JP2011197781A - Risk potential computing device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a risk potential computing device which enables computing of risk potential of own vehicle with higher appropriateness.SOLUTION: The risk potential computing device 10 is a risk potential computing device which computes risk potential R of the own vehicle (A) in relation with a mobile object at periphery of the own vehicle (A) and includes: a mobile object detection unit 1 which detects a pedestrian C as a mobile object; and a potential setting unit 2 which sets the opposite side risk potential Rr in opposite direction to the moving direction of the pedestrian C smaller, as the pedestrian C approaches a dead end Ce of a pedestrian crosswalk Z, when the pedestrian C detected by the mobile object detection unit 1 is under moving on the pedestrian crosswalk Z. Thereby the risk potential of the own vehicle of higher appropriateness becomes computable.

Description

  The present invention relates to a risk potential calculation device for calculating a risk potential of the host vehicle in relation to a moving body around the host vehicle.

  Conventionally, an apparatus for estimating a risk potential that is a risk factor area around the host vehicle has been proposed. For example, in the risk avoidance guide device for a vehicle described in Patent Document 1 below, first, map data of an intersection that the host vehicle will reach next is processed into intersection shape data, and the traveling direction of the host vehicle is estimated. Based on the shape data and the estimated traveling direction, one pattern is read out from the eight driving behavior patterns as intersection model information. Based on the intersection model information, the risk factor area is estimated.

JP 2005-122263 A

  In the driving behavior pattern created in advance in the vehicle risk avoidance guide device described in Patent Document 1, it is assumed that the pedestrian crosses the road smoothly. However, there may be pedestrians that do not cross the road smoothly even if they are pedestrians of the same type. In this case, there is an unexpected risk range, and the risk potential is reasonable. May be low. For this reason, it is desirable to calculate a risk potential with higher validity.

  Therefore, an object of the present invention is to provide a risk potential calculation device that enables calculation of the risk potential of the host vehicle with higher validity.

  In order to achieve the above object, a risk potential calculation apparatus according to the present invention is a risk potential calculation apparatus that calculates a risk potential of a host vehicle in relation to a moving body around the host vehicle, and detects the moving body. While the detection means and the mobile body detected by the detection means are moving in a predetermined traffic section, the risk potential of the mobile body in the direction opposite to the movement direction decreases as the mobile body approaches the end of the traffic section. Setting means for setting.

  A moving body such as a pedestrian may give up movement while moving on a crossing section such as a pedestrian crossing, and may move in a direction that is not assumed to be the opposite of the previous movement direction. A risk potential in a direction opposite to the moving direction so far is normally set for the moving body. Here, the risk potential calculation device detects a moving body, and the detected moving body is moving in a predetermined passage section, and the closer the moving body is to the end of the passage section, Set the risk potential in the direction opposite to the direction of movement small. Since the possibility of giving up movement decreases as the moving object approaches the end of the traffic section, the risk potential of the vehicle with higher validity can be obtained by setting the risk potential in the direction opposite to the moving direction to be small. it can.

  In addition, it is preferable that the setting unit sets the risk potential of the moving body in a direction opposite to the moving direction as the height of the moving body detected by the detecting unit increases.

  The higher the height of the moving body, the less likely it is to be a child who does not move unexpectedly, and the greater the possibility that it will be an adult who performs assumed movement. By setting a small value, it is possible to obtain a risk potential of the host vehicle with higher validity.

  ADVANTAGE OF THE INVENTION According to this invention, the risk potential calculation apparatus which enables calculation of the risk potential of the own vehicle with higher validity can be provided.

It is the structure schematic for demonstrating the structure outline of a risk potential calculation apparatus. It is explanatory drawing explaining the detail of the setting method of a risk potential. It is explanatory drawing explaining the detail of the setting method of a risk potential. It is explanatory drawing explaining the detail of the setting method of a risk potential. It is a flowchart which shows the flow of the potential calculation process performed with a risk potential calculation apparatus.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the description of the drawings, the same elements are denoted by the same reference numerals, and redundant description is omitted.

(1) Configuration of Risk Potential Calculation Device First, the configuration of the risk potential calculation device according to the present embodiment will be described with reference to FIG. FIG. 1 is a schematic configuration diagram for explaining a schematic configuration of the risk potential calculation device 10. The risk potential calculation device 10 is mounted on a mobile vehicle such as an automobile (hereinafter referred to as the host vehicle), for example, and calculates the risk potential of the host vehicle in relation to a mobile body such as a pedestrian around the host vehicle from the state of the external environment. In addition, the alarm determination system device performs driving support such as alarm notification based on the risk potential. The risk potential is an index that indicates, for example, the magnitude of the possibility of collision with another moving body as seen from the own vehicle by a numerical value around the moving body, and the longer the distance from the own vehicle to the moving body is, the longer the risk potential is. This is area information in a map format that becomes smaller.

  The function of the risk potential calculation device 10 is realized by, for example, an ECU that is an electronic control device mounted inside the host vehicle. The ECU is a unit whose main component is a microcomputer including a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), and the like.

  As shown in FIG. 1, the risk potential calculation device 10 includes a moving body detection unit 1 (detection unit), a potential setting unit 2 (setting unit), and a vehicle control unit 3 (control unit).

  The mobile body detection unit 1 acquires various information related to the external environment of the host vehicle and detects a mobile body such as a pedestrian around the host vehicle and a pedestrian crossing as a predetermined traffic section around the mobile body. The sensor group includes, for example, a camera and a millimeter wave radar. The camera is an imaging device for capturing an image around the own vehicle such as an image in front of the own vehicle. The camera has a wide imaging range in the left-right direction that can sufficiently capture the road and its surroundings, and the position, speed, height, and movement vector of moving objects such as pedestrians and this movement It is possible to acquire moving body information relating to the position of the pedestrian crossing that the body is passing and the length of the passing section. The camera transmits the captured video information to the potential setting unit 2 as a video signal.

  The millimeter wave radar is a radar device for detecting a moving body such as a pedestrian around the own vehicle using the millimeter wave. The millimeter wave radar is attached to the center of the front side of the host vehicle. A millimeter wave radar scans a millimeter wave in a horizontal plane and transmits it forward from the host vehicle, and receives the reflected millimeter wave to identify a moving object such as a pedestrian and position, speed, and high speed. In addition, it is possible to obtain information on the movement vector. Then, the millimeter wave radar transmits the millimeter wave transmission / reception information to the potential setting unit 2 as a radar signal.

  The potential setting unit 2 is a calculation unit that estimates and stores a risk potential indicating an area around a moving body that may collide with another moving body (for example, a pedestrian) viewed from the host vehicle. The potential setting unit 2 identifies a moving body such as a pedestrian using the video signal transmitted from the camera and the radar signal transmitted from the millimeter wave radar, and the position, speed, By obtaining the height and the movement vector, the above risk potential is calculated and estimated.

  Since a moving body such as a pedestrian may give up movement while moving along a traffic section such as a pedestrian crossing, it may move in a direction that is not assumed to be opposite to the direction of movement so far. Is not only the risk potential in the same direction as the previous movement direction but also the risk potential in the opposite direction to the previous movement direction for a moving object such as a pedestrian detected by the moving object detection unit 1 A certain reverse risk potential is also set.

  Here, the potential setting unit 2 approaches the end of the pedestrian crossing while the pedestrian as the moving body detected by the moving body detection unit 1 is moving on the pedestrian crossing as a predetermined traffic section. The reverse risk potential is set smaller than the risk potential.

  Further, the potential setting unit 2 sets the reverse risk potential to be smaller as the height (that is, height) of the pedestrian as the moving body detected by the moving body detection unit 1 becomes higher. Details of the risk potential setting method will be described later.

  The vehicle control unit 3 is a control unit that supports the traveling of the host vehicle based on the risk potential set by the potential setting unit 2. For example, the vehicle control unit 3 provides a warning for warning of a collision to an occupant including a driver of the own vehicle, or a steering operation that makes the own vehicle run as safe as possible. Control (for example, invalidation of the accelerator operation before the passage of the pedestrian or the like as the moving body and the validation of the accelerator operation after the passage of the pedestrian or the like) is performed.

(2) Details of Risk Potential Setting Method Next, details of the risk potential setting method by the potential setting unit 2 will be described with reference to FIGS. 2-4 is explanatory drawing explaining the detail of the setting method of the risk potential by the potential setting part 2. FIG. In the following, a pedestrian as a moving object detected by the moving object detection unit 1 passes a pedestrian crossing as a predetermined passage section, so that the right sidewalk from the left sidewalk Pl in FIGS. The case where it moves to Pr will be described as an example.

  First, a method for setting a risk potential at the beginning of passage of a pedestrian B who passes the pedestrian crossing Z in front of the traveling direction of the host vehicle A will be described with reference to FIG. First, the mobile body detection unit 1 acquires various information related to the external environment of the host vehicle A, and detects a pedestrian B around the host vehicle A and a pedestrian crossing Z in which the pedestrian B is passing. As shown in FIG. 2A, the moving body detection unit 1 determines the position of the pedestrian crossing Z (the position of the start end Cs as the start point and the position of the end Ce as the end point based on the acquired various information. And moving body information on the travel section length L, the position of the pedestrian B (including the distance Xb from the start end Cs), the speed, the height, and the movement vector.

  Then, the potential setting unit 2 estimates and sets a risk potential Rb indicating a moving body peripheral area that has a possibility of colliding with the pedestrian B viewed from the own vehicle A based on the moving body information.

For example, the potential setting unit 2 has a relationship in which the distribution of the risk potential R becomes a normal distribution with respect to the distance Xb from the starting point Cs of the pedestrian B, as shown in FIG. The risk potential Rb (at the beginning of pedestrian B's pedestrian crossing) at the distance X from the starting edge Cs is set.

  Here, the pedestrian B has a possibility of suddenly changing the direction until it passes through the intermediate point of the passage section length L of the pedestrian crossing Z. In this way, the risk potential R is the distance Xb. By assuming that the distribution is normal, it is possible to assume a risk that the moving pedestrian B will turn back.

  That is, as shown in FIGS. 2 (a) and 2 (b), the risk potential R has a relatively long distance from the pedestrian and a relatively small possibility of collision. From one area (shaded area) to the second area (white area) where the distance in the direction of travel from the pedestrian is relatively medium distance and the possibility of collision is relatively medium, and from the pedestrian And a third area (broken line portion) having a relatively short distance and a relatively high possibility of collision.

  Next, a risk potential setting method for the pedestrian C who approaches the end of the pedestrian crossing Z after passing through the intermediate point of the passage section length L of the pedestrian crossing Z will be described with reference to FIG. First, the mobile body detection unit 1 acquires various information related to the external environment of the host vehicle A, and detects a pedestrian C around the host vehicle A and a pedestrian crossing Z in which the pedestrian C is passing. As shown in FIG. 3A, the moving body detection unit 1 determines the position of the pedestrian crossing Z (the position of the start end Cs as the start point and the position of the end Ce as the end point based on the acquired various information. Mobile body information regarding the length of the travel section, the position of the pedestrian C, the position of the pedestrian C (including the distance Xc from the starting edge Cs), the speed, the height, and the movement vector.

  Then, when the potential setting unit 2 determines that the pedestrian C passes through the intermediate point of the passage section length L of the pedestrian crossing Z based on the moving body information and is located at the predetermined distance Xc from the starting end Cs, A risk potential Rc indicating a moving object peripheral area having a possibility of colliding with a pedestrian C viewed from the own vehicle A is estimated and set.

  For example, as shown in FIGS. 3A and 3B, the potential setting unit 2 determines that the pedestrian C out of the risk potential Rb is closer to the end Ce of the pedestrian crossing Z. The reverse risk potential Rr, which is the risk potential of the portion in the direction opposite to the moving direction of, is set so as to become smaller by dynamically changing.

  Further, the potential setting unit 2 dynamically changes the reverse risk potential Rr and becomes smaller as the height (ie, height) of the pedestrian C as the moving body detected by the moving body detection unit 1 increases. Set as follows.

More specifically, the sk value of sk = m ³ / σ ³ when the expected value is E and m ₃ = E ((x-μ) ³ ) is set as the skewness of the distribution, and the degree of distortion of this distribution By distorting, the normal distribution of the risk potential R is distorted as shown in FIG. 3B, so that the reverse risk potential Rr distribution, which is the risk potential of the posterior part of the pedestrian C, is zero. Move closer.

  Next, a comprehensive risk potential setting method for a plurality of pedestrians passing through the pedestrian crossing Z will be described with reference to FIG. First, the mobile body detection unit 1 acquires various information related to the external environment of the host vehicle A, and detects pedestrians D and E around the host vehicle A and a pedestrian crossing Z in which these pedestrians are passing. . As shown in FIG. 4A, the moving body detection unit 1 determines the position of the pedestrian crossing Z (the position of the start end Cs as the start point and the position of the end Ce as the end point based on the acquired various information. And the moving section information on the travel section length L, the positions of the pedestrians D and E (including the distances Xd and Xe from the starting edge Cs), the speed, the height, and the movement vector.

  Then, the potential setting unit 2 determines each of the risk potentials Rd and Re indicating the area around the moving body that may collide with each of the pedestrians D and E viewed from the own vehicle A based on the moving body information. Estimate and set.

  For example, the potential setting unit 2 has a relationship in which the distribution of the risk potential R is a normal distribution with respect to the distance Xd from the starting end Cs of the pedestrian D, as shown in FIG. 4B and the above formula (1). The risk potential Rd at the distance X from the starting edge Cs (at the beginning of the pedestrian D's pedestrian crossing) is set.

  Furthermore, the potential setting unit 2 has a relationship in which the distribution of the risk potential R becomes a normal distribution with respect to the distance Xe from the start point Cs of the pedestrian E, as shown in FIG. The risk potential Re (at the beginning of passage of the pedestrian E) at the distance X from the start end Cs is set.

  The potential setting unit 2 sets the reverse risk potential of the risk potential Re to be dynamically changed and smaller as the pedestrian E approaches the terminal Ce of the pedestrian crossing Z. After this setting, the potential setting unit 2 calculates a total risk potential based on the risk potential Rd and the risk potential Re (for example, by performing a summing process).

(3) Flow of Potential Calculation Processing in Risk Potential Calculation Device Next, the flow of potential calculation processing (pedestrian crossing pedestrian risk setting method) executed in the risk potential calculation device 10 will be described with reference to FIG. FIG. 5 is a flowchart showing the flow of potential calculation processing executed by the risk potential calculation device 10. The process shown in the flowchart of FIG. 5 is mainly performed by the above-described ECU, and is repeatedly executed at a predetermined timing from when the risk potential calculation device 10 is turned on until it is turned off.

  First, the mobile body detection unit 1 acquires various information related to the external environment of the host vehicle A, and the mobile body such as pedestrians B to E around the host vehicle A and the pedestrian crossing Z as a predetermined traffic section. Detect (step S01).

  Next, the potential setting unit 2 estimates and sets a risk potential indicating an area around the moving body that may collide with the detected moving body (step S02). Here, as the pedestrians B to E as moving bodies move on the pedestrian crossing Z, the potential setting unit 2 increases the reverse risk potential as the pedestrians B to E approach the terminal Ce of the pedestrian crossing Z. Rr is set small. In addition, the potential setting unit 2 decreases the reverse risk potential Rr as the height of the pedestrian C that passes through the intermediate point of the passage length L of the pedestrian crossing Z and reaches the position of the predetermined distance Xc from the starting end Cs becomes higher. Set.

  Next, the vehicle control unit 3 executes control for supporting the traveling of the host vehicle A based on the risk potentials Rb to Re set by the potential setting unit 2 (step S03). Then, a series of processing ends.

(4) Actions and effects of the risk potential calculation device Moving objects such as pedestrians B to E give up their movement while moving in a crossing section such as a pedestrian crossing Z, and are assumed to be in the opposite direction to the previous movement direction. The risk potential in the opposite direction to the current moving direction (that is, the direction of the moving vector) is usually set for a moving body such as pedestrians B to E. .

  Here, the risk potential calculation device 10 detects moving bodies such as pedestrians B to E, and the detected moving body is moving along the pedestrian crossing Z, and the moving body approaches the end Ce of the pedestrian crossing Z. The reverse risk potential Rr in the direction opposite to the moving direction of the moving body is set small. As the moving body approaches the end Ce of the pedestrian crossing Z, the possibility of giving up and turning back becomes smaller. Therefore, by dynamically setting the reverse risk potential Rr to be small, it is matched to the actual walking situation of the pedestrian. Thus, the area in which the host vehicle A can travel is expanded, and the risk potential R of the host vehicle A can be obtained with higher validity and appropriateness.

  In addition, as the height of the moving body (that is, the height of the pedestrian) increases, the possibility of being an unintended movement child decreases, and the possibility of being an adult performing an assumed movement increases. From this, as the height of the moving body increases, the reverse risk potential Rr is dynamically set to be small, so that the area in which the vehicle A can travel is expanded in accordance with the actual characteristics of the pedestrian. Therefore, the risk potential R of the own vehicle can be obtained with a higher value.

(5) Modification In the above embodiment, a pedestrian is detected as a moving body. However, the detection target is not particularly limited as long as it is a moving body, and may be configured to detect a pet, for example.

  In the above-described embodiment, the potential setting unit 2 is configured to set the reverse risk potential Rr to be smaller as the pedestrian height (ie, height) is higher. However, the pedestrian height is lower. The reverse risk potential Rr may be set so as to increase.

  ADVANTAGE OF THE INVENTION According to this invention, the risk potential calculation apparatus which enables calculation of the risk potential of the own vehicle with higher validity can be provided.

  DESCRIPTION OF SYMBOLS 1 ... Moving body detection part, 2 ... Potential setting part, 3 ... Vehicle control part, 10 ... Risk potential calculation apparatus, A ... Own vehicle, BE ... Pedestrian, Ce ... Termination, Cs ... Start end, L ... Traffic area Long, Pl, Pr ... walk, Rb-Re ... risk potential, Rr ... reverse risk potential, Xb-Xe ... distance, Z ... crosswalk.

Claims (2)

A risk potential calculation device for calculating a risk potential of the host vehicle in relation to a moving body around the host vehicle,
Detecting means for detecting the moving body;
While the moving body detected by the detection means is moving in a predetermined passage section, the risk potential in the direction opposite to the moving direction of the moving body is set to be smaller as the moving body approaches the end of the passage section. Setting means to
A risk potential calculation device comprising: The setting means sets the risk potential in the direction opposite to the moving direction of the moving body to be smaller as the height of the moving body detected by the detecting means is higher.
The risk potential calculation apparatus according to claim 1, wherein: