means for carrying out the above.

  According to such a travel support device, not only the travel support is executed according to the travelable area not covered by the road surface covering, but also the comparison information obtained by comparing the shape of the travel path and the travelable area. In consideration of this, driving support is executed. Thereby, when avoiding road surface coverings such as snow and ice, it becomes possible to appropriately support driving of the automobile.

  In addition, the travel support device of the present invention further includes storage means for storing lane information in which a lane to travel according to the travel direction of the vehicle is determined. The travel support means includes the lane information, the shape of the travel path, and the travel It is preferable to implement driving support based on lane contrast information obtained by comparing the possible area with the lane in which the travelable area is located. Thereby, for example, the driving support device avoids the road surface covering so as not to enter the oncoming lane as much as possible, or stops driving support when the driving support is to enter the oncoming lane. Will be able to.

  According to the present invention, it is possible to more safely support driving of an automobile.

It is a schematic block diagram which shows the driving assistance apparatus which concerns on this invention. It is the block diagram which showed the function structure of the driving assistance apparatus of FIG. It is a figure explaining an example of the driving assistance by the driving assistance device of FIG. It is the flowchart which showed the operation | movement in the driving assistance apparatus of FIG. It is a figure explaining the fixed type | formula guidance | guide_line | guidance | derivation pillar which the radar for side most recent of FIG. 1 detects. It is a figure explaining an example of the driving assistance based on the position of the fixed gaze guidance column of FIG. It is a figure explaining an example of the driving assistance by the driving assistance device of FIG.

  Hereinafter, a driving support device 1 according to an embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a schematic configuration diagram showing a driving support device 1 according to the present invention. FIG. 2 is a block diagram showing a functional configuration of the driving support device 1 according to the present invention. FIG. 3 is a diagram for explaining an example of travel support by the travel support device of FIG.

  As illustrated in FIG. 3, the travel support device 1 performs travel support so as to travel while avoiding snow, ice, and the like (road surface covering) 301 that covers a road (travel road) 201. In the following description, an example in which snow 301 is accumulated on the road 201 will be described.

  As shown in FIGS. 1 and 2, the driving support device 1 includes a forward monitoring radar 11, a side proximity radar 12, a GPS (Global Positioning System) receiver 13, a map information storage unit 14, navigation ECU (Electronic Control Unit) 15, yaw / G sensor 16, speed sensor 17, vehicle control ECU (Electronic Control Unit) 18, brake actuator 21, steering actuator 22, engine control ECU (Electronic Control Unit) 23 , Including.

  As shown in FIG. 1, the forward monitoring radar (running area acquisition means) 11 is disposed in front of the host vehicle 100 and detects snow 301 covering the road 201. Specifically, the forward monitoring radar 11 irradiates the front of the host vehicle 100 with an electromagnetic wave having a characteristic that is easily reflected on the surface of the snow 301, receives the electromagnetic wave reflected on the surface of the snow 301, and receives the outer position of the snow cover. 301a is detected. An example of electromagnetic waves having characteristics that are easily reflected on the surface of snow 301 is infrared light. The forward monitoring radar 11 sends the detected information regarding the outer position 301 a of the snow 301 to the vehicle control ECU 18.

  As shown in FIG. 1, the side most recent radar (road shape acquisition means) 12 is disposed on the side surface of the host vehicle 100 and acquires the shape of the road 201. Specifically, the side-by-side radar 12 emits electromagnetic waves having a characteristic that easily transmits through the snow 301 toward the side and the front of the host vehicle 100, and is reflected by the road fixed object 205 on the back of the snow 301. The position of the road fixed object 205 is detected by receiving the incoming electromagnetic wave. Examples of electromagnetic waves having characteristics that are easily transmitted through the snow 301 include electromagnetic waves in a 1 GHz to 2 GHz band. The side proximity radar 12 sends information on the detected position of the structure to the vehicle control ECU 18.

  The GPS receiver 13 receives a radio signal including satellite orbit and time data from a GPS satellite. The GPS receiver 13 sends the received radio wave signal to the navigation ECU 15.

  The map information storage unit (storage means) 14 stores information on road structure information 14a, road periphery information 14b, traffic rule information 14c, and the like. Various information 14a, 14b, 14c stored in the map information storage unit 14 is read out by the navigation ECU 15. The road structure information 14a includes, for example, information related to a road fixed object 205 attached to the road 201. Examples of the fixed road 205 include a guard fence, a median strip, planting, a snow pole, and the like. The road periphery information 14b includes terrain information around the road 201. The traffic rule information 14 c includes information related to the lane of the road 201, for example, information related to the position of the traveling lane 202 and the position of the overtaking lane 203.

  The navigation ECU 15 calculates a radio signal transmitted from the GPS receiver 13 and periodically specifies the current position of the host vehicle 100. Then, the navigation ECU 15 reads various information 14a, 14b, and 14c from the map information storage unit 14 in a timely manner, and sends information such as the current position of the host vehicle 100 and the road fixed object 205 to the vehicle control ECU 18.

  The yaw / G sensor 16 detects the gravity in the left-right direction in the traveling direction and the gravity in the front-rear direction in the traveling direction. The yaw / G sensor 16 detects the yaw rate. Then, the yaw / G sensor 16 sends the detected gravity information and yaw rate information to the vehicle control ECU 18.

  The speed sensor 17 detects the speed of the host vehicle 100. The speed sensor 17 sends the detected speed information to the vehicle control ECU 18.

  The vehicle control ECU (running support means, travelable area acquisition means) 18 selects a travelable area 211 that is an area not covered by the snow 301 based on the snow outer shape position 301 a acquired by the forward monitoring radar 11. Extract. Then, the vehicle control ECU 18 performs traveling support of the host vehicle 100 based on the comparison information obtained by comparing the shape of the road 201 acquired by the side most recent radar 12 and the travelable area 211. The vehicle control ECU 18 includes a CPU, a ROM, a RAM, an input / output interface, and the like (not shown). The driving support control by the driving support device 1 is realized by, for example, a CPU storing a program stored in the ROM on the RAM and controlling the brake actuator 21, the steering actuator 22, and the engine control ECU 23.

  The brake actuator 21 is an actuator that adjusts the brake hydraulic pressure of the wheel cylinder of each wheel. The brake actuator 21 operates according to a target hydraulic pressure signal from the vehicle control ECU 18 and adjusts the brake hydraulic pressure of the wheel cylinder.

  The steering actuator 22 is an actuator that applies a steering torque for assisting a driver's steering operation in an electric power steering apparatus (not shown). The steering actuator 22 operates in response to a steering torque control signal from the vehicle control ECU 18 and applies steering torque to the electric power steering device.

  The engine control ECU 23 is a control device that controls the engine. The engine control ECU 23 operates in accordance with the target acceleration from the vehicle control ECU 18, sets a target opening degree of a throttle valve (not shown) necessary for achieving the target acceleration, and sets the target opening degree to the target throttle opening degree. This is transmitted as a degree signal to a throttle actuator (not shown).

  Next, operation | movement of the driving assistance apparatus 1 is demonstrated using FIG.

  FIG. 4 is a flowchart showing a flow of characteristic processing executed by the driving support device 1.

  The driving support processing by the driving support device 1 includes a phase (S01 to S06) for calculating an accurate position on the road 201, a phase (S07, S08) for extracting the travelable area 211, and the travelable area 211. It is comprised by the phase (S09-S13) which determines lane information.

  First, the navigation ECU 15 calculates a radio wave signal transmitted from the GPS receiver 13, acquires the current approximate position of the host vehicle 100, and maps the position of the host vehicle 100 on a map (S01).

  Next, the side proximity radar 12 irradiates the side of the vehicle 100 with an electromagnetic wave having a characteristic that easily transmits through the snow 301. The electromagnetic waves emitted from the side proximity radar 12 pass through the snow 301. The side proximity radar 12 receives the electromagnetic wave reflected by the road fixed object 205 on the back of the snow 301 and detects the position of the road fixed object 205. Thereby, vehicle control ECU18 can acquire the information of the road edge 201a. Further, the vehicle control ECU 18 determines the snow 301 around the host vehicle 100 from the information transmitted from the GPS receiver 13, the yaw / G sensor 16, and the vehicle speed sensor 17 and the information stored in the map information storage unit 14. The shape of the road 201 that is not covered by the road is acquired.

  Next, the vehicle control ECU 18 determines whether or not the information related to the shape of the road 201 acquired in step S02 has been sufficiently acquired to support traveling of the host vehicle 100 (S03).

  Here, when the vehicle control ECU 18 determines that “a sufficient amount of information has not been acquired” (S03: NO), the vehicle control ECU 18 and the brake actuator 21 and the steering so that the host vehicle 100 travels slowly. The actuator 22 and the engine control ECU 23 are controlled (S04), and the shape of the road 201 is acquired again in step S02.

  On the other hand, if the vehicle control ECU 18 determines that “a sufficient amount of information has been acquired” (S03: YES), the process proceeds to step S05. The vehicle control ECU 18 executes a matching process with the road structure information 14a stored in the map information storage unit 14 (S05). Accordingly, the vehicle control ECU 18 recognizes the accurate position of the host vehicle 100 on the road 201 based on the position of the road fixed object 205.

  Next, the vehicle control ECU 18 recognizes whether the host vehicle 100 is located in the traveling lane 202 or the overtaking lane 203 on the road 201 based on the result of the matching process in step S05 ( S06).

  Next, the front monitoring radar 11 irradiates the front of the host vehicle 100 with an electromagnetic wave such as infrared light, receives the electromagnetic wave reflected on the surface of the accumulated snow 301, and detects the outer position 301a of the snow. (S07).

  Next, the vehicle control ECU 18 can travel on the own vehicle, which is an area not covered with the snow 301, based on the outer position 301a of the snow cover detected in step S07 and the position of the own vehicle 100 acquired in step S06. The area 211 is extracted (S08).

  Next, the vehicle control ECU 18 maps the information on the travel lane 202 or the overtaking lane 203 extracted in step S06 and the travelable area 211 extracted in step S08 (S09).

  Next, the vehicle control ECU 18 calculates a travelable route R of the host vehicle 100 based on the travelable region 211 extracted in step S08 (S10).

  Next, it is determined whether the travelable route R calculated in step S10 is the travel lane 202 or the overtaking lane 203, and it is determined whether a lane change from the travel lane 202 to the overtaking lane 203 occurs. (S11).

  Here, when the vehicle control ECU 18 determines in step S11 that a lane change does not occur (S11: none), the brake actuator 21 and the brake actuator 21 so as to follow the travelable route R calculated in step S10. The steering actuator 22 and the engine control ECU 23 are controlled (S12).

  On the other hand, when the vehicle control ECU 18 determines in step S11 that a lane change will occur (S11: present), the driving support is stopped without controlling the brake actuator 21, the steering actuator 22, and the engine control ECU 23. (S13).

  As described above, according to the driving support device 1 of the present embodiment, the driving support of the host vehicle 100 is not executed according to the driving possible area 211 that is an area not covered with the snow 301, but the road 201 The brake actuator 21, the steering actuator 22, the engine control ECU 23, and the comparison information obtained in comparison with the shape of the vehicle, that is, the information indicating whether the travelable area 211 is the travel lane 202 or the overtaking lane 203 are added. Is controlled. As a result, it is possible to execute control such as traveling on the traveling lane 202 to avoid the snow 301, and the traveling of the host vehicle 100 can be supported while following the traveling rules. Further, when a route that causes a lane change to the overtaking lane 203 is extracted as the travelable route R, it is possible to perform a process of stopping the travel support of the host vehicle 100. As a result, when the snow cover 301 is avoided, it is possible to more appropriately support the traveling of the host vehicle 100.

  As mentioned above, although one Embodiment of this invention was described, this invention is not limited to the said embodiment, A various change is possible in the range which does not deviate from the meaning of invention.

  For example, in the driving support device 1, the side nearest radar 12 may detect the position of the arrow blade 206a in the fixed gaze guidance column 206 as shown in FIG. The fixed line-of-sight guide column 206 is installed by a road manager in order to clarify the road alignment and the traveling position against visibility obstacles due to snow accumulation or snowstorm.

  Even in this case, the vehicle control ECU 18 executes a matching process between the position of the arrow blade 206a acquired by the side most recent radar 12 and the road structure information 14a stored in the map information storage unit 14, An accurate position of the host vehicle 100 on the road 201 is recognized. Then, as shown in FIG. 6, the vehicle control ECU 18 takes into account the information on whether the travelable area 211 that is not covered by the snow 301 is the travel lane 202 or the overtaking lane 203, and the brake actuator 21. And the steering actuator 22 and the engine control ECU 23 are controlled. Thereby, the effect similar to the driving assistance device 1 of the said embodiment can be acquired. Further, since the arrow blade 206a in the fixed gaze guidance column 206 is less likely to be buried by snow accumulation, it is possible to easily extract a reference position in grasping the position of the host vehicle 100. .

  In the travel support device 1 of the above embodiment, the travel support has been described taking into account the information whether the travelable area 211 is the travel lane 202 or the overtaking lane 203. For example, as illustrated in FIG. In addition, the travel support may be executed in consideration of information on whether the travelable area is the travel lane 202 or the opposite lane 204.

  In the travel support device 1 of the above embodiment, when a route that lane-changes to the overtaking lane 203 is extracted as the travelable route R, an example in which the travel support is stopped has been described. For example, the brake actuator 21, the steering actuator 22, and the engine control ECU 23 may be controlled so as to enter the overtaking lane 203 in a slow state. In addition, when a route that causes a lane change to the overtaking lane 203 is extracted as the travelable route R, the driving support device 1 issues a warning or displays a warning to alert the driver. It may be.

  DESCRIPTION OF SYMBOLS 1 ... Driving assistance device, 11 ... Front monitoring radar, 12 ... Side proximity radar, 13 ... GPS receiver, 14 ... Map information storage part, 15 ... Navigation ECU, 16 ... Yaw / G sensor, 17 ... Speed sensor , 18 ... Vehicle control ECU, 21 ... Brake actuator, 22 ... Steering actuator, 23 ... Engine control ECU, 100 ... Own vehicle, 201 ... Road, 201a ... Road end, 202 ... Driving lane, 203 ... Passing lane, 204 ... Oncoming traffic lane, 205 ... road fixed object, 206 ... fixed gaze guidance column, 206a ... arrow blade, 211 ... travelable area, 301 ... snow, 301a ... outer shape position, R ... travelable route.

Claims (2)

In the travel support device that performs travel support so as to travel avoiding the road surface covering covering the travel path,
Road shape acquisition means for acquiring the shape of the travel road, travel area acquisition means for detecting the road surface covering covering the travel road, and extracting a travelable area not covered by the road surface cover;
Travel support means for performing travel support based on comparison information obtained by comparing the shape of the travel path and the travelable area;
A driving support apparatus comprising: The apparatus further comprises storage means for storing lane information in which a lane for traveling is determined according to the traveling direction of the automobile,
The travel support means implements travel support based on lane comparison information on which lane the travelable area is located, which is obtained by comparing the stored information, the shape of the travel path, and the travelable area. To
The travel support apparatus according to claim 1.

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